A target tracker scanning method and apparatus based on a servo mechanism

Abstract

This application discloses a target tracker scanning method and apparatus based on a servo mechanism. The method includes: determining scanning parameters; the scanning parameters include at least scanning start point angle information, target azimuth displacement, target pitch displacement, and scanning angular rate; calculating the target pitch beam interval 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 pre-set S-shaped scanning trajectory; and sequentially determining the real-time reference angle information of the target tracker according to the scanning start 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. Applying the solution provided in this application can improve the control accuracy of the target tracker.

Description

Technical Field

[0001] This application relates to the field of tracker technology, and more specifically, to a target tracker scanning method and apparatus based on a servo mechanism. Background Technology

[0002] With the advancement of radar technology, its applications are becoming increasingly widespread. By controlling the movement of the radar antenna, it is possible to search for and track targets within a specified scanning range. The movement of the radar antenna is achieved through a servo mechanism. Millimeter-wave target trackers, mounted on aircraft, can utilize radar technology to achieve high-precision target detection and tracking. Millimeter-wave target trackers, due to their narrow beamwidth, offer advantages in angular resolution and angular tracking accuracy. However, their narrow beamwidth also results in a smaller instantaneous field of view; therefore, an effective scanning method needs to be designed to ensure that the target falls within the beam range.

[0003] Known target tracker scanning methods mainly include linear scanning trajectories and square scanning trajectories. However, these methods all experience jumps in scanning angles during scanning, leading to sudden changes in motor speed, making control difficult and resulting in low control accuracy. Therefore, improving the control accuracy of target trackers has become an urgent technical problem to be solved. Summary of the Invention

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

[0005] In a first aspect, embodiments of this application provide a target tracker scanning method, the method comprising:

[0006] Determine the scanning parameters; the scanning parameters include at least the scanning start point angle information, target azimuth displacement, target pitch displacement, and scanning angular rate; the scanning start point angle information includes the start azimuth angle and the start pitch angle; the target azimuth displacement is the angular range of the area to be scanned along the azimuth axis of the 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.

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

[0008] 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, the real-time reference angle information of the target tracker is determined sequentially.

[0009] Optionally, 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, the scanning angular rate, and a pre-set S-shaped scanning trajectory includes:

[0010] Determine the maximum pitch beam spacing; the maximum pitch beam spacing is determined based on the target tracker device parameters;

[0011] Based on the relationship between the target pitch displacement and the maximum pitch beam interval, the pitch beam interval corresponding to the target pitch displacement is determined and used as the target pitch beam interval for each arc segment included in the S-shaped scanning trajectory.

[0012] The arc segment angular rate of each arc segment is calculated based on the target elevation beam spacing and the scanning angular rate.

[0013] Optionally, the step of determining the pitch beam interval corresponding to the target pitch displacement based on the relationship between the target pitch displacement and the maximum pitch beam interval, as the 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, the target pitch beam interval of each arc segment included in the S-shaped scanning trajectory is determined 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 the first preset value, the target pitch beam interval of 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.

[0016] 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 of each arc segment included in the S-shaped scanning trajectory is determined to be the ratio of the target pitch displacement to the 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 based on the target elevation beam spacing and the scanning angular rate includes:

[0018] The ratio of the scanning angular rate to half of the target pitch beam spacing 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] The scanning start point angle information is used as the reference angle information for the previous cycle;

[0021] Line segment operation steps: Based on the reference angle information of the previous cycle, the scanning angular rate, and the preset sampling period, calculate the real-time azimuth reference angle information and real-time pitch reference angle information of each current cycle of the line segment in sequence until the total azimuth displacement is greater than or equal to the target azimuth displacement.

[0022] 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. 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, calculate the real-time azimuth reference angle information and real-time pitch reference angle information of the arc segment for each current cycle in sequence until the total change in arc segment angle is greater than or equal to the preset angle.

[0023] The real-time azimuth reference angle information and real-time pitch reference angle information of the current cycle are used as the azimuth reference angle information and pitch reference angle information of the previous cycle, and it is determined whether the total pitch displacement is greater than or equal to the target pitch displacement.

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

[0025] If so, return to execute the line segment operation steps and end the process.

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

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

[0028] Based on the azimuth displacement and the azimuth reference angle information of the previous cycle, calculate the real-time azimuth reference angle information of the current cycle; and determine the pitch reference angle information of the previous cycle as the real-time pitch reference angle information of the current cycle.

[0029] Determine the total azimuth displacement and determine 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 cycle, use the real-time pitch reference angle information as the pitch reference angle information of the previous cycle, and return to the step of 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.

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

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

[0033] Determine the period count value of the straight segment, and calculate the total azimuth displacement based on the period count value of the straight segment and the azimuth displacement.

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

[0035] The change in arc segment angle corresponding to each sampling period is determined, and the change in arc segment angle is calculated based on the arc segment angular rate;

[0036] The azimuth displacement and pitch displacement of the arc segment are determined for each sampling period; the azimuth displacement and pitch displacement of the arc segment are calculated based on the angle change of the arc segment and the target pitch beam interval.

[0037] Based on the azimuth displacement of the arc segment and the azimuth reference angle information of the previous cycle, calculate the real-time azimuth 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, calculate the real-time pitch reference angle information of the current cycle.

[0038] Determine the total change in the angle of the arc segment, and determine 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 azimuth displacement of the arc segment and the azimuth reference angle information of the previous cycle.

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

[0041] Determine the period count value of the arc segment, and calculate the total change in the angle of the arc segment based on the period count value and the change in the angle of the arc segment.

[0042] Secondly, embodiments of this application provide a target tracker scanning device based on a servo mechanism, the device comprising:

[0043] A parameter determination module is used to determine scanning parameters; the scanning parameters include at least scanning start point angle information, target azimuth displacement, target pitch displacement, and scanning angular rate; the scanning start point angle information includes the start azimuth angle and the start pitch angle; the target azimuth displacement is the angular range of the area to be scanned along the azimuth axis of the 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.

[0044] The numerical calculation module is used to calculate the target pitch beam interval and arc segment angular rate of each arc segment included in the S-shaped scanning trajectory based on the target pitch displacement, the scanning angular rate, and a pre-set S-shaped scanning trajectory. The S-shaped scanning trajectory includes straight line segments and arc segments in sequence. Each straight line segment is parallel to the azimuth axis direction, and the scanning directions of two adjacent straight line segments are opposite. The target pitch beam interval is the angular range of each arc segment along the pitch axis direction.

[0045] The position determination module is used to sequentially determine 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 interval, the scanning angular rate, and the arc segment angular rate.

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

[0047] Determine the maximum pitch beam spacing; the maximum pitch beam spacing is determined based on the target tracker device parameters;

[0048] Based on the relationship between the target pitch displacement and the maximum pitch beam interval, the pitch beam interval corresponding to the target pitch displacement is determined and used as the target pitch beam interval for each arc segment included in the S-shaped scanning trajectory.

[0049] The arc segment angular rate of each arc segment is calculated based on the target elevation beam spacing and the scanning angular rate.

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

[0051] When the target pitch displacement is less than or equal to the maximum pitch beam interval, the target pitch beam interval of each arc segment included in the S-shaped scanning trajectory is determined 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 the first preset value, the target pitch beam interval of 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.

[0053] 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 of each arc segment included in the S-shaped scanning trajectory is determined to be the ratio of the target pitch displacement to the 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 for:

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

[0056] Optionally, the position determination module is specifically used for:

[0057] The scanning start point angle information is used as the reference angle information for the previous cycle;

[0058] Line segment operation steps: Based on the reference angle information of the previous cycle, the scanning angular rate, and the preset sampling period, calculate the real-time azimuth reference angle information and real-time pitch reference angle information of each current cycle of the line segment in sequence until the total azimuth displacement is greater than or equal to the target azimuth displacement.

[0059] 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. 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, calculate the real-time azimuth reference angle information and real-time pitch reference angle information of the arc segment for each current cycle in sequence until the total change in arc segment angle is greater than or equal to the preset angle.

[0060] The real-time azimuth reference angle information and real-time pitch reference angle information of the current cycle are used as the azimuth reference angle information and pitch reference angle information of the previous cycle, and it is determined whether the total pitch displacement is greater than or equal to the target pitch displacement.

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

[0062] If so, return to execute the line segment operation steps and end the process.

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

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

[0065] Based on the azimuth displacement and the azimuth reference angle information of the previous cycle, calculate the real-time azimuth reference angle information of the current cycle; and determine the pitch reference angle information of the previous cycle as the real-time pitch reference angle information of the current cycle.

[0066] Determine the total azimuth displacement and determine 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 cycle, use the real-time pitch reference angle information as the pitch reference angle information of the previous cycle, and return to the step of 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.

[0068] Optionally, the position determination module is specifically used for:

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

[0070] Determine the period count value of the straight segment, and calculate the total azimuth displacement based on the period count value of the straight segment and the azimuth displacement.

[0071] Optionally, the position determination module is specifically used for:

[0072] The change in arc segment angle corresponding to each sampling period is determined, and the change in arc segment angle is calculated based on the arc segment angular rate;

[0073] The azimuth displacement and pitch displacement of the arc segment are determined for each sampling period; the azimuth displacement and pitch displacement of the arc segment are calculated based on the angle change of the arc segment and the target pitch beam interval.

[0074] Based on the azimuth displacement of the arc segment and the azimuth reference angle information of the previous cycle, calculate the real-time azimuth 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, calculate the real-time pitch reference angle information of the current cycle.

[0075] Determine the total change in the angle of the arc segment, and determine 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 azimuth displacement of the arc segment and the azimuth reference angle information of the previous cycle.

[0077] Optionally, the position determination module is specifically used for:

[0078] Determine the period count value of the arc segment, and calculate the total change in the angle of the arc segment based on the period count value and the change in the angle of the arc segment.

[0079] In this embodiment of the application, the area to be scanned can be scanned in an S-shape. In this scanning method, the entire scanning trajectory is smooth and there are no sudden changes in angle. Therefore, it can reduce the difficulty of control and improve the control accuracy. Attached Figure Description

[0080] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0081] Figure 1 This illustration shows a schematic diagram illustrating the working principle of the target tracker provided in an embodiment of this application;

[0082] Figure 2 This is a schematic diagram of the coordinate system in an embodiment of this application;

[0083] Figure 3 A flowchart illustrating a target tracker scanning method based on a servo mechanism, provided for an embodiment of this application;

[0084] Figure 4 This is a schematic diagram of a scanning path according to an embodiment of this application;

[0085] Figure 5 This is a schematic diagram illustrating the change in the angle of the arc segment in an embodiment of this application;

[0086] Figure 6 This is a schematic diagram of the azimuth control principle in the embodiments of this application;

[0087] Figure 7 This is a schematic diagram of a target tracker scanning device based on a servo mechanism, provided in an embodiment of this application. Detailed Implementation

[0088] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

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

[0090] This application discloses a target tracker scanning method and apparatus based on a servo mechanism, which can improve the control accuracy of the target tracker. The embodiments of this application are described in detail below.

[0091] Figure 1 This diagram illustrates the working principle of a target tracker provided in an embodiment of this application. The target tracker operates in an S-shaped scanning mode. Specifically, during operation, the target tracker can scan different areas by rotating its angle. For example, it can rotate in two directions. In this embodiment, as shown... Figure 2 As shown, a coordinate system can be established with the servo system's zero point as the origin, the horizontal direction as the azimuth axis, and the vertical direction as the pitch axis, with units of degrees. In other words, the target tracker can scan different areas by adjusting its azimuth and pitch angles.

[0092] Specifically, such as Figure 1 As shown, before controlling the target tracker to scan, some control parameters need to be determined and provided to the lower-level computer. These parameters may include: starting point coordinates (X, Y), azimuth displacement ΔX, pitch displacement ΔY, and angular rate V. The starting point coordinates (X, Y) represent the azimuth and pitch angles corresponding to the starting point of the scan, i.e., the absolute angles of the starting point relative to the 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 ΔX angles along the azimuth axis, it can scan the entire area to be scanned in the azimuth direction; when the target tracker rotates ΔY angles along the pitch axis, it can scan the entire area to be scanned in the pitch direction. The angular rate V refers to the azimuth angular rate, i.e., the scanning angle per unit time. The units for the starting point coordinates X and Y, azimuth displacement ΔX, and pitch displacement ΔY are all degrees, while the unit for the angular rate V is degrees per second.

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

[0094] After providing the aforementioned control parameters to the lower-level computer, the lower-level computer can perform path planning, determine the azimuth and pitch reference angles at each moment, and further, based on the determined azimuth and pitch reference angles, control the position of the target tracker using the servo mechanism to perform an S-shaped scan of the area to be scanned. In other words, as... Figure 2 As shown, the arrows indicate the scanning trajectory sequence. It can be seen that the entire scanning trajectory includes straight line segments and curved line segments, which alternate with each other, transitioning smoothly at the junctions. Therefore, there are no sudden velocity changes along the entire scanning trajectory, reducing control complexity and allowing for precise control of the target tracker.

[0095] like Figure 3The diagram illustrates a flowchart of a target tracker scanning method based on a servo mechanism, as provided in an embodiment of this application. The flowchart includes the following steps:

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

[0097] S320: Based on the target pitch displacement and scanning angular rate, and the pre-set S-shaped scanning trajectory, calculate the target pitch beam spacing and arc segment angular rate of each arc segment included in the S-shaped scanning trajectory.

[0098] In this embodiment of the application, in order to ensure a smooth transition at the junction of the straight line segment and the arc segment, it is necessary to satisfy the scanning angular rate and the linear velocity at the arc (i.e., Figure 2 The linear velocity of each arc segment in the trajectory shown should be consistent. That is, 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 rotated along the pitch axis when the target tracker scans each arc segment, such as... Figure 2 As shown.

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

[0100] It is understood that for any target tracker, the angle that it can rotate along the pitch axis during its scanning process is limited. In the embodiments of this application, the maximum angle that the target tracker can rotate along the pitch axis can be called the maximum pitch beam spacing. The larger the maximum pitch beam spacing, the larger the area that the target tracker can scan in one arc segment; the smaller the maximum pitch beam spacing, the smaller the area that the target tracker can scan in one arc segment.

[0101] Once the maximum pitch beam spacing and target pitch displacement of the target tracker are determined, the target pitch beam spacing of each arc segment included in the S-shaped scan trajectory can be determined based on these two parameters. For example, this can be determined using the following steps: When the target pitch displacement is less than or equal to the maximum pitch beam spacing, the target pitch beam spacing of each arc segment included in the S-shaped scan 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 of each arc segment included in the S-shaped scan 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; 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 of each arc segment included in the S-shaped scan 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] In other words, when the target pitch displacement is less than or equal to the maximum pitch beam interval, only one arc segment is needed to scan the entire scanned area. When the target pitch displacement is greater than the maximum pitch beam interval, multiple arc segments are needed to scan the entire scanned area. 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 constraints in the following table:

[0104] 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 maximum coverage area of ​​the antenna is 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 is understandable that as the target pitch displacement ΔY increases, the scanning curve will correspondingly increase the number of loop paths. If ΔY is 10° and ΔMAX is 4°, the scanning path will be as follows: Figure 4 As shown.

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

[0108] S330: Based on the scanning start point angle information, target azimuth displacement, target pitch displacement, target pitch beam spacing, scanning angular rate and arc segment angular rate, the real-time reference angle information of the target tracker is determined sequentially.

[0109] After determining the above parameters, the real-time reference angle information of the target tracker can be determined sequentially based on the scanning start 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 positions for the output azimuth and pitch directions can be calculated in real time, thereby controlling the target tracker to scan the area to be scanned. In this embodiment, the S-shaped scanning trajectory alternates between 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 can be determined sequentially according to the following steps:

[0111] Use the scanning start point angle information as the reference angle information for the previous cycle;

[0112] Line segment operation steps: Based on the reference angle information, scanning angular rate and preset sampling period of the previous cycle, calculate the real-time azimuth reference angle information and real-time pitch reference angle information of each current cycle of the line segment 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 elevation reference angle information of the current cycle as the azimuth reference angle information and elevation reference angle information of the previous cycle. Based on the azimuth reference angle information and elevation reference angle information of the previous cycle, the arc segment angular rate and the target elevation beam interval, calculate the real-time azimuth reference angle information and real-time elevation reference angle information of the arc segment for each current cycle in sequence until the total change in arc segment angle is greater than or equal to the preset angle.

[0114] The real-time azimuth reference angle information and real-time pitch reference angle information of the current cycle are used as the azimuth reference angle information and pitch reference angle information of the previous cycle, and it is determined whether the total pitch displacement is greater than or equal to the target pitch displacement.

[0115] If not, return to the line segment operation steps;

[0116] If so, return to the line segment operation steps and end the process.

[0117] The specific steps for manipulating line segments may include:

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

[0119] Based on the azimuth displacement and the azimuth reference angle information of the previous cycle, calculate the real-time azimuth reference angle information of the current 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 determine 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 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 azimuth displacement and the azimuth reference angle information of the previous cycle.

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

[0123] The specific steps for operating on arc segments may include:

[0124] The change in arc segment angle corresponding to each sampling period is determined, and the change in arc segment angle is calculated based on the arc segment angular rate;

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

[0126] Based on the azimuth displacement of the arc segment and the azimuth reference angle information of the previous cycle, calculate the real-time azimuth 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, calculate the real-time pitch reference angle information of the current cycle.

[0127] Determine the total change in the angle of the arc segment, and determine whether the total change in the angle of the arc segment is greater than or equal to the 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 azimuth displacement of the arc segment and the azimuth reference angle information of the previous cycle.

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

[0130] The process of determining the real-time reference angle information of the target tracker is described below with reference to a specific implementation method.

[0131] First, we can define the sampling period, for example, 1ms, meaning that a reference angle is output every 1ms. The displacements in the azimuth and pitch directions within a single period are defined as ΔX1 and ΔY1, respectively. Figure 4 The initial segment only has azimuth displacement while the pitch direction remains unchanged; it is defined as a straight segment, and the calculation yields:

[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 X is the reference angle for the current cycle's azimuth and elevation directions. last and Y last As the reference angle for azimuth and elevation in the previous cycle, the starting point (X,Y) in the first cycle is X in the above formula. last and Y last Furthermore, the above formula introduces ΔX act , represents the actual change in azimuth displacement, i.e., the total azimuth displacement, and xCnt is the period count value of the straight line segment.

[0138] When ΔX is detected act If ΔX is greater than or equal to ΔX, it enters the arc segment, such as... Figure 5 As shown, according to the formula V=ω*(Δ / 2), ω is calculated. The total angle of the arc segment is 180°. Therefore, the angle change in each cycle is theta=180° / ω. According to the sine and cosine theorems, the changes in azimuth and pitch 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 This represents the actual displacement angle of the arc segment, i.e., the total change in the angle of the arc segment. When Δtheta is detected... act If the angle is greater than or equal to 180°, proceed to the next straight segment.

[0144] As described above, the straight line segment and the arc segment are executed cyclically, outputting the reference angles of azimuth and pitch in real time. When Y is detected... r When the value is greater than or equal to ΔY, perform the final line segment planning. Once completed, it indicates the end of one S-scan instruction.

[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 separately using two motors. Figure 6 The azimuth control principle is shown in the figure. After receiving the reference position (i.e., azimuth angle) information, it calculates the difference between the reference position information and the position information fed back by the motor, and outputs 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 from 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 the PI control, and are preset values. This represents the integral operation (where s is the differential operator). kp is the proportional parameter, responsible for quickly responding to system deviations, and ki is the integral parameter, used to eliminate static errors and ensure the accuracy of the system output. Appropriate kp and ki can be selected based on the system's speed and accuracy. For example, to simplify the description of the above formula, consider the following scenario: someone needs to run from 0 meters to a point 100 meters away. The initial distance is the farthest, so it's expected to start at maximum speed. As the distance approaches 100 meters, the expected speed should gradually decrease, reaching zero at 100 meters. Analyzing the formula, at time zero, the distance is farthest, and e is maximum. The value of e is at its maximum, and it gradually decreases as the distance approaches 100 meters. Gradually decrease, until e is 0. It will also become 0, which can characterize the change in velocity throughout the entire process, therefore It can be used as a reference speed.

[0149] Once the reference speed is obtained, its difference from the calculated actual motor speed is used to output a reference current via a speed PI controller, as follows:

[0150]

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

[0152] Once the reference current is obtained, its difference from the actual feedback current is calculated. This difference is then used to control the output voltage via a current PI controller, 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 this embodiment of the application, the area to be scanned can be scanned in an S-shape. In this scanning method, the entire scanning trajectory is smooth and there are no sudden changes in angle. Therefore, it can reduce the difficulty of control and improve the control accuracy.

[0157] Figure 7 This illustration shows a structural schematic diagram of a target tracker scanning device based on a servo mechanism according to an embodiment of this application. The device includes:

[0158] The parameter determination module 710 is used to determine scanning parameters; the scanning parameters include at least scanning start point angle information, target azimuth displacement, target pitch displacement, and scanning angular rate; the scanning start point angle information includes the start azimuth angle and the start pitch angle; the target azimuth displacement is the angle range of the area to be scanned along the azimuth axis of the preset coordinate system, and the target pitch displacement is the angle 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] The numerical calculation module 720 is used to calculate the target pitch beam interval and arc segment angular rate of each arc segment included in the S-shaped scanning trajectory based on the target pitch displacement, the scanning angular rate, and a pre-set S-shaped scanning trajectory; the S-shaped scanning trajectory includes straight line segments and arc segments in sequence, each straight line segment is parallel to the azimuth axis direction, and the scanning directions of two adjacent straight line segments are opposite, and the target pitch beam interval is the angular range of each arc segment along the pitch axis direction;

[0160] The position determination module 730 is used to determine the real-time reference angle information of the target tracker in sequence based on the scanning start 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.

[0161] Optionally, the numerical calculation module 720 is specifically used for:

[0162] Determine the maximum pitch beam spacing; the maximum pitch beam spacing is determined based on the target tracker device parameters;

[0163] Based on the relationship between the target pitch displacement and the maximum pitch beam interval, the pitch beam interval corresponding to the target pitch displacement is determined and used as the target pitch beam interval for each arc segment included in the S-shaped scanning trajectory.

[0164] The arc segment angular rate of each arc segment is calculated based on the target elevation beam spacing and the scanning angular rate.

[0165] Optionally, the numerical calculation module 720 is specifically used for:

[0166] When the target pitch displacement is less than or equal to the maximum pitch beam interval, the target pitch beam interval of each arc segment included in the S-shaped scanning trajectory is determined 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 the first preset value, the target pitch beam interval of 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.

[0168] 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 of each arc segment included in the S-shaped scanning trajectory is determined to be the ratio of the target pitch displacement to the 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 used for:

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

[0171] Optionally, the position determination module 730 is specifically used for:

[0172] The scanning start point angle information is used as the reference angle information for the previous cycle;

[0173] Line segment operation steps: Based on the reference angle information of the previous cycle, the scanning angular rate, and the preset sampling period, calculate the real-time azimuth reference angle information and real-time pitch reference angle information of each current cycle of the line segment in sequence until the total azimuth displacement is greater than or equal to the target azimuth displacement.

[0174] 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. 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, calculate the real-time azimuth reference angle information and real-time pitch reference angle information of the arc segment for each current cycle in sequence until the total change in arc segment angle is greater than or equal to the preset angle.

[0175] The real-time azimuth reference angle information and real-time pitch reference angle information of the current cycle are used as the azimuth reference angle information and pitch reference angle information of the previous cycle, and it is determined whether the total pitch displacement is greater than or equal to the target pitch displacement.

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

[0177] If so, return to execute the line segment operation steps and end the process.

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

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

[0180] Based on the azimuth displacement and the azimuth reference angle information of the previous cycle, calculate the real-time azimuth reference angle information of the current cycle; and determine the pitch reference angle information of the previous cycle as the real-time pitch reference angle information of the current cycle.

[0181] Determine the total azimuth displacement and determine 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 cycle, use the real-time pitch reference angle information as the pitch reference angle information of the previous cycle, and return to the step of 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.

[0183] Optionally, the position determination module 730 is specifically used for:

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

[0185] Determine the period count value of the straight segment, and calculate the total azimuth displacement based on the period count value of the straight segment and the azimuth displacement.

[0186] Optionally, the position determination module 730 is specifically used for:

[0187] The change in arc segment angle corresponding to each sampling period is determined, and the change in arc segment angle is calculated based on the arc segment angular rate;

[0188] The azimuth displacement and pitch displacement of the arc segment are determined for each sampling period; the azimuth displacement and pitch displacement of the arc segment are calculated based on the angle change of the arc segment and the target pitch beam interval.

[0189] Based on the azimuth displacement of the arc segment and the azimuth reference angle information of the previous cycle, calculate the real-time azimuth 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, calculate the real-time pitch reference angle information of the current cycle.

[0190] Determine the total change in the angle of the arc segment, and determine 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 azimuth displacement of the arc segment and the azimuth reference angle information of the previous cycle.

[0192] Optionally, the position determination module 730 is specifically used for:

[0193] Determine the period count value of the arc segment, and calculate the total change in the angle of the arc segment based on the period count value and the change in the angle of the arc segment.

[0194] In this embodiment of the application, the area to be scanned can be scanned in an S-shape. In this scanning method, the entire scanning trajectory is smooth and there are no sudden changes in angle. Therefore, it can reduce the difficulty of control and improve the control accuracy.

[0195] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of one embodiment, and the modules or processes shown in the drawings are not necessarily essential for implementing this application.

[0196] Those skilled in the art will understand that the modules in the apparatus of the embodiments can be distributed in the apparatus of the embodiments as described in the embodiments, or they can be located in one or more devices different from this embodiment with corresponding changes. The modules of the above embodiments can be combined into one module, or they can be 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 this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

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

2. The method according to claim 1, characterized in that, The step of calculating the target elevation beam spacing and arc segment angular rate of each arc segment included in the S-shaped scanning trajectory based on the target elevation displacement, the scanning angular rate, and the pre-set S-shaped scanning trajectory includes: Determine the maximum pitch beam spacing; the maximum pitch beam spacing is determined based on the target tracker device parameters; Based on the relationship between the target pitch displacement and the maximum pitch beam interval, the pitch beam interval corresponding to the target pitch displacement is determined and used as the target pitch beam interval for each arc segment included in the S-shaped scanning trajectory. The arc segment angular rate of each arc segment is calculated based on the target elevation beam spacing and the scanning angular rate.

3. The method according to claim 2, characterized in that, The step of determining the pitch beam interval corresponding to the target pitch displacement based on the relationship between the target pitch displacement and the maximum pitch beam interval, and using this as the target pitch beam interval for each arc segment included in the S-shaped scanning trajectory, includes: When the target pitch displacement is less than or equal to the maximum pitch beam interval, the target pitch beam interval of each arc segment included in the S-shaped scanning trajectory is determined 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 the first preset value, the target pitch beam interval of 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. 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 of each arc segment included in the S-shaped scanning trajectory is determined to be the ratio of the target pitch displacement to the 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 based on the target elevation beam spacing and the scanning angular rate includes: The ratio of the scanning angular rate to half of the target pitch beam spacing is calculated as the arc segment angular rate of each arc segment.

5. The method according to claim 1, characterized in that, The step of determining the real-time reference angle information of the target tracker sequentially 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: The scanning start point angle information is used as the reference angle information for the previous cycle; Line segment operation steps: Based on the reference angle information of the previous cycle, the scanning angular rate, and the preset sampling period, calculate the real-time azimuth reference angle information and real-time pitch reference angle information of each current cycle of the line segment in sequence until the total azimuth displacement is greater than or equal to the target azimuth displacement. 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. 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, calculate the real-time azimuth reference angle information and real-time pitch reference angle information of the arc segment for each current cycle in sequence until the total change in arc segment angle is greater than or equal to the preset angle. The real-time azimuth reference angle information and real-time pitch reference angle information of the current cycle are used as the azimuth reference angle information and pitch reference angle information of the previous cycle, and it is determined whether the total pitch displacement is greater than or equal to the target pitch displacement. If not, return to the line segment operation steps; If so, return to execute the line segment operation steps 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 real-time pitch reference angle information of the straight line segment for each current cycle based on the reference angle information of the previous cycle, the scanning angular rate, and the preset sampling period, until the total azimuth displacement is greater than or equal to the target azimuth displacement, includes: The azimuth displacement of the straight line segment in each sampling period is determined; the azimuth displacement is calculated based on the preset sampling period and the scanning angular rate. Based on the azimuth displacement and the azimuth reference angle information of the previous cycle, calculate the real-time azimuth reference angle information of the current cycle; and determine the pitch reference angle information of the previous cycle as the real-time pitch reference angle information of the current cycle. Determine the total azimuth displacement and determine 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 cycle, use the real-time pitch reference angle information as the pitch reference angle information of the previous cycle, and return to the step of 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.

7. The method according to claim 6, characterized in that, The step of determining the total azimuth displacement includes: Calculate the total azimuth displacement based on the real-time azimuth reference angle information of the current period and the starting azimuth angle; or Determine the period count value of the straight segment, and calculate the total azimuth displacement based on the period count value of the straight segment 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 real-time elevation reference angle information of the arc segment for each current cycle based on the azimuth reference angle information and elevation reference angle information of the previous cycle, the arc segment angular rate, and the target elevation beam spacing, until the total change in the arc segment angle is greater than or equal to a preset angle, includes: The change in arc segment angle corresponding to each sampling period is determined, and the change in arc segment angle is calculated based on the arc segment angular rate; The azimuth displacement and pitch displacement of the arc segment are determined for each sampling period; the azimuth displacement and pitch displacement of the arc segment are calculated based on the angle change of the arc segment and the target pitch beam interval. Based on the azimuth displacement of the arc segment and the azimuth reference angle information of the previous cycle, calculate the real-time azimuth 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, calculate the real-time pitch reference angle information of the current cycle. Determine the total change in the angle of the arc segment, and determine 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 azimuth displacement of the arc segment 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 the angle of the arc segment includes: Determine the period count value of the arc segment, and calculate the total change in the angle of the arc segment based on the period count value and the change in the angle of the arc segment.

10. A target tracker scanning device based on a servo mechanism, characterized in that, The device includes: A parameter determination module is used to determine scanning parameters; the scanning parameters include at least scanning start point angle information, target azimuth displacement, target pitch displacement, and scanning angular rate; the scanning start point angle information includes the start azimuth angle and the start pitch angle; the target azimuth displacement is the angular range of the area to be scanned along the azimuth axis of the 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. The numerical calculation module is used to calculate the target pitch beam interval and arc segment angular rate of each arc segment included in the S-shaped scanning trajectory based on the target pitch displacement, the scanning angular rate, and a pre-set S-shaped scanning trajectory. The S-shaped scanning trajectory includes straight line segments and arc segments in sequence. Each straight line segment is parallel to the azimuth axis direction, and the scanning directions of two adjacent straight line segments are opposite. The target pitch beam interval is the angular range of each arc segment along the pitch axis direction. The position determination module is used to sequentially determine 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 interval, the scanning angular rate, and the arc segment angular rate.

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