Target tracker scanning method and device based on servo mechanism

Abstract

The embodiment of the invention discloses a target tracker scanning method and device based on a servo mechanism. The method comprises the steps that scanning parameters are determined; the scanning parameters at least comprise scanning starting point angle information, target azimuth displacement, target pitching displacement and scanning angular rate; based on the target pitching displacement, the scanning angular rate and a preset s-shaped scanning track, calculating a target pitching beam interval and an arc segment angular rate of each arc segment included in the s-shaped scanning track; and sequentially determining real-time reference angle information of the target tracker according to the scanning starting point angle information, the target azimuth displacement, the target pitching displacement, the target pitching beam interval, the scanning angular rate and the segmental arc angular rate. By applying the scheme provided by the embodiment of the invention, the control precision of the target tracker can be improved.

Description

Technical Field

[0001] The present application relates to the field of tracker technology, and in particular to a target tracker scanning method and device based on a servo mechanism. Background Art

[0002] With advances in radar technology, radar applications are expanding. By controlling the motion of the radar antenna, which is controlled by a servo mechanism, targets within a specified scanning range can be searched and tracked. Millimeter-wave target trackers, based on aircraft, can leverage radar technology to achieve high-precision target detection and tracking. Millimeter-wave target trackers, due to their narrow beamwidth, offer advantages such as high angular resolution and angular tracking accuracy. However, this narrow beamwidth also results in a smaller instantaneous field of view. Therefore, effective scanning methods are needed to ensure that targets fall within the beam range.

[0003] Known scanning methods for target trackers mainly include linear and square scanning trajectories. However, these methods often experience jumps in scanning angle during scanning, leading to sudden changes in motor speed, making control more difficult and resulting in low control accuracy. Therefore, improving the control accuracy of target trackers has become a pressing technical issue. Summary of the Invention

[0004] This application provides a servo-based target tracker scanning method and device to improve the control accuracy of the target tracker. The specific technical solution is as follows.

[0005] In a first aspect, an embodiment of the present application provides a target tracker scanning method, the method comprising:

[0006] Determine scanning parameters; the scanning parameters include at least scanning starting point angle information, target azimuth displacement, target pitch displacement, and scanning angular rate; the scanning starting point angle information includes a starting azimuth angle and a starting pitch angle; the target azimuth displacement is an angular range of the area to be scanned along the azimuth axis of a preset coordinate system, and the target pitch displacement is an angular range of the area to be scanned along the pitch axis of the preset coordinate system; the azimuth axis direction is a horizontal direction, and the pitch axis direction is a vertical direction;

[0007] Based on the target pitch displacement and the scanning angular rate, as well as a pre-set S-shaped scanning trajectory, a target pitch beam spacing and an arc segment angular rate of each arc segment included in the S-shaped scanning trajectory are calculated; the S-shaped scanning trajectory sequentially includes straight segments and arc segments, each straight segment is parallel to the azimuth axis, and the scanning directions of two adjacent straight segments are opposite, and the target pitch beam spacing is the angular range of each arc segment along the pitch axis;

[0008] The real-time reference angle information of the target tracker is determined in sequence according to the scanning starting point angle information, the target azimuth displacement, the target pitch displacement, the target pitch beam interval, the scanning angular rate and the arc segment angular rate.

[0009] Optionally, the step of calculating a target pitch beam spacing and an arc segment angular rate of each arc segment included in the S-shaped scanning trajectory based on the target pitch displacement and the scanning angular rate, and a preset S-shaped scanning trajectory includes:

[0010] Determining a maximum pitch beam spacing; wherein the maximum pitch beam spacing is determined according to the target tracker device parameters;

[0011] determining, based on a magnitude relationship between the target pitch displacement and the maximum pitch beam spacing, a pitch beam spacing corresponding to the target pitch displacement as a target pitch beam spacing for each arc segment included in the S-shaped scanning trajectory;

[0012] The arc segment angular rate of each arc segment is calculated according to the target pitch beam interval and the scanning angular rate.

[0013] Optionally, the step of determining, based on a magnitude relationship between the target pitch displacement and the maximum pitch beam interval, a pitch beam interval corresponding to the target pitch displacement as a target pitch beam interval for each arc segment included in the S-shaped scanning trajectory includes:

[0014] When the target pitch displacement is less than or equal to the maximum pitch beam interval, determining the target pitch beam interval of each arc segment included in the S-shaped scanning trajectory as the target pitch displacement;

[0015] When the target pitch displacement is greater than the maximum pitch beam interval and less than or equal to the product of the maximum pitch beam interval and a first preset value, determining the target pitch beam interval of each arc segment included in the S-shaped scanning trajectory as a ratio of the target pitch displacement to the first preset value, where the first preset value is an integer greater than 1;

[0016] When the target pitch displacement is greater than the product of the maximum pitch beam interval and the first preset value, the target pitch beam interval of each arc segment included in the S-shaped scanning trajectory is determined as the ratio of the target pitch displacement to a second preset value, where the second preset value is an integer greater than the first preset value.

[0017] Optionally, the step of calculating the arc segment angular rate of each arc segment according to the target pitch beam interval and the scanning angular rate includes:

[0018] A ratio of the scanning angular rate to half of the target pitch beam interval is calculated as the arc segment angular rate of each arc segment.

[0019] Optionally, the step of sequentially determining the real-time reference angle information of the target tracker based on the scanning start point angle information, the target azimuth displacement, the target pitch displacement, the target pitch beam spacing, the scanning angular rate, and the arc segment angular rate includes:

[0020] Using the scanning starting point angle information as the reference angle information of the previous cycle;

[0021] Straight line segment operation steps: according to the reference angle information of the previous cycle, the scanning angular rate and the preset sampling period, sequentially calculating the real-time azimuth reference angle information and the real-time pitch reference angle information of each current cycle of the straight line segment until the total azimuth displacement is greater than or equal to the target azimuth displacement;

[0022] Arc segment operation steps: using the real-time azimuth reference angle information and real-time pitch reference angle information of the current cycle as the azimuth reference angle information and pitch reference angle information of the previous cycle, and sequentially calculating the real-time azimuth reference angle information and real-time pitch reference angle information of each current cycle of the arc segment based on the azimuth reference angle information and pitch reference angle information of the previous cycle, the arc segment angular rate, and the target pitch beam interval, until the total change in the arc segment angle is greater than or equal to the preset angle;

[0023] Using the real-time azimuth reference angle information and the real-time pitch reference angle information of the current cycle as the azimuth reference angle information and the pitch reference angle information of the previous cycle, and determining whether the total pitch displacement is greater than or equal to the target pitch displacement;

[0024] If not, return to the straight line segment operation step;

[0025] If yes, return to execute the straight line segment operation step and end the process.

[0026] Optionally, the step of sequentially calculating the real-time azimuth reference angle information and the real-time pitch reference angle information of each current cycle of the straight line segment based on the reference angle information of the previous cycle, the scanning angular rate, and a preset sampling cycle until the total azimuth displacement is greater than or equal to the target azimuth displacement includes:

[0027] Determining the azimuth displacement of the straight line segment in each sampling period; the azimuth displacement is calculated based on a preset sampling period and the scanning angular rate;

[0028] Calculating the real-time azimuth reference angle information of the current cycle based on the azimuth displacement and the azimuth reference angle information of the previous cycle; and determining the pitch reference angle information of the previous cycle as the real-time pitch reference angle information of the current cycle;

[0029] Determining a total azimuth displacement, and determining whether the total azimuth displacement is greater than or equal to the target azimuth displacement;

[0030] If not, use the real-time azimuth reference angle information as the azimuth reference angle information of the previous period, use the real-time pitch reference angle information as the pitch reference angle information of the previous period, and return to execute the step of calculating the real-time azimuth reference angle information of the current period based on the azimuth displacement and the azimuth reference angle information of the previous period.

[0031] Optionally, the step of determining the total azimuth displacement includes:

[0032] Calculating the total azimuth displacement based on the real-time azimuth reference angle information of the current period and the starting azimuth angle; or

[0033] A straight line segment period count value is determined, and a total azimuth displacement is calculated based on the straight line segment period count value and the azimuth displacement.

[0034] Optionally, the step of sequentially calculating the real-time azimuth reference angle information and the real-time pitch reference angle information of each current cycle of the arc segment according to the azimuth reference angle information and the pitch reference angle information of the previous cycle, the arc segment angular rate, and the target pitch beam interval until the total change in the arc segment angle is greater than or equal to a preset angle includes:

[0035] Determine an arc segment angle change corresponding to each sampling period, wherein the arc segment angle change is calculated based on the arc segment angular velocity;

[0036] Determining an arc segment azimuth displacement and an arc segment pitch displacement in each sampling period; the arc segment azimuth displacement and the arc segment pitch displacement are both calculated based on the arc segment angle change and the target pitch beam interval;

[0037] Calculating the real-time azimuth reference angle information of the current cycle based on the azimuth displacement of the arc segment and the azimuth reference angle information of the previous cycle; calculating the real-time pitch reference angle information of the current cycle based on the pitch displacement of the arc segment and the pitch reference angle information of the previous cycle;

[0038] Determining a total change in the angle of the arc segment, and judging whether the total change in the angle of the arc segment is greater than or equal to a preset angle;

[0039] If not, use the real-time azimuth reference angle information as the azimuth reference angle information of the previous cycle, use the real-time pitch reference angle information as the pitch reference angle information of the previous cycle, and return to execute the step of calculating the real-time azimuth reference angle information of the current cycle based on the arc segment azimuth displacement and the azimuth reference angle information of the previous cycle.

[0040] Optionally, the step of determining the total change in the arc segment angle includes:

[0041] An arc segment period count value is determined, and a total arc segment angle change is calculated based on the arc segment period count value and the arc segment angle change.

[0042] In a second aspect, an embodiment of the present application provides a target tracker scanning device based on a servo mechanism, the device comprising:

[0043] a parameter determination module, configured to determine scanning parameters; the scanning parameters including at least scanning starting point angle information, target azimuth displacement, target pitch displacement, and scanning angular rate; the scanning starting point angle information including a starting azimuth angle and a starting pitch angle; the target azimuth displacement being the angular range of the area to be scanned along the azimuth axis of a preset coordinate system, and the target pitch displacement being the angular range of the area to be scanned along the pitch axis of the preset coordinate system; the azimuth axis being the horizontal direction, and the pitch axis being the vertical direction;

[0044] a numerical calculation module, configured to calculate, based on the target pitch displacement and the scanning angular rate, and a preset S-shaped scanning trajectory, a target pitch beam interval and an arc segment angular rate for each arc segment included in the S-shaped scanning trajectory; the S-shaped scanning trajectory sequentially comprising straight segments and arc segments, each straight segment being parallel to the azimuth axis, and adjacent straight segments having opposite scanning directions, and the target pitch beam interval being the angular range of each arc segment along the pitch axis;

[0045] The position determination module is used to determine the real-time reference angle information of the target tracker in sequence according to the scanning starting point angle information, the target azimuth displacement, the target pitch displacement, the target pitch beam spacing, the scanning angular rate and the arc segment angular rate.

[0046] Optionally, the numerical calculation module is specifically used to:

[0047] Determining a maximum pitch beam spacing; wherein the maximum pitch beam spacing is determined according to the target tracker device parameters;

[0048] determining, based on a magnitude relationship between the target pitch displacement and the maximum pitch beam spacing, a pitch beam spacing corresponding to the target pitch displacement as a target pitch beam spacing for each arc segment included in the S-shaped scanning trajectory;

[0049] The arc segment angular rate of each arc segment is calculated according to the target pitch beam interval and the scanning angular rate.

[0050] Optionally, the numerical calculation module is specifically used to:

[0051] When the target pitch displacement is less than or equal to the maximum pitch beam interval, determining the target pitch beam interval of each arc segment included in the S-shaped scanning trajectory as the target pitch displacement;

[0052] When the target pitch displacement is greater than the maximum pitch beam interval and less than or equal to the product of the maximum pitch beam interval and a first preset value, determining the target pitch beam interval of each arc segment included in the S-shaped scanning trajectory as a ratio of the target pitch displacement to the first preset value, where the first preset value is an integer greater than 1;

[0053] When the target pitch displacement is greater than the product of the maximum pitch beam interval and the first preset value, the target pitch beam interval of each arc segment included in the S-shaped scanning trajectory is determined as the ratio of the target pitch displacement to a second preset value, where the second preset value is an integer greater than the first preset value.

[0054] Optionally, the numerical calculation module is specifically used to:

[0055] A ratio of the scanning angular rate to half of the target pitch beam interval is calculated as the arc segment angular rate of each arc segment.

[0056] Optionally, the location determination module is specifically configured to:

[0057] Using the scanning starting point angle information as the reference angle information of the previous cycle;

[0058] Straight line segment operation steps: according to the reference angle information of the previous cycle, the scanning angular rate and the preset sampling period, sequentially calculating the real-time azimuth reference angle information and the real-time pitch reference angle information of each current cycle of the straight line segment until the total azimuth displacement is greater than or equal to the target azimuth displacement;

[0059] Arc segment operation steps: using the real-time azimuth reference angle information and real-time pitch reference angle information of the current cycle as the azimuth reference angle information and pitch reference angle information of the previous cycle, and sequentially calculating the real-time azimuth reference angle information and real-time pitch reference angle information of each current cycle of the arc segment based on the azimuth reference angle information and pitch reference angle information of the previous cycle, the arc segment angular rate, and the target pitch beam interval, until the total change in the arc segment angle is greater than or equal to the preset angle;

[0060] Using the real-time azimuth reference angle information and the real-time pitch reference angle information of the current cycle as the azimuth reference angle information and the pitch reference angle information of the previous cycle, and determining whether the total pitch displacement is greater than or equal to the target pitch displacement;

[0061] If not, return to the straight line segment operation step;

[0062] If yes, return to execute the straight line segment operation step and end the process.

[0063] Optionally, the step of sequentially calculating the real-time azimuth reference angle information and the real-time pitch reference angle information of each current cycle of the straight line segment based on the reference angle information of the previous cycle, the scanning angular rate, and a preset sampling cycle until the total azimuth displacement is greater than or equal to the target azimuth displacement includes:

[0064] Determining the azimuth displacement of the straight line segment in each sampling period; the azimuth displacement is calculated based on a preset sampling period and the scanning angular rate;

[0065] Calculating the real-time azimuth reference angle information of the current cycle based on the azimuth displacement and the azimuth reference angle information of the previous cycle; and determining the pitch reference angle information of the previous cycle as the real-time pitch reference angle information of the current cycle;

[0066] Determining a total azimuth displacement, and determining whether the total azimuth displacement is greater than or equal to the target azimuth displacement;

[0067] If not, use the real-time azimuth reference angle information as the azimuth reference angle information of the previous period, use the real-time pitch reference angle information as the pitch reference angle information of the previous period, and return to execute the step of calculating the real-time azimuth reference angle information of the current period based on the azimuth displacement and the azimuth reference angle information of the previous period.

[0068] Optionally, the location determination module is specifically configured to:

[0069] Calculating the total azimuth displacement based on the real-time azimuth reference angle information of the current period and the starting azimuth angle; or

[0070] A straight line segment period count value is determined, and a total azimuth displacement is calculated based on the straight line segment period count value and the azimuth displacement.

[0071] Optionally, the location determination module is specifically configured to:

[0072] Determine an arc segment angle change corresponding to each sampling period, wherein the arc segment angle change is calculated based on the arc segment angular velocity;

[0073] Determining an arc segment azimuth displacement and an arc segment pitch displacement in each sampling period; the arc segment azimuth displacement and the arc segment pitch displacement are both calculated based on the arc segment angle change and the target pitch beam interval;

[0074] Calculating the real-time azimuth reference angle information of the current cycle based on the azimuth displacement of the arc segment and the azimuth reference angle information of the previous cycle; calculating the real-time pitch reference angle information of the current cycle based on the pitch displacement of the arc segment and the pitch reference angle information of the previous cycle;

[0075] Determining a total change in the angle of the arc segment, and judging whether the total change in the angle of the arc segment is greater than or equal to a preset angle;

[0076] If not, use the real-time azimuth reference angle information as the azimuth reference angle information of the previous cycle, use the real-time pitch reference angle information as the pitch reference angle information of the previous cycle, and return to execute the step of calculating the real-time azimuth reference angle information of the current cycle based on the arc segment azimuth displacement and the azimuth reference angle information of the previous cycle.

[0077] Optionally, the location determination module is specifically configured to:

[0078] An arc segment period count value is determined, and a total arc segment angle change is calculated based on the arc segment period count value and the arc segment angle change.

[0079] In the embodiment of the present application, an S-shaped scan can be performed on the scanning area. In this scanning method, the entire scanning trajectory is smooth and there is no sudden change in angle. Therefore, it can reduce the control difficulty and improve the control accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0080] To more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are merely some embodiments of the present application. Those skilled in the art can derive other drawings based on these drawings without inventive effort.

[0081] Figure 1 A schematic diagram showing the working principle of the target tracker provided in an embodiment of the present application is shown;

[0082] Figure 2 A schematic diagram of a coordinate system according to an embodiment of the present application;

[0083] Figure 3 A schematic flow chart of a servo-mechanism-based target tracker scanning method provided in an embodiment of the present application;

[0084] Figure 4 A schematic diagram of a scanning path according to an embodiment of the present application;

[0085] Figure 5 This is a schematic diagram of the arc segment angle variation in the embodiment of the present application;

[0086] Figure 6 This is a schematic diagram of the azimuth angle control principle in the embodiment of the present application;

[0087] Figure 7 A schematic structural diagram of a target tracker scanning device based on a servo mechanism provided in an embodiment of the present application. DETAILED DESCRIPTION

[0088] The following will be combined with the accompanying drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0089] It should be noted that the terms "including" and "having" and any variations thereof in the embodiments and drawings of this application are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or device comprising a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to the process, method, product, or device.

[0090] The present invention discloses a servo-mechanism-based target tracker scanning method and device, which can improve the control accuracy of the target tracker. The present invention is described in detail below.

[0091] Figure 1 The schematic diagram of the working principle of the target tracker provided in the embodiment of the present application is shown. The target tracker works in an S-shaped scanning mode. Specifically, when the target tracker is working, it can scan different areas by rotating the angle. For example, it can rotate in two directions. In the embodiment of the present application, Figure 2 As shown, a coordinate system can be established with the servo system zero point as the origin, with the horizontal direction as the azimuth axis and the vertical direction as the pitch axis, both measured in degrees. This means that the target tracker can scan different areas by adjusting its azimuth and pitch angles, respectively.

[0092] Specifically, such as Figure 1 As shown in the figure, before controlling the target tracker to scan, certain control parameters must first be determined and provided to the lower computer. These parameters include: the starting point coordinates (X, Y), the azimuth displacement ΔX, the pitch displacement ΔY, and the angular rate V. The starting point coordinates (X, Y) are the azimuth and pitch angles corresponding to the scan starting point, that is, the absolute angle of the starting point relative to the coordinate origin. The azimuth displacement ΔX is the angular range of the area to be scanned along the azimuth axis, and the pitch displacement ΔY is the angular range of the area to be scanned along the pitch axis. In other words, when the target tracker rotates by an angle ΔX along the azimuth axis, it can fully scan the area to be scanned in the azimuth direction. When the target tracker rotates by an angle ΔY along the pitch axis, it can fully scan the area to be scanned in the pitch direction. The angular rate V refers to the azimuth angular rate, that is, the scanning angle per unit time. The starting point coordinates X, Y, the azimuth displacement ΔX, and the pitch displacement ΔY are all in degrees, and the angular rate V can be in degrees per second.

[0093] The starting point (X, Y) can be an edge point of the area to be scanned. For example, if the area to be scanned is a rectangle, the starting point (X, Y) can be any of the four vertices of the rectangle. The settings for ΔX and ΔY must meet the azimuth and pitch angle ranges. For the entire servo system, both have certain limits. For example, consider a maximum ΔX of 30° and a maximum ΔY of 10°. The setting of the angular rate V also needs to take into account the scanning time to ensure that the scan is completed within the specified time.

[0094] After providing the above control parameters to the lower computer, the lower computer can perform path planning, determine the azimuth reference angle and pitch reference angle at each moment, and further control the position of the target tracker based on the servo mechanism according to the determined azimuth reference angle and pitch reference angle to perform S-shaped scanning on the area to be scanned. In other words, if Figure 2 As shown in the figure, the arrows indicate the scanning trajectory sequence. It can be seen that the entire scanning trajectory consists of straight segments and arc segments, which alternate with each other, with a smooth transition at the junction of the straight segments and the arc segments. Therefore, there are no sudden speed changes in the entire scanning trajectory, which reduces the control difficulty and enables precise control of the target tracker.

[0095] like Figure 3, which shows a flow chart of a target tracker scanning method based on a servo mechanism provided in an embodiment of the present application, the flow includes the following steps:

[0096] S310: Determine scanning parameters; the scanning parameters include at least scanning starting point angle information, target azimuth displacement, target pitch displacement, and scanning angular rate;

[0097] S320: Calculating target pitch beam spacing and arc segment angular rate of each arc segment included in the S-shaped scanning trajectory based on the target pitch displacement and scanning angular rate, as well as a preset S-shaped scanning trajectory.

[0098] In the embodiment of the present application, in order to ensure a smooth transition at the connection between the straight line segment and the arc segment, it is necessary to meet the scanning angular rate and the linear velocity at the arc (ie Figure 2 The linear velocity of each arc segment in the trajectory shown should be consistent. In other words, the scanning angular rate V and the arc segment angular rate ω need to satisfy the following constraint: V = ω * (Δ / 2). Where Δ is the target pitch beam spacing of each arc segment, that is, the angle that the target tracker rotates along the pitch axis when scanning each arc segment, as shown in Figure 2. Figure 2 shown.

[0099] In the above constraint V=ω*(Δ / 2), V is known, so the value of Δ needs to be determined first.

[0100] It is understood that for any target tracker, the angle of rotation along the pitch axis during its scanning process is limited. In the embodiments of the present application, the maximum angle of rotation of the target tracker along the pitch axis can be referred to as the maximum pitch beam spacing. A larger maximum pitch beam spacing indicates that the target tracker can scan a larger area in a single arc segment, while a smaller maximum pitch beam spacing indicates that the target tracker can scan a smaller area in a single arc segment.

[0101] Once the maximum pitch beam spacing and target pitch displacement of the target tracker are determined, the target pitch beam spacing for each arc segment included in the S-shaped scanning trajectory can be determined based on the maximum pitch beam spacing and the target pitch displacement. For example, the determination can be performed according to the following steps: when the target pitch displacement is less than or equal to the maximum pitch beam spacing, the target pitch beam spacing for each arc segment included in the S-shaped scanning trajectory is determined to be the target pitch displacement; when the target pitch displacement is greater than the maximum pitch beam spacing and less than or equal to the product of the maximum pitch beam spacing and a first preset value, the target pitch beam spacing for each arc segment included in the S-shaped scanning trajectory is determined to be the ratio of the target pitch displacement to the first preset value, where the first preset value is an integer greater than 1; and when the target pitch displacement is greater than the product of the maximum pitch beam spacing and the first preset value, the target pitch beam spacing for each arc segment included in the S-shaped scanning trajectory is determined to be the ratio of the target pitch displacement to a second preset value, where the second preset value is an integer greater than the first preset value.

[0102] That is to say, when the target pitch displacement is less than or equal to the maximum pitch beam interval, only one arc segment is required to scan the entire interval to be scanned. When the target pitch displacement is greater than the maximum pitch beam interval, multiple arc segments are required to scan the entire interval to be scanned. The greater the target pitch displacement, the more arc segments are required.

[0103] In a specific embodiment, the value of Δ can be determined according to the following constraint relationship:

[0104] The relationship between ΔY and ΔMAX Δ value ΔY≤ΔMAX ΔY ΔMAX<ΔY≤2ΔMAX 0.5ΔY 2ΔMAX<ΔY≤10° ΔY / 3

[0105] ΔMAX is the maximum elevation beam spacing, and its value is related to the antenna characteristics. For example, when the antenna coverage range is up to 4°, ΔMAX can be designed to be equal to 4°. If Δ is designed to be greater than 4°, there will be areas that cannot be scanned.

[0106] It can be understood that as the target pitch displacement ΔY increases, the scanning curve will also increase the cycle path accordingly. If ΔY is 10° and ΔMAX is 4°, the scanning path is as follows: Figure 4 shown.

[0107] Based on the constraint V = ω * (Δ / 2), once the scan angular rate V and the target elevation beam spacing Δ are determined, the arc segment angular rate ω can be calculated. In other words, the ratio of the scan angular rate to half the target elevation beam spacing can be calculated as the segment angular rate for each arc segment.

[0108] S330: Determine the real-time reference angle information of the target tracker in sequence according to the scanning starting point angle information, the target azimuth displacement, the target pitch displacement, the target pitch beam interval, the scanning angular rate and the arc segment angular rate.

[0109] After determining the above parameters, the real-time reference angle information of the target tracker can be determined in sequence based on the scanning starting point angle information, target azimuth displacement, target pitch displacement, target pitch beam spacing, scanning angular rate, and arc segment angular rate. In other words, the reference position of the azimuth and pitch directions can be calculated and output in real time, thereby controlling the target tracker to scan the area to be scanned. In the embodiment of the present application, the S-shaped scanning trajectory is an alternation of straight line segments and arc segments. Therefore, it is necessary to cyclically execute the straight line segment and arc segment operations until the entire area to be scanned is scanned.

[0110] In one implementation, the real-time reference angle information of the target tracker may be determined according to the following steps in sequence:

[0111] The scanning starting point angle information is used as the reference angle information of the previous cycle;

[0112] Straight line segment operation steps: Based on the reference angle information of the previous cycle, the scanning angular rate, and the preset sampling period, the real-time azimuth reference angle information and real-time pitch reference angle information of each current cycle of the straight line segment are calculated in sequence until the total azimuth displacement is greater than or equal to the target azimuth displacement;

[0113] Arc segment operation steps: Use the real-time azimuth reference angle information and real-time pitch reference angle information of the current cycle as the azimuth reference angle information and pitch reference angle information of the previous cycle, and calculate the real-time azimuth reference angle information and real-time pitch reference angle information of each current cycle of the arc segment in sequence based on the azimuth reference angle information and pitch reference angle information of the previous cycle, the arc segment angular rate, and the target pitch beam interval, until the total angle change of the arc segment is greater than or equal to the preset angle;

[0114] Using the real-time azimuth reference angle information and real-time pitch reference angle information of the current cycle as the azimuth reference angle information and pitch reference angle information of the previous cycle, and determining whether the total pitch displacement is greater than or equal to the target pitch displacement;

[0115] If not, return to the step of performing the straight line segment operation;

[0116] If yes, return to the step of executing the straight line segment operation and end the process.

[0117] The straight line segment operation steps may specifically include:

[0118] Determine the azimuth displacement of the straight line segment in each sampling period; the azimuth displacement is calculated based on a preset sampling period and a scanning angular rate;

[0119] Calculate the real-time azimuth reference angle information of the current cycle based on the azimuth displacement and the azimuth reference angle information of the previous cycle; and determine the pitch reference angle information of the previous cycle as the real-time pitch reference angle information of the current cycle;

[0120] Determine the total azimuth displacement and judge whether the total azimuth displacement is greater than or equal to the target azimuth displacement;

[0121] If not, use the real-time azimuth reference angle information as the azimuth reference angle information of the previous period, use the real-time pitch reference angle information as the pitch reference angle information of the previous period, and return to execute the step of calculating the real-time azimuth reference angle information of the current period based on the azimuth displacement and the azimuth reference angle information of the previous period.

[0122] When calculating the total azimuth displacement, the difference between the real-time azimuth reference angle and the starting azimuth angle can be calculated as the total azimuth displacement; or the product of the azimuth displacement and the straight line segment period count value can be calculated as the total azimuth displacement.

[0123] The arc segment operation steps may include:

[0124] Determine the arc segment angle change corresponding to each sampling period, and the arc segment angle change is calculated based on the arc segment angular velocity;

[0125] Determine the arc segment azimuth displacement and the arc segment pitch displacement of each sampling period; the arc segment azimuth displacement and the arc segment pitch displacement are both calculated based on the arc segment angle change and the target pitch beam interval;

[0126] Calculate the real-time azimuth reference angle information of the current cycle based on the azimuth displacement of the arc segment and the azimuth reference angle information of the previous cycle; calculate the real-time pitch reference angle information of the current cycle based on the pitch displacement of the arc segment and the pitch reference angle information of the previous cycle;

[0127] Determine the total change in the arc segment angle, and determine whether the total change in the arc segment angle is greater than or equal to a preset angle;

[0128] If not, use the real-time azimuth reference angle information as the azimuth reference angle information of the previous cycle, use the real-time pitch reference angle information as the pitch reference angle information of the previous cycle, and return to execute the step of calculating the real-time azimuth reference angle information of the current cycle based on the arc segment azimuth displacement and the azimuth reference angle information of the previous cycle.

[0129] When calculating the total change in the arc segment angle, the product of the arc segment angle change and the arc segment period count value may be calculated as the total change in the arc segment angle.

[0130] The following describes a process of determining the real-time reference angle information of a target tracker in conjunction with a specific implementation.

[0131] First, the sampling period can be defined, for example, 1ms, that is, 1ms outputs a reference angle, and the displacement in the azimuth and pitch directions within a single period is defined as ΔX1, ΔY1, and the reference angle is ΔX1. Figure 4 , the initial segment has only azimuth displacement, and the pitch direction remains unchanged. It is defined as a straight line segment and calculated as:

[0132] ΔX1=V*0.001

[0133] ΔY1=0

[0134] X r =X last +ΔX1

[0135] Y r =Y last +ΔY1

[0136] ΔX act =V*0.001*xCnt

[0137] Among them, X r , Y r is the reference angle of the azimuth and elevation directions of the current cycle, X last and Y last is the reference angle of the azimuth and pitch of the previous cycle. In the first cycle, the starting point (X, Y) is X in the above formula. last and Y last In addition, the above formula introduces ΔX act , is the actual displacement change of the azimuth, that is, the total displacement of the azimuth, and xCnt is the period count value of the straight line segment.

[0138] When ΔX is detected act Greater than or equal to ΔX, enter the arc segment, such as Figure 5 As shown, according to the above formula V = ω * (Δ / 2), ω is calculated. The total angle of the arc segment is 180°, so the angle change each time is theta = 180° / ω. According to the sine and cosine theorems, the changes in azimuth and elevation in each cycle are:

[0139]

[0140] X r =X last +ΔX1

[0141] Y r =Y last +ΔY1

[0142] Δtheta act=theta*yCnt

[0143] In the above formula, Δthet act is the actual displacement angle of the arc segment, that is, the total change in the angle of the arc segment. When Δtheta is detected act If it is greater than or equal to 180°, it will enter the next straight line segment.

[0144] As mentioned above, the straight line segment and the arc segment are executed cyclically, and the reference angles of azimuth and pitch are output in real time. r When it is greater than or equal to ΔY, the last straight line segment planning is performed, and when it is completed, it means that an S scan instruction is completed.

[0145] After determining the real-time reference angle information of the target tracker, the azimuth and pitch angles of the target tracker can be controlled based on the two motors. Figure 6 The azimuth angle control principle is shown in the figure. After receiving the reference position (i.e. azimuth angle) information, it is subtracted from the position information fed back by the motor to output the reference speed. The reference speed is explained as follows:

[0146] Introducing e to represent the error between the reference position and the position information fed back by the motor, the following formula can be obtained through PI control:

[0147]

[0148] In the above formula, kp and ki are the control parameters of PI control, which are preset values. Represents integral operation (s is the differential operator). kp is the proportional parameter, which is responsible for quickly responding to system deviations. ki is the integral parameter, which is used to eliminate static errors and ensure the accuracy of system output. Appropriate kp and ki can be selected according to the speed and accuracy of the system. For example, to facilitate the description of the above formula, the following example is introduced. Someone needs to run from 0 meters to 100 meters. The distance is the farthest at the beginning, so it is expected to start running at the maximum speed. When gradually approaching 100 meters, the expected speed should gradually decrease. When reaching 100 meters, the speed should be reduced to 0. Analyzing the above formula, at time zero, the distance is the farthest, e is the largest, Maximum, as the distance gets closer to 100 meters, e gradually decreases, Gradually decreases, when e is 0, will also become 0, which can represent the change in the speed of the entire process, so Can be used as a reference speed.

[0149] After obtaining the reference speed, the difference between it and the actual speed of the motor is calculated, and the output reference current is controlled by speed PI, which is calculated as follows:

[0150]

[0151] Here, e represents the error between the reference speed and the actual speed.

[0152] After obtaining the reference current, the difference between it and the actual current fed back is calculated and the output voltage is controlled by current PI. The calculation is as follows:

[0153]

[0154] Here, e represents the error between the reference current and the actual current.

[0155] Once u is obtained, the motor can be controlled to drive the target tracker to complete the control.

[0156] In the embodiment of the present application, an S-shaped scan can be performed on the scanning area. In this scanning method, the entire scanning trajectory is smooth and there is no sudden change in angle. Therefore, it can reduce the control difficulty and improve the control accuracy.

[0157] Figure 7 The following is a schematic diagram of a target tracker scanning device based on a servo mechanism provided in an embodiment of the present application, wherein the device comprises:

[0158] Parameter determination module 710 is configured to determine scanning parameters; the scanning parameters include at least scanning starting point angle information, target azimuth displacement, target pitch displacement, and scanning angular rate; the scanning starting point angle information includes a starting azimuth angle and a starting pitch angle; the target azimuth displacement is the angular range of the area to be scanned along the azimuth axis of a preset coordinate system, and the target pitch displacement is the angular range of the area to be scanned along the pitch axis of the preset coordinate system; the azimuth axis is horizontal, and the pitch axis is vertical;

[0159] a numerical calculation module 720 configured to calculate, based on the target pitch displacement and the scanning angular rate, a target pitch beam spacing and an arc segment angular rate for each arc segment included in a pre-set S-shaped scanning trajectory; the S-shaped scanning trajectory sequentially comprising straight segments and arc segments, each straight segment being parallel to the azimuth axis, and adjacent straight segments having opposite scanning directions; and the target pitch beam spacing being the angular range of each arc segment along the pitch axis.

[0160] The position determination module 730 is used to determine the real-time reference angle information of the target tracker in sequence according to the scanning starting point angle information, the target azimuth displacement, the target pitch displacement, the target pitch beam spacing, the scanning angular rate and the arc segment angular rate.

[0161] Optionally, the numerical calculation module 720 is specifically configured to:

[0162] Determining a maximum pitch beam spacing; wherein the maximum pitch beam spacing is determined according to the target tracker device parameters;

[0163] determining, based on a magnitude relationship between the target pitch displacement and the maximum pitch beam spacing, a pitch beam spacing corresponding to the target pitch displacement as a target pitch beam spacing for each arc segment included in the S-shaped scanning trajectory;

[0164] The arc segment angular rate of each arc segment is calculated according to the target pitch beam interval and the scanning angular rate.

[0165] Optionally, the numerical calculation module 720 is specifically configured to:

[0166] When the target pitch displacement is less than or equal to the maximum pitch beam interval, determining the target pitch beam interval of each arc segment included in the S-shaped scanning trajectory as the target pitch displacement;

[0167] When the target pitch displacement is greater than the maximum pitch beam interval and less than or equal to the product of the maximum pitch beam interval and a first preset value, determining the target pitch beam interval of each arc segment included in the S-shaped scanning trajectory as a ratio of the target pitch displacement to the first preset value, where the first preset value is an integer greater than 1;

[0168] When the target pitch displacement is greater than the product of the maximum pitch beam interval and the first preset value, the target pitch beam interval of each arc segment included in the S-shaped scanning trajectory is determined as the ratio of the target pitch displacement to a second preset value, where the second preset value is an integer greater than the first preset value.

[0169] Optionally, the numerical calculation module 720 is specifically configured to:

[0170] A ratio of the scanning angular rate to half of the target pitch beam interval is calculated as the arc segment angular rate of each arc segment.

[0171] Optionally, the location determination module 730 is specifically configured to:

[0172] Using the scanning starting point angle information as the reference angle information of the previous cycle;

[0173] Straight line segment operation steps: according to the reference angle information of the previous cycle, the scanning angular rate and the preset sampling period, sequentially calculating the real-time azimuth reference angle information and the real-time pitch reference angle information of each current cycle of the straight line segment until the total azimuth displacement is greater than or equal to the target azimuth displacement;

[0174] Arc segment operation steps: using the real-time azimuth reference angle information and real-time pitch reference angle information of the current cycle as the azimuth reference angle information and pitch reference angle information of the previous cycle, and sequentially calculating the real-time azimuth reference angle information and real-time pitch reference angle information of each current cycle of the arc segment based on the azimuth reference angle information and pitch reference angle information of the previous cycle, the arc segment angular rate, and the target pitch beam interval, until the total change in the arc segment angle is greater than or equal to the preset angle;

[0175] Using the real-time azimuth reference angle information and the real-time pitch reference angle information of the current cycle as the azimuth reference angle information and the pitch reference angle information of the previous cycle, and determining whether the total pitch displacement is greater than or equal to the target pitch displacement;

[0176] If not, return to the straight line segment operation step;

[0177] If yes, return to execute the straight line segment operation step and end the process.

[0178] Optionally, the step of sequentially calculating the real-time azimuth reference angle information and the real-time pitch reference angle information of each current cycle of the straight line segment based on the reference angle information of the previous cycle, the scanning angular rate, and a preset sampling cycle until the total azimuth displacement is greater than or equal to the target azimuth displacement includes:

[0179] Determining the azimuth displacement of the straight line segment in each sampling period; the azimuth displacement is calculated based on a preset sampling period and the scanning angular rate;

[0180] Calculating the real-time azimuth reference angle information of the current cycle based on the azimuth displacement and the azimuth reference angle information of the previous cycle; and determining the pitch reference angle information of the previous cycle as the real-time pitch reference angle information of the current cycle;

[0181] Determining a total azimuth displacement, and determining whether the total azimuth displacement is greater than or equal to the target azimuth displacement;

[0182] If not, use the real-time azimuth reference angle information as the azimuth reference angle information of the previous period, use the real-time pitch reference angle information as the pitch reference angle information of the previous period, and return to execute the step of calculating the real-time azimuth reference angle information of the current period based on the azimuth displacement and the azimuth reference angle information of the previous period.

[0183] Optionally, the location determination module 730 is specifically configured to:

[0184] Calculating the total azimuth displacement based on the real-time azimuth reference angle information of the current period and the starting azimuth angle; or

[0185] A straight line segment period count value is determined, and a total azimuth displacement is calculated based on the straight line segment period count value and the azimuth displacement.

[0186] Optionally, the location determination module 730 is specifically configured to:

[0187] Determine an arc segment angle change corresponding to each sampling period, wherein the arc segment angle change is calculated based on the arc segment angular velocity;

[0188] Determining an arc segment azimuth displacement and an arc segment pitch displacement in each sampling period; the arc segment azimuth displacement and the arc segment pitch displacement are both calculated based on the arc segment angle change and the target pitch beam interval;

[0189] Calculating the real-time azimuth reference angle information of the current cycle based on the azimuth displacement of the arc segment and the azimuth reference angle information of the previous cycle; calculating the real-time pitch reference angle information of the current cycle based on the pitch displacement of the arc segment and the pitch reference angle information of the previous cycle;

[0190] Determining a total change in the angle of the arc segment, and judging whether the total change in the angle of the arc segment is greater than or equal to a preset angle;

[0191] If not, use the real-time azimuth reference angle information as the azimuth reference angle information of the previous cycle, use the real-time pitch reference angle information as the pitch reference angle information of the previous cycle, and return to execute the step of calculating the real-time azimuth reference angle information of the current cycle based on the arc segment azimuth displacement and the azimuth reference angle information of the previous cycle.

[0192] Optionally, the location determination module 730 is specifically configured to:

[0193] An arc segment period count value is determined, and a total arc segment angle change is calculated based on the arc segment period count value and the arc segment angle change.

[0194] In the embodiment of the present application, an S-shaped scan can be performed on the scanning area. In this scanning method, the entire scanning trajectory is smooth and there is no sudden change in angle. Therefore, it can reduce the control difficulty and improve the control accuracy.

[0195] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of an embodiment, and the modules or processes in the accompanying drawings are not necessarily required to implement the present application.

[0196] Those skilled in the art will appreciate that the modules in the apparatuses of the embodiments may be distributed in the apparatuses of the embodiments as described in the embodiments, or may be located in one or more apparatuses different from the embodiments with corresponding changes. The modules in the above embodiments may be combined into one module or further divided into multiple sub-modules.

[0197] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A target tracker scanning method based on a servo mechanism, characterized in that: The method comprises: Determine scanning parameters; the scanning parameters include at least scanning starting point angle information, target azimuth displacement, target pitch displacement, and scanning angular rate; the scanning starting point angle information includes a starting azimuth angle and a starting pitch angle; the target azimuth displacement is an angular range of the area to be scanned along the azimuth axis of a preset coordinate system, and the target pitch displacement is an angular range of the area to be scanned along the pitch axis of the preset coordinate system; the azimuth axis direction is a horizontal direction, and the pitch axis direction is a vertical direction; Based on the target pitch displacement and the scanning angular rate, as well as a pre-set S-shaped scanning trajectory, a target pitch beam spacing and an arc segment angular rate of each arc segment included in the S-shaped scanning trajectory are calculated; the S-shaped scanning trajectory sequentially includes straight segments and arc segments, each straight segment is parallel to the azimuth axis, and the scanning directions of two adjacent straight segments are opposite, and the target pitch beam spacing is the angular range of each arc segment along the pitch axis; The real-time reference angle information of the target tracker is determined in sequence according to the scanning starting point angle information, the target azimuth displacement, the target pitch displacement, the target pitch beam interval, the scanning angular rate and the arc segment angular rate.

2. The method according to claim 1, characterized in that The step of calculating the target pitch beam spacing and arc segment angular rate of each arc segment included in the S-shaped scanning trajectory based on the target pitch displacement and the scanning angular rate, and a preset S-shaped scanning trajectory comprises: Determining a maximum pitch beam spacing; wherein the maximum pitch beam spacing is determined according to the target tracker device parameters; determining, based on a magnitude relationship between the target pitch displacement and the maximum pitch beam spacing, a pitch beam spacing corresponding to the target pitch displacement as a target pitch beam spacing for each arc segment included in the S-shaped scanning trajectory; The arc segment angular rate of each arc segment is calculated according to the target pitch beam interval and the scanning angular rate.

3. The method according to claim 2, characterized in that The step of determining, based on a magnitude relationship between the target pitch displacement and the maximum pitch beam interval, a pitch beam interval corresponding to the target pitch displacement as a target pitch beam interval for each arc segment included in the S-shaped scanning trajectory comprises: When the target pitch displacement is less than or equal to the maximum pitch beam interval, determining the target pitch beam interval of each arc segment included in the S-shaped scanning trajectory as the target pitch displacement; When the target pitch displacement is greater than the maximum pitch beam interval and less than or equal to the product of the maximum pitch beam interval and a first preset value, determining the target pitch beam interval of each arc segment included in the S-shaped scanning trajectory as a ratio of the target pitch displacement to the first preset value, where the first preset value is an integer greater than 1; When the target pitch displacement is greater than the product of the maximum pitch beam interval and the first preset value, the target pitch beam interval of each arc segment included in the S-shaped scanning trajectory is determined as the ratio of the target pitch displacement to a second preset value, where the second preset value is an integer greater than the first preset value.

4. The method according to claim 2, characterized in that The step of calculating the arc segment angular rate of each arc segment according to the target pitch beam interval and the scanning angular rate comprises: A ratio of the scanning angular rate to half of the target pitch beam interval is calculated as the arc segment angular rate of each arc segment.

5. The method according to claim 1, wherein The step of sequentially determining the real-time reference angle information of the target tracker according to the scanning starting point angle information, the target azimuth displacement, the target pitch displacement, the target pitch beam interval, the scanning angular rate, and the arc segment angular rate comprises: Using the scanning starting point angle information as the reference angle information of the previous cycle; Straight line segment operation steps: according to the reference angle information of the previous cycle, the scanning angular rate and the preset sampling period, sequentially calculating the real-time azimuth reference angle information and the real-time pitch reference angle information of each current cycle of the straight line segment until the total azimuth displacement is greater than or equal to the target azimuth displacement; Arc segment operation steps: using the real-time azimuth reference angle information and real-time pitch reference angle information of the current cycle as the azimuth reference angle information and pitch reference angle information of the previous cycle, and sequentially calculating the real-time azimuth reference angle information and real-time pitch reference angle information of each current cycle of the arc segment based on the azimuth reference angle information and pitch reference angle information of the previous cycle, the arc segment angular rate, and the target pitch beam interval, until the total change in the arc segment angle is greater than or equal to the preset angle; Using the real-time azimuth reference angle information and the real-time pitch reference angle information of the current cycle as the azimuth reference angle information and the pitch reference angle information of the previous cycle, and determining whether the total pitch displacement is greater than or equal to the target pitch displacement; If not, return to the straight line segment operation step; If yes, return to execute the straight line segment operation step and end the process.

6. The method according to claim 5, characterized in that The step of sequentially calculating the real-time azimuth reference angle information and the real-time pitch reference angle information of each current cycle of the straight line segment according to the reference angle information of the previous cycle, the scanning angular rate, and a preset sampling cycle until the total azimuth displacement is greater than or equal to the target azimuth displacement includes: Determining the azimuth displacement of the straight line segment in each sampling period; the azimuth displacement is calculated based on a preset sampling period and the scanning angular rate; Calculating the real-time azimuth reference angle information of the current cycle based on the azimuth displacement and the azimuth reference angle information of the previous cycle; and determining the pitch reference angle information of the previous cycle as the real-time pitch reference angle information of the current cycle; Determining a total azimuth displacement, and determining whether the total azimuth displacement is greater than or equal to the target azimuth displacement; If not, use the real-time azimuth reference angle information as the azimuth reference angle information of the previous period, use the real-time pitch reference angle information as the pitch reference angle information of the previous period, and return to execute the step of calculating the real-time azimuth reference angle information of the current period based on the azimuth displacement and the azimuth reference angle information of the previous period.

7. The method according to claim 6, characterized in that The step of determining the total azimuth displacement comprises: Calculating the total azimuth displacement based on the real-time azimuth reference angle information of the current period and the starting azimuth angle; or A straight line segment period count value is determined, and a total azimuth displacement is calculated based on the straight line segment period count value and the azimuth displacement.

8. The method according to claim 5, characterized in that The step of sequentially calculating the real-time azimuth reference angle information and the real-time pitch reference angle information of each current cycle of the arc segment according to the azimuth reference angle information and the pitch reference angle information of the previous cycle, the arc segment angular rate, and the target pitch beam interval until the total change in the arc segment angle is greater than or equal to the preset angle includes: Determine an arc segment angle change corresponding to each sampling period, wherein the arc segment angle change is calculated based on the arc segment angular velocity; Determining an arc segment azimuth displacement and an arc segment pitch displacement in each sampling period; the arc segment azimuth displacement and the arc segment pitch displacement are both calculated based on the arc segment angle change and the target pitch beam interval; Calculating the real-time azimuth reference angle information of the current cycle based on the azimuth displacement of the arc segment and the azimuth reference angle information of the previous cycle; calculating the real-time pitch reference angle information of the current cycle based on the pitch displacement of the arc segment and the pitch reference angle information of the previous cycle; Determining a total change in the angle of the arc segment, and judging whether the total change in the angle of the arc segment is greater than or equal to a preset angle; If not, use the real-time azimuth reference angle information as the azimuth reference angle information of the previous cycle, use the real-time pitch reference angle information as the pitch reference angle information of the previous cycle, and return to execute the step of calculating the real-time azimuth reference angle information of the current cycle based on the arc segment azimuth displacement and the azimuth reference angle information of the previous cycle.

9. The method according to claim 8, characterized in that The step of determining the total change in arc segment angle comprises: An arc segment period count value is determined, and a total arc segment angle change is calculated based on the arc segment period count value and the arc segment angle change.

10. A target tracker scanning device based on a servo mechanism, characterized in that: The device comprises: a parameter determination module, configured to determine scanning parameters; the scanning parameters including at least scanning starting point angle information, target azimuth displacement, target pitch displacement, and scanning angular rate; the scanning starting point angle information including a starting azimuth angle and a starting pitch angle; the target azimuth displacement being the angular range of the area to be scanned along the azimuth axis of a preset coordinate system, and the target pitch displacement being the angular range of the area to be scanned along the pitch axis of the preset coordinate system; the azimuth axis being the horizontal direction, and the pitch axis being the vertical direction; a numerical calculation module, configured to calculate, based on the target pitch displacement and the scanning angular rate, and a preset S-shaped scanning trajectory, a target pitch beam interval and an arc segment angular rate for each arc segment included in the S-shaped scanning trajectory; the S-shaped scanning trajectory sequentially comprising straight segments and arc segments, each straight segment being parallel to the azimuth axis, and adjacent straight segments having opposite scanning directions, and the target pitch beam interval being the angular range of each arc segment along the pitch axis; The position determination module is used to determine the real-time reference angle information of the target tracker in sequence according to the scanning starting point angle information, the target azimuth displacement, the target pitch displacement, the target pitch beam spacing, the scanning angular rate and the arc segment angular rate.

Images