Shipborne radio detection azimuth calibration method, system, medium and equipment

Abstract

The invention provides a shipborne radio detection azimuth calibration method and system, a medium and equipment, and relates to the technical field of radio detection. According to the scheme, the attitude information of the ship is obtained in real time, the rolling angle and the pitching angle are analyzed in the preset time window, the ship swing index capable of representing the current sea condition characteristics is obtained, then the current swing level of the ship is determined, and corresponding preliminary calibration schemes can be generated according to the swing states of different levels. When a high-precision detection task needs to be executed, the historical attitude data and the historical pointing compensation amount corresponding to the current swing level can be further obtained, and the prediction compensation weight is calculated by analyzing the historical data, so that the preliminary calibration scheme is optimized and adjusted. According to the mode of prediction compensation based on historical data, adjustment can be carried out through prediction under different current swing levels, and finally the azimuth calibration effect of the shipborne radio detection equipment under the high-precision pointing requirement is improved.

Description

Technical Field

[0001] This application relates to the field of radio detection technology, specifically to a shipborne radio detection azimuth calibration method, system, medium, and equipment. Background Technology

[0002] Shipborne radio detection systems are key electronic equipment on modern ships used to intercept, analyze, identify, and locate electromagnetic radiation sources such as enemy radar, playing a crucial role in electronic warfare and intelligence gathering. The core of this system lies in accurately aligning a high-gain directional antenna with the target signal source. However, when ships are sailing at sea, they are inevitably affected by wind and waves, resulting in complex rolling motions, primarily roll and pitch. These changes in hull attitude directly cause the detection antenna to deviate from its intended direction, leading to errors in judging the target signal's location, and in severe cases, even losing the target altogether. Therefore, to ensure the effectiveness of the detection system, the antenna's direction must be calibrated in real time and with precision.

[0003] In existing technologies, azimuth calibration typically relies on attitude sensors mounted on the hull to acquire the ship's motion and attitude data, and then uses this data to compensate and adjust the antenna pointing. However, due to the time delay in the entire process from sensor data acquisition and processing to compensation, the calibration action lags behind the ship's actual motion. Especially when performing high-frequency, narrow-beam signal detection tasks, this lag can cause the antenna to fail to track the target in time, resulting in a significant reduction in received signal strength or even complete signal loss. Therefore, the azimuth calibration methods in these technologies are ineffective when facing high-precision pointing requirements. Summary of the Invention

[0004] This application provides a method, system, medium, and device for azimuth calibration of shipborne radio detection, which can improve the azimuth calibration effect of shipborne radio detection equipment when high-precision pointing is required.

[0005] In a first aspect, this application provides a shipborne radio detection bearing calibration method, the method comprising: The attitude information of the ship carrying the radio detection equipment is acquired in real time, and the attitude information includes at least the roll angle and pitch angle of the ship. The roll and pitch angles within a preset time window are analyzed to obtain the ship roll index in the current sea area. The ship's roll index is compared with a preset roll threshold to determine the ship's current roll level, and a preliminary calibration scheme corresponding to the current roll level is generated based on the attitude information. When the radio detection device receives a high-precision detection command, it acquires the historical attitude data and historical pointing compensation amount corresponding to the current sway level, calculates the predicted compensation weight based on the historical attitude data and the historical pointing compensation amount, and adjusts the preliminary calibration scheme based on the predicted compensation weight to obtain the target calibration scheme. The antenna orientation of the radio detection equipment is calibrated according to the target calibration scheme.

[0006] By employing the aforementioned technical solution, the ship's attitude information is acquired in real time, and the roll and pitch angles are analyzed within a preset time window to obtain a ship roll index that characterizes the current sea state. This determines the ship's current roll level, enabling the system to generate corresponding preliminary calibration schemes based on different roll levels. When high-precision detection tasks are required, the system further acquires historical attitude data and historical pointing compensation amounts corresponding to the current roll level. By analyzing this historical data, predictive compensation weights are calculated, thereby optimizing and adjusting the preliminary calibration scheme. This predictive compensation method based on historical data allows the system to adjust based on predictions at different current roll levels, ultimately improving the bearing calibration effect of shipborne radio detection equipment when high-precision pointing is required.

[0007] Optionally, comparing the ship's roll index with a preset roll threshold to determine the ship's current roll level, and generating a preliminary calibration scheme corresponding to the current roll level based on the attitude information, includes: Obtain the ship's position information and the initial pointing vector of the radio detection device's antenna in a preset antenna coordinate system; Based on the attitude information, the position information, and the initial pointing vector, the pointing deviation information of the antenna in the preset geographic coordinate system is determined, and the pointing deviation information includes the deviation direction and the deviation amount. The ship's roll index is compared with a preset roll threshold to determine the ship's current roll level, and a preliminary calibration scheme corresponding to the current roll level is generated based on the pointing deviation information.

[0008] Optionally, comparing the ship's roll index with a preset roll threshold to determine the ship's current roll level, and generating a preliminary calibration scheme corresponding to the current roll level based on the pointing deviation information, includes: If the ship's roll index is greater than a preset roll threshold, the ship's current roll level is determined as a high roll level. Based on the pointing deviation information, the physical compensation value of the stabilization platform of the radio detection equipment is determined, and the servo motors on the roll and pitch axes of the stabilization platform are controlled to output compensation torque according to the physical compensation value. The residual pointing error is determined based on the pointing deviation information and the physical compensation value. The complex weighted vector required for the residual pointing error is calculated, and the antenna array is controlled according to the complex weighted vector to calibrate the beam pointing. or, If the ship's roll index is less than or equal to a preset roll threshold, the ship's current roll level is determined to be a low roll level. A complex weight vector is calculated based on the pointing deviation information, and the antenna array is controlled to adjust the phase and amplitude of the unit signals corresponding to multiple antenna elements according to the complex weight vector in order to calibrate the beam pointing.

[0009] Optionally, determining the pointing deviation information of the antenna in a preset geographic coordinate system based on the attitude information, the position information, and the initial pointing vector includes: Based on the roll angle and the pitch angle, a rotation matrix around the corresponding coordinate axis is constructed in the preset ship coordinate system; Calculate the product of the rotation matrix and the initial pointing vector to obtain the target pointing vector of the antenna in the ship's coordinate system; Based on the location information and the attitude information, the target pointing vector is transformed into a preset geographic coordinate system to obtain the actual pointing information of the antenna; Obtain the target pointing information of the antenna, and determine the pointing deviation information between the actual pointing information and the target pointing information.

[0010] Optionally, constructing a rotation matrix around the corresponding coordinate axes in a preset ship coordinate system based on the roll angle and the pitch angle includes: In the preset ship coordinate system, a first rotation matrix of the roll angle about the Z-axis and a second rotation matrix of the pitch angle about the Y-axis are constructed respectively. Calculate the product of the first rotation matrix and the second rotation matrix to obtain the rotation matrix; The first rotation matrix is: ; in, Indicates the stated roll angle, Represents the first rotation matrix; The second rotation matrix is: ; in, Indicates the pitch angle, This represents the second rotation matrix.

[0011] Optionally, the step of converting the target pointing vector to a preset geographic coordinate system based on the location information and the attitude information to obtain the actual pointing information of the antenna includes: Based on the position information and the attitude information, a mathematical model for the nonlinear coupling effect between the ship's pitch and roll is constructed. Solving the mathematical model yields a first calculation formula and a second calculation formula for the antenna pointing change caused by the nonlinear coupling effect; Substitute the attitude information into the first calculation formula and the second calculation formula respectively to obtain the pitch angle change and the horizontal offset. Based on the pitch angle change and the horizontal offset, the target pointing vector transferred to the preset geographic coordinate system is compensated to obtain the actual pointing information of the antenna.

[0012] Optionally, the first calculation formula is: ; in, This represents the change in pitch angle. This represents the roll angle at time t. Represents the pitch angle at time t; The second calculation formula is: ; in, This represents the horizontal offset. This represents the roll angle at time t. This represents the pitch angle at time t.

[0013] Secondly, this application provides a shipborne radio detection bearing calibration system, the system comprising: The sampling module is used to acquire the attitude information of the ship carrying the radio detection equipment in real time, and the attitude information includes at least the ship's roll angle and pitch angle. The calculation module is used to analyze the roll angle and pitch angle within a preset time window to obtain the ship roll index in the current sea area. The scheme generation module is used to compare the ship's roll index with a preset roll threshold to determine the ship's current roll level, and generate a preliminary calibration scheme corresponding to the current roll level based on the attitude information. The scheme adjustment module is used to obtain historical attitude data and historical pointing compensation amount corresponding to the current swing level when the radio detection device receives a high-precision detection command, calculate the predicted compensation weight based on the historical attitude data and the historical pointing compensation amount, and adjust the preliminary calibration scheme according to the predicted compensation weight to obtain the target calibration scheme. The calibration module is used to calibrate the antenna orientation of the radio detection equipment according to the target calibration scheme.

[0014] Thirdly, this application provides a computer storage medium storing a plurality of instructions adapted for loading by a processor and executing any of the methods described above.

[0015] Fourthly, this application provides an electronic device including a processor, a memory, and a transceiver, wherein the memory is used to store instructions, the transceiver is used to communicate with other devices, and the processor is used to execute the instructions stored in the memory to cause the electronic device to perform any of the methods described above.

[0016] In summary, the beneficial effects of the technical solution of this application include: By employing the aforementioned technical solution, the ship's attitude information is acquired in real time, and the roll and pitch angles are analyzed within a preset time window to obtain a ship roll index that characterizes the current sea state. This determines the ship's current roll level, enabling the system to generate corresponding preliminary calibration schemes based on different roll levels. When high-precision detection tasks are required, the system further acquires historical attitude data and historical pointing compensation amounts corresponding to the current roll level. By analyzing this historical data, predictive compensation weights are calculated, thereby optimizing and adjusting the preliminary calibration scheme. This predictive compensation method based on historical data allows the system to adjust based on predictions at different current roll levels, ultimately improving the bearing calibration effect of shipborne radio detection equipment when high-precision pointing is required. Attached Figure Description

[0017] Figure 1 This is a schematic flowchart of a shipborne radio detection bearing calibration method according to an embodiment of this application; Figure 2 This is a schematic diagram of the structure of a shipborne radio detection bearing calibration system according to an embodiment of this application; Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0018] Explanation of reference numerals in the attached drawings: 300, electronic device; 301, processor; 302, communication bus; 303, user interface; 304, network interface; 305, memory. Detailed Implementation

[0019] To enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0020] In the description of the embodiments of this application, words such as "illustrative," "for example," or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "illustrative," "for example," or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design solutions. Rather, the use of words such as "illustrative," "for example," or "for example" is intended to present the relevant concepts in a specific manner.

[0021] In the description of the embodiments of this application, the term "multiple" means two or more. For example, multiple systems means two or more systems, and multiple screen terminals means two or more screen terminals. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. The terms "comprising," "including," "having," and variations thereof all mean "including but not limited to," unless otherwise specifically emphasized.

[0022] Please see Figure 1 This is a flowchart illustrating a shipborne radio detection bearing calibration method provided in an embodiment of this application. This method can be implemented using a computer program, a microcontroller, or run on a shipborne radio detection bearing calibration system based on the von Neumann architecture. The computer program can be integrated into the application or run as a standalone utility application. The specific steps of the shipborne radio detection bearing calibration method are described in detail below.

[0023] S101: Real-time acquisition of the ship's attitude information carrying radio detection equipment, including at least the ship's roll and pitch angles; Attitude information refers to the data set describing the ship's motion in three-dimensional space, including but not limited to parameters such as roll, pitch, and bow angles. Roll angle represents the angle of yaw about the ship's longitudinal axis, used to indicate the degree of lateral yaw. Pitch angle represents the angle of yaw about the ship's transverse axis, used to indicate the degree of pitch. Radio detection equipment refers to the equipment systems installed on the ship for detecting, locating, and analyzing radio signals.

[0024] During ship navigation, continuous monitoring of the ship's motion is necessary to ensure the accuracy of radio detection. Specifically, the ship's attitude data is collected in real time through an onboard attitude sensor system. This system includes sensors such as gyroscopes and accelerometers, which can continuously acquire information on the ship's roll and pitch angles. The sampling frequency can be adjusted according to actual needs, typically multiple samples per second, to ensure the timeliness and continuity of the data.

[0025] In some embodiments, ship attitude information can be acquired in multiple ways: Optionally, data can be collected by multiple gyroscopes installed at different locations on the ship, and the collected data can be fused to eliminate the error of a single sensor and obtain more accurate attitude information; alternatively, the ship's spatial attitude can be comprehensively calculated by combining an inertial navigation system with GPS information, which can provide more comprehensive motion parameters. It is understood that other attitude measurement methods can also be used to acquire ship attitude information, and these are not limited here.

[0026] S102: Analyze the roll and pitch angles within the preset time window to obtain the ship roll index in the current sea area; The preset time window represents the time range for attitude data analysis, ensuring the stability and reliability of the analysis results. The roll index is a quantitative indicator characterizing the degree of motion of a ship in the current sea state, used to assess the ship's stability.

[0027] During navigation, it is necessary to continuously assess the ship's motion status in order to adjust the detection strategy accordingly. Specifically, the system collects roll and pitch angle data within a preset time window (e.g., 5 minutes), performs statistical analysis on this data, calculates the frequency, amplitude, and periodicity of the roll, and, taking into account these characteristic parameters, calculates the roll index, which reflects the ship's current motion status, through a specific mathematical model.

[0028] In some embodiments, the swing index can be calculated in several ways: Optionally, it can be calculated by performing a Fourier transform on the roll and pitch angle data within a time window to extract the main frequency components, and then combining the amplitudes of each frequency component; alternatively, it can be calculated by establishing a multi-dimensional feature vector by calculating the root mean square value and peak factor of the roll and pitch angles within the time window, and then obtaining the swing index through weighted fusion. It is understood that other mathematical models can also be used to calculate the swing index, and this is not limited here.

[0029] S103: Compare the ship's roll index with the preset roll threshold to determine the ship's current roll level, and generate a preliminary calibration plan corresponding to the current roll level based on the attitude information. The preset roll threshold represents the standard value used to classify roll levels, distinguishing different degrees of ship roll. Roll level refers to the degree of intensity of the ship's current motion, used to determine the appropriate calibration strategy. The preliminary calibration plan represents the antenna azimuth adjustment scheme developed based on the current roll level.

[0030] After obtaining the roll index, an appropriate calibration strategy needs to be selected based on the actual situation. Specifically, the calculated roll index is compared with a pre-set roll threshold to determine whether the ship is currently in a high or low roll state. For different roll levels, the system will combine the current attitude information to formulate a corresponding preliminary calibration plan, including determining whether to activate the stabilization platform and setting compensation parameters, among other specific measures.

[0031] In some embodiments, the determination of the swing level and the generation of calibration schemes can be achieved in several ways: Optionally, a multi-level swing threshold system can be established to subdivide the swing state into multiple levels, and a corresponding calibration strategy template can be set for each level, with parameters fine-tuned according to the actual situation; alternatively, a fuzzy logic control method can be used to map the swing index to different swing levels and automatically generate the corresponding calibration scheme according to fuzzy rules. It is understood that other methods can also be used to determine the swing level and generate calibration schemes, which are not limited here.

[0032] S104: When the radio detection equipment receives a high-precision detection command, it acquires the historical attitude data and historical pointing compensation amount corresponding to the current swing level, calculates the predicted compensation weight based on the historical attitude data and historical pointing compensation amount, adjusts the preliminary calibration scheme based on the predicted compensation weight, and obtains the target calibration scheme. Among them, historical attitude data represents the recorded historical motion state information of the ship, and historical pointing compensation represents the compensation parameters used in past calibration processes. Predicted compensation weight refers to the weight coefficients that predict the current optimal compensation strategy based on historical data. High-precision detection commands represent the control commands issued when precise detection is required.

[0033] Upon receiving a high-precision detection command, the system needs to perform more precise calibration. Specifically, the system retrieves historical data corresponding to the current sway level, analyzes the correlation between historical attitude data and compensation amounts, predicts the optimal compensation strategy using methods such as machine learning, calculates the predicted compensation weights, and optimizes and adjusts the initial calibration scheme accordingly to form a more accurate target calibration scheme.

[0034] In some embodiments, the calculation of predictive compensation and the adjustment of the calibration scheme can be achieved in several ways: Optionally, a neural network model can be established, historical attitude data and compensation amounts can be input, and the network can be trained to predict the optimal compensation weights for adjusting the calibration scheme; alternatively, a Kalman filter algorithm can be used to combine historical data and current measurements to predict the optimal compensation parameters and optimize the calibration scheme. It is understood that other algorithms can also be used to achieve compensation prediction and scheme optimization, which are not limited here.

[0035] S105: Calibrate the antenna orientation of the radio detection equipment according to the target calibration scheme.

[0036] Among them, antenna azimuth refers to the pointing direction of the antenna of the radio detection equipment, and target calibration scheme refers to the final determined antenna azimuth adjustment scheme.

[0037] After obtaining the target calibration plan, the antenna orientation needs to be adjusted. Specifically, the system controls the antenna orientation adjustment mechanism to perform corresponding actions based on the parameter settings in the target calibration plan. This may include physical adjustments to the mechanical structure and adjustments to the direction of the electronic beam, ensuring that the actual antenna pointing matches the target pointing and improving detection accuracy.

[0038] In some embodiments, antenna azimuth calibration can be achieved in several ways: Optionally, the precise mechanical direction of the antenna can be adjusted by controlling the servo system of the stabilization platform, while the beam pointing can be finely adjusted by adjusting the phase of the phased array antenna; alternatively, the amplitude and phase of the antenna elements can be adjusted by digital beamforming technology to achieve electronic adjustment of the beam pointing. It is understood that other methods can also be used to achieve antenna azimuth calibration, which are not limited here.

[0039] Based on the above embodiments, as an optional implementation method, the method of determining the preliminary calibration scheme in step S103 can be specifically implemented through the following steps S201-S203.

[0040] S201: Obtain the ship's position information and the initial pointing vector of the antenna of the radio detection equipment in the preset antenna coordinate system; Position information refers to the ship's spatial position parameters such as latitude, longitude, and altitude in the geographic coordinate system. The antenna coordinate system represents a local coordinate system established with the antenna as a reference, used to describe the antenna's spatial pointing. The initial pointing vector represents the antenna's reference pointing direction in its local coordinate system, typically represented by a three-dimensional vector.

[0041] At the start of a radio reconnaissance mission, the ship's precise position coordinates, including longitude, latitude, and altitude, are first acquired via a GPS receiver, with positioning accuracy typically reaching the meter level. Simultaneously, the initial pointing data of the antenna in its local coordinate system is read. This pointing data is usually determined by both the antenna's mechanical mounting position and the electronic beam pointing. Specifically, the antenna's mechanical pointing can be directly measured using an angle sensor, while the electronic beam pointing is calculated from phase control parameters provided by the antenna control system. Combining these two sets of data yields the complete initial pointing vector of the antenna. For example, if the antenna's mechanical pointing is [0.866, 0.5, 0] and the electronic beam offset vector is [0.052, -0.087, 0], then the initial pointing vector is the vector sum of the two: [0.918, 0.413, 0].

[0042] S202: Based on attitude information, position information, and initial pointing vector, determine the pointing deviation information of the antenna in the preset geographic coordinate system. The pointing deviation information includes the deviation direction and the deviation amount. The geographic coordinate system refers to a standard coordinate system with the Earth as a reference, used to uniformly describe positional relationships on the Earth's surface. Pointing deviation information includes two parameters: deviation direction and deviation amount, used to quantify the difference between the antenna's actual pointing and the target's pointing.

[0043] Transforming the antenna's pointing direction from the local coordinate system to the geographic coordinate system requires a multi-step coordinate transformation. First, a rotation matrix is ​​constructed based on the ship's roll and pitch angles. This matrix describes the ship's attitude change relative to the horizontal plane. Then, the initial pointing vector is multiplied left by this rotation matrix to obtain the pointing vector considering the ship's attitude. Next, based on the ship's position information, the pointing vector is transformed from the ship's coordinate system to the geographic coordinate system. Specifically, a translation matrix is ​​established from the ship's position to the geographic coordinate origin, and then corrected for Earth curvature to obtain the antenna's actual pointing direction in the geographic coordinate system. This actual pointing direction is compared with the predetermined target pointing direction. The angle between the two vectors is calculated to obtain the deviation direction, and the magnitude of the vector difference is calculated to obtain the deviation amount. For example, if the actual pointing vector is [0.918, 0.413, 0] and the target pointing vector is [0.940, 0.342, 0], then the deviation angle is calculated to be 5.23 degrees, and the deviation amount is 0.091.

[0044] S203: Compare the ship's roll index with the preset roll threshold to determine the ship's current roll level, and generate a preliminary calibration plan corresponding to the current roll level based on the pointing deviation information.

[0045] The roll level is used to characterize the severity of ship motion, and the preliminary calibration scheme is an antenna pointing adjustment strategy based on the current state. The preset roll threshold is the benchmark value for classifying the roll level.

[0046] The ship's current roll level is determined by comparing the calculated roll index with a pre-set threshold. A roll index greater than the threshold is classified as high roll, while a roll index less than or equal to the threshold is classified as low roll. After determining the roll level, a corresponding calibration scheme is developed based on the pointing deviation information obtained in the preceding steps. Specifically, in a high roll state, the calibration scheme includes compensation parameters for the stabilization platform and antenna beam adjustment parameters; in a low roll state, pointing calibration is primarily achieved by adjusting the antenna beam. The specific values ​​of the calibration parameters are calculated using the deviation direction and amount. For example, when the deviation angle is 5.23 degrees, it is necessary to calculate the compensation angles for the stabilization platform in the roll and pitch directions, as well as the phase adjustment amount of each element in the antenna array. These parameters together constitute the preliminary calibration scheme.

[0047] Based on the above embodiments, as an optional implementation method, the method of generating a preliminary calibration scheme corresponding to the current swing level according to the pointing deviation information in step S203 can be specifically implemented through the following steps S301-S302.

[0048] S301: If the ship's roll index is greater than the preset roll threshold, the ship's current roll level is determined as a high roll level. Based on the pointing deviation information, the physical compensation value of the stabilization platform of the radio detection equipment is determined, and the servo motors on the roll and pitch axes of the stabilization platform are controlled to output compensation torque according to the physical compensation value. Based on the pointing deviation information and the physical compensation value, the residual pointing error is determined, the complex weight vector required for the residual pointing error is calculated, and the antenna array is controlled according to the complex weight vector to calibrate the beam pointing. Among them, "high roll level" indicates a level of violent motion in which the ship's roll amplitude and frequency are both large. Physical compensation value refers to the specific numerical parameters that the stabilization platform needs to mechanically compensate for, including compensation angles, speeds, and accelerations along each axis. The stabilization platform refers to the mechanical device system used to counteract the ship's roll, composed of components such as servo motors, reducers, and encoders. The roll axis and pitch axis refer to the rotational axes on the stabilization platform that control left-right roll and forward-backward pitch respectively; the two axes are perpendicular to each other. A servo motor is an actuator capable of precisely controlling angle, speed, and torque, characterized by rapid response and precise control. Compensation torque represents the torque value used to counteract the ship's roll; its magnitude is related to the angular acceleration of the ship's roll and the rotational inertia of the stabilization platform. Residual pointing error refers to the antenna pointing deviation remaining after mechanical compensation, including angular error and pointing vector error. The complex weighted vector represents the set of values ​​used to adjust the operating parameters of each element of the antenna array, including parameters such as amplitude weighting and phase delay.

[0049] During ship navigation, when the roll index exceeds a preset threshold, a calibration process for high roll conditions needs to be initiated. Specifically, the ship's roll and pitch angles are measured in real time using angle sensors to calculate the current roll index. When the roll index exceeds the preset threshold (e.g., an index value greater than 0.8), the system determines that it has entered a high roll state. Subsequently, the required compensation angle for the stabilization platform is calculated based on the pointing deviation information. This calculation process considers the ship's motion characteristics and the dynamic response characteristics of the stabilization platform. The compensation angle is converted into rotational angle commands for each axis servo motor through inverse kinematics, and the required compensation torque is calculated based on the moment of inertia. After receiving the control command, the servo motor driver controls the motor to output the corresponding compensation torque, driving the stabilization platform to perform compensatory motion in the roll and pitch axes. After completing the mechanical compensation, the actual pointing of the antenna is measured using a high-precision angle sensor and compared with the target pointing to calculate the residual pointing error. Based on the magnitude and direction of the residual error, the amplitude and phase adjustment amounts required for each radiating element of the antenna array are calculated. These adjustment parameters form a complex weighted vector, which is loaded onto each antenna element through a digital beamforming network to achieve precise beam direction adjustment. The entire process forms a closed-loop control system, continuously performing error compensation.

[0050] In some embodiments, antenna pointing calibration under high swing conditions can be achieved in a variety of ways: Optionally, calibration can be achieved through an adaptive predictive control method. The specific steps are as follows: First, a ship motion prediction model based on Kalman filtering is established to predict the swaying state at future moments in real time; then, the compensation parameters required at each moment are calculated in advance based on the prediction results; next, the compensation parameters are decomposed into mechanical compensation and electronic compensation and optimized; then, the stabilization platform and antenna array are controlled to perform compensation actions synchronously; finally, the compensation effect is evaluated through multi-sensor fusion, and the prediction model parameters are dynamically updated.

[0051] Optionally, real-time calibration can be achieved through hierarchical feedback control. The specific steps are as follows: First, establish a two-layer control structure comprising a fast response layer and a precise compensation layer; then, achieve large-scale mechanical compensation through a stabilizing platform in the fast response layer; next, achieve fine calibration through antenna beam adjustment in the precise compensation layer; then, acquire the compensation effect in real time and calculate the remaining error; finally, adaptively adjust the compensation strategies of the two control layers according to the error magnitude to achieve precise calibration. It is understood that other methods can also be used to achieve antenna pointing calibration under high swing conditions; this is not limited here.

[0052] Based on this, when adjusting the initial calibration scheme of S301 under high roll levels, although the initial calibration scheme executed by S301 combined physical compensation of the stabilizing platform with software compensation of the antenna array, it was essentially a reactive compensation mechanism. This means that the system always detects the pointing deviation information that has already occurred before calculating and executing the compensation action. However, from the sensor capturing the attitude and the controller calculating the compensation amount to the servo motor and antenna array actually completing the execution, there is an inherent total system delay. When the ship rolls violently, this delay will cause the compensation action to always lag behind the ship's actual attitude. That is, when the compensation torque and calibration beam take effect, the ship has already rolled to a new position, resulting in residual pointing errors that cannot be completely eliminated. This is unacceptable for high-precision detection tasks that require extremely high stability. Therefore, when the system receives a high-precision detection command, a forward-looking predictive adjustment must be implemented based on the initial calibration scheme to overcome the impact of system delay and form and execute the final target calibration scheme.

[0053] The specific implementation process of this predictive adjustment is as follows: Instead of directly using the current pointing deviation information, the system first retrieves and analyzes a very short segment of historical attitude data, such as the roll and pitch angle sequences over the past few hundred milliseconds. By performing differential calculations on this dynamic sequence, the system can accurately obtain the ship's current roll rate and angular acceleration, thereby grasping its immediate motion trend. Based on this motion trend, and combined with a pre-calibrated total system delay (i.e., the total time from perception to execution completion), the system uses kinematic formulas to extrapolate the predicted attitude the ship is most likely to reach after the delay time. This predicted attitude is the true target that the compensation action needs to aim at. Simultaneously, to optimize the compensation method, the system retrieves historical pointing compensation data based on the current roll level, analyzing the compensation effectiveness and response characteristics of the physical compensation value of the stabilizing platform and the complex weighted vector of the antenna array under similar roll characteristics. For example, for short, sharp swaying motions, the physical platform with greater inertia may not respond adequately. In this case, the system calculates a higher predictive compensation weight, allocating more compensation tasks to the faster-responding antenna array. Conversely, for large, gentle swaying motions, the system relies more on the physical platform. Finally, the system calculates the overall compensation requirement based on the predicted future attitude, and then, according to this dynamically calculated predictive compensation weight, decomposes the total requirement into the optimal physical compensation value and the complex weight vector required for the residual pointing error. This constitutes the final target calibration scheme. The system immediately applies this scheme to the servo motors and antenna array.

[0054] S302: If the ship's roll index is less than or equal to the preset roll threshold, the ship's current roll level is determined to be a low roll level. The complex weight vector is calculated based on the pointing deviation information. The complex weight vector is used to control the antenna array to adjust the phase and amplitude of the unit signals corresponding to multiple antenna elements in order to calibrate the beam pointing.

[0055] The low roll level indicates a relatively stable ship motion, where the ship's roll and pitch angles change minimally. The complex weight vector is a set of parameters used to adjust the operating state of each element in the antenna array, including amplitude weighting coefficients and phase delay values. An antenna array represents an antenna system composed of multiple radiating elements arranged in a specific geometry, capable of beam pointing control by adjusting the parameters of each element. An antenna element is the basic radiating element in an antenna array, each with independent amplitude and phase control channels. The element signal represents the radio frequency signal received or transmitted by each antenna element. Phase and amplitude adjustment refers to beam control achieved by changing the phase delay and amplitude ratio of the radio frequency signals of each element. Beam pointing indicates the direction of the main beam of the antenna array.

[0056] During ship navigation, when the roll index is detected to be below a preset threshold, it indicates that the ship is in a relatively stable state, and the calibration process for low roll state is initiated. Specifically, the roll index is first evaluated. When the roll index is less than a preset threshold (e.g., index value less than 0.3), it is determined that the ship has entered a low roll state. At this time, there is no need to activate the stabilization platform for mechanical compensation; pointing calibration is achieved directly through electronic beam adjustment of the antenna array. Based on the deviation angle between the current antenna pointing and the target pointing, the required amplitude weight and phase delay for each antenna element are calculated. This calculation process takes into account the geometry of the antenna array, the coupling effect between elements, and the target pointing requirements. The calculated amplitude and phase parameters form a complex weighted vector, and these parameters are loaded into the control channel of each antenna element through a digital beamforming network. Each element adjusts the amplitude and phase of its radio frequency signal according to the received control parameters, thereby changing the beam direction of the antenna array and achieving precise pointing control.

[0057] In some embodiments, beam pointing calibration under low swing conditions can be achieved in a variety of ways: Optionally, beam calibration can be achieved through an iterative optimization method. The specific steps are as follows: First, calculate the theoretical complex weight vector based on the target pointing direction; then, load the complex weight vector onto the antenna array and measure the actual beam direction; next, compare the deviation between the actual beam direction and the target direction; then, optimize and adjust the complex weight vector based on the deviation; finally, repeat the measurement and optimization process until the pointing accuracy requirement is met.

[0058] Optionally, calibration can be achieved using an adaptive beamforming algorithm. The specific steps are as follows: first, acquire the real-time signal characteristics of the antenna array; then, construct an adaptive algorithm based on the minimum mean square error criterion; next, calculate the optimal complex weight vector in real time; then, convert the complex weight vector into control parameters for each element; finally, perform beam adjustment through a digital beamforming network. It is understood that other methods can also be used to achieve beam pointing calibration under low-sway conditions, and this is not limited here.

[0059] Based on this, when the ship's roll index is below a preset threshold, the system determines it to be in a low roll level and executes the S302 calibration scheme. The core logic of this scheme is that, under conditions of gentle ship attitude changes, there's no need to activate the power-intensive and mechanically complex stabilization platform hardware. Instead, it relies solely on the phase shifters within the antenna array for rapid and precise electronic beam adjustment—that is, software-level calibration by updating the complex weight vector—which is sufficient to handle pointing deviations. However, while this standard scheme is efficient and energy-saving, it is essentially reactive. From the moment the sensor captures pointing deviation information to the controller completing the calculation and loading the new complex weight vector onto the antenna array to make it fully effective, there is an inherent total system delay inherent in purely electronic systems. For routine tasks, the residual pointing error caused by this tiny delay is negligible. However, when the system receives high-precision detection commands, this lag prevents the beam from being absolutely precisely aligned with the target, thus affecting the achievement of maximum accuracy. Therefore, in order to maximize pointing accuracy without activating the hardware platform, it is necessary to introduce the predictive adjustment approach of S104 on the basis of S302 software calibration to form the final target calibration scheme.

[0060] The specific implementation process of this predictive adjustment is as follows: After the high-precision detection command is issued, the system initiates a parallel prediction process while performing routine software calibration. It no longer relies solely on the current pointing deviation information, but actively analyzes a sequence of historical attitude data within a short time window, accurately obtaining the ship's current yaw rate and angular acceleration through differential calculation. Having grasped this real-time motion trend, the system, combined with the total system delay of the calibrated, purely software calibration link (e.g., only 50 milliseconds from sensing to the antenna array's response), uses kinematic formulas to accurately extrapolate the predicted attitude the ship will reach after this delay. The difference between this predicted attitude and the current attitude is the pointing deviation that will occur within the delay time. At this point, the system calculates a prediction compensation weight based on the current yaw stability to assess the reliability of the prediction result and adjust the compensation intensity. Finally, the system combines this predicted deviation with the prediction compensation weight to calculate a forward-looking compensation correction, which is then superimposed on the basic complex weight vector calculated based on the current deviation, thereby generating a new target calibration scheme designed to offset future errors. This target weighted vector, containing the prediction information, is immediately sent to the antenna array.

[0061] Based on the above embodiments, as an optional implementation method, the method of determining the pointing deviation information of the antenna in the preset geographical coordinate system in step S202 can be specifically implemented through the following steps S401-S404.

[0062] S401: Based on the roll and pitch angles, construct a rotation matrix around the corresponding coordinate axes in the preset ship coordinate system; The ship coordinate system refers to a local three-dimensional Cartesian coordinate system established with the ship as a reference. It typically has the ship's center of gravity as the origin, the bow direction as the forward axis, the starboard direction as the starboard axis, and the vertical upward direction as the upper axis. The rotation matrix is ​​a third-order square matrix describing the rotation transformation of the coordinate system, used to convert vectors between different coordinate systems. The roll angle represents the angle of rotation of the ship about its longitudinal axis. The pitch angle represents the angle of rotation of the ship about its transverse axis.

[0063] When performing antenna pointing conversion, it is necessary to first establish rotation matrices describing the ship's attitude. Specifically, based on the real-time measured roll and pitch angles, basic rotation matrices are constructed about the longitudinal and lateral axes, respectively. These basic rotation matrices contain trigonometric function values ​​of the angles. By combining these basic rotation matrices through matrix multiplication, a combined rotation matrix describing the ship's overall attitude is obtained. This matrix contains complete information about the ship's current attitude and can transform vectors in the antenna coordinate system to the ship's coordinate system.

[0064] In some embodiments, the rotation matrix can be constructed in a variety of ways: Optionally, the rotation matrix can be constructed using the Euler angle method. First, the roll and pitch angles of the ship are obtained. Then, the basic rotation matrices for each axis are constructed according to a preset rotation order. Next, the basic rotation matrices are multiplied in sequence to obtain the combined rotation matrix. Optionally, the rotation matrix can be constructed using the quaternion method. First, the ship's attitude angles are converted into quaternion form. Then, a unit quaternion is constructed based on the quaternion components. Next, the elements of the rotation matrix are calculated using the quaternion arithmetic rules.

[0065] S402: Calculate the product of the rotation matrix and the initial pointing vector to obtain the target pointing vector of the antenna in the ship coordinate system; The initial pointing vector represents the antenna's reference pointing direction in its local coordinate system, expressed as a three-dimensional unit vector. The target pointing vector refers to the antenna's actual pointing direction in the ship's coordinate system, taking into account the ship's attitude. Matrix multiplication refers to left-multiplying the rotation matrix by the initial pointing vector to achieve a coordinate transformation of the vector.

[0066] After obtaining the rotation matrix, the initial pointing vector of the antenna needs to be transformed into the ship's coordinate system. Specifically, matrix multiplication is used to multiply the rotation matrix representing the ship's attitude by the column vector representing the initial pointing of the antenna. This calculation process essentially transforms the antenna's pointing direction according to the ship's current attitude, and the resulting vector reflects the actual pointing direction of the antenna in the ship's coordinate system.

[0067] In some embodiments, vector coordinate transformation can be implemented in a variety of ways: Optionally, it can be calculated directly by matrix multiplication. First, the rotation matrix is ​​decomposed into three row vectors, and then the inner product of each row vector with the initial pointing vector is calculated. Then, the results of the three inner products are combined into a new three-dimensional vector. Optionally, it can be calculated by geometric decomposition. First, the initial pointing vector is decomposed on the three coordinate axes, and then the new position of each component after rotation is calculated. Then, the vectors of each component are summed to obtain the final vector.

[0068] S403: Based on the position and attitude information, the target pointing vector is transformed into a preset geographic coordinate system to obtain the actual pointing information of the antenna; The geographic coordinate system refers to a standard coordinate system with Earth as a reference, commonly represented by the North-South coordinate system. Position information refers to the ship's latitude, longitude, and altitude in the geographic coordinate system. Attitude information includes parameters such as the ship's heading and pitch angles relative to the geographic coordinate system. Actual pointing information indicates the pointing direction of the antenna beam in the geographic coordinate system.

[0069] After obtaining the target pointing vector in the ship's coordinate system, it needs to be transformed to the geographic coordinate system. Specifically, firstly, based on the ship's latitude and longitude position and heading angle, a transformation relationship from the ship's coordinate system to the geographic coordinate system is established. This transformation process needs to consider the effects of the Earth's curvature and the ship's heading, constructing a corresponding transformation matrix. Through matrix operations, the target pointing vector in the ship's coordinate system is transformed to the geographic coordinate system, obtaining the actual pointing information of the antenna in geographic space. The transformed vector directly reflects the pointing direction of the antenna beam in geographic space.

[0070] In some embodiments, geographic coordinate transformation can be achieved in multiple ways: Optionally, coordinate transformation can be achieved through a step-by-step transformation method, first transforming the vectors in the ship coordinate system to the local horizontal coordinate system, then transforming the vectors in the horizontal coordinate system to the station-centered coordinate system, and then transforming the vectors in the station-centered coordinate system to the geographic coordinate system; Optionally, coordinate transformation can be achieved through a one-step transformation method, first constructing a unified transformation matrix based on the ship's position and attitude information, then directly transforming the vectors in the ship coordinate system to the geographic coordinate system, and then correcting the transformation result for Earth curvature.

[0071] S404: Acquire the target pointing information of the antenna and determine the pointing deviation information between the actual pointing information and the target pointing information.

[0072] The target pointing information represents the pointing direction of the antenna in the geographic coordinate system when it is ideally operating. The pointing deviation information includes two parameters: deviation direction and deviation amount, used to quantify the difference between the actual pointing and the target pointing. The deviation direction indicates the direction of deviation of the actual pointing relative to the target pointing. The deviation amount indicates the magnitude of the angle of deviation.

[0073] After obtaining the actual antenna pointing direction, it is necessary to evaluate its deviation from the expected target. Specifically, first, the pre-defined target pointing vector is read, which represents the ideal pointing direction of the antenna in the geographic coordinate system. The angle between the actual pointing vector and the target pointing vector is calculated through vector operations; this angle value is the deviation. The specific direction of the deviation is determined using vector cross product operations. Combining the deviation direction and the deviation amount yields complete pointing deviation information, which is used for subsequent calibration and compensation calculations.

[0074] In some embodiments, deviation calculation can be implemented in multiple ways: Optionally, deviation calculation can be implemented through vector algebra operations. First, the angle between two pointing vectors is calculated using vector dot product operation. Then, the deviation direction is determined using vector cross product operation. Finally, the complete pointing deviation information is obtained by combining the angle and the deviation direction. Optionally, deviation calculation can be implemented through spherical geometry methods. First, the pointing vector is projected onto a unit sphere. Then, the great circle distance between two projection points on the sphere is calculated to obtain the deviation amount. Finally, the deviation direction is determined according to the spherical path.

[0075] Based on the above embodiments, as an optional implementation method, step S401 constructs a rotation matrix around the corresponding coordinate axis in a preset ship coordinate system, which can be specifically implemented through the following steps S4011-S4012.

[0076] S4011: In the preset ship coordinate system, construct the first rotation matrix of the roll angle about the Z-axis and the second rotation matrix of the pitch angle about the Y-axis respectively; S4012: Calculate the product of the first rotation matrix and the second rotation matrix to obtain the rotation matrix; The first rotation matrix is: ; in, Indicates the roll angle. Represents the first rotation matrix; The second rotation matrix is: ; in, Indicates the pitch angle. This represents the second rotation matrix.

[0077] Here, the ship coordinate system represents a local three-dimensional Cartesian coordinate system established with the ship as a reference. The rotation matrix is ​​a 3×3 matrix used to describe rotational transformations in three-dimensional space. The first rotation matrix Rz(α) represents the transformation matrix for rotation α around the Z-axis. The second rotation matrix Ry(β) represents the transformation matrix for rotation β around the Y-axis. The roll angle α represents the ship's rotation angle around the Z-axis. The pitch angle β represents the ship's rotation angle around the Y-axis. The product operation represents the matrix multiplication of the two rotation matrices.

[0078] When performing coordinate transformation, it is necessary to first construct a basic rotation matrix for each single axis, and then obtain a combined rotation matrix through matrix multiplication. Specifically, first, a rotation matrix Rz(α) about the Z-axis is constructed based on the roll angle α, with matrix elements composed of trigonometric function values ​​of α. Then, a rotation matrix Ry(β) about the Y-axis is constructed based on the pitch angle β, with matrix elements composed of trigonometric function values ​​of β. These two basic rotation matrices are multiplied in the order of first around the Z-axis and then around the Y-axis to obtain a combined rotation matrix describing the overall attitude of the ship. This combined matrix can transform vectors in the antenna coordinate system to the ship coordinate system that takes into account the effects of roll and pitch in one step.

[0079] Based on the above embodiments, as an optional implementation method, the method of obtaining the target pointing information of the antenna and determining the pointing deviation information between the actual pointing information and the target pointing information in step S404 can be specifically implemented through the following steps S4041-S4044.

[0080] S4041: Based on position and attitude information, construct a mathematical model for the nonlinear coupling effect between pitch and roll of a ship; The core of this step is to construct a mathematical model to describe the nonlinear coupling effect between the ship's pitch and roll. In implementation, the system analyzes the correlation between pitch and roll based on collected position and attitude information, establishing a mathematical model that characterizes this coupling relationship. This model needs to consider the influence of pitch on roll and roll on pitch, reflecting the nonlinear interaction between the two motions. This coupling effect causes additional changes in antenna pointing; therefore, the impact of the coupling effect on antenna pointing needs to be considered as an important factor when constructing the mathematical model.

[0081] S4042: Solve the mathematical model to obtain the first and second calculation formulas for the antenna pointing change caused by nonlinear coupling effect; The first calculation formula is the mathematical expression used to calculate the change in antenna elevation angle caused by coupling effects. The second calculation formula is the mathematical expression used to calculate the horizontal offset of the antenna caused by coupling effects. The solution process refers to the process of analyzing and calculating the mathematical model to obtain these two formulas.

[0082] This step involves solving the constructed mathematical model of the nonlinear coupling effect to obtain two formulas for calculating antenna pointing changes. During the solution process, the influence of the coupling effect on the antenna pointing is considered from both the vertical and horizontal directions. Through mathematical operations and derivations of the model, the first and second calculation formulas are finally obtained. These two formulas can respectively calculate the change in elevation angle and the horizontal offset caused by the coupling effect.

[0083] Specifically, the first calculation formula is: ; in, This represents the change in pitch angle. This represents the roll angle at time t. Represents the pitch angle at time t; The second calculation formula is: ; in, This represents the horizontal offset. This represents the roll angle at time t. This represents the pitch angle at time t.

[0084] The first calculation formula calculates the change in pitch angle, representing the angle that the antenna needs to adjust in the vertical direction due to the coupling effect of roll and pitch. It is not the pitch angle itself, but the additional pitch deviation caused by the combined effect of the two motions. When a ship pitches (nods), the change in the antenna's pointing direction in the vertical direction is mainly determined by the pitch angle itself. The "sine of the pitch angle" in the numerator of the formula represents the main displacement component in the vertical direction generated by the pitch motion. However, the ship is also rolling (swaying from side to side). Rolling causes the entire coordinate system to tilt. The "cosine of the roll angle" in the denominator of the formula acts as a correction. It projects the vertical displacement component generated by the pitch onto a new coordinate plane tilted by the roll. This projection corrects the original vertical displacement. Therefore, the result calculated by dividing the entire fractional part "sine of the pitch angle" by the "product of the cosine of the roll angle and the cosine of the pitch angle" is the ratio of the equivalent vertical offset to the horizontal projection in the new, tilted reference frame after combining the two motions. Finally, the arctangent function is used to convert this ratio back to a specific angle value, which is the "pitch angle change" that needs to be compensated for.

[0085] The second calculation formula calculates the horizontal offset, representing the angle the antenna needs to adjust horizontally due to the coupling effect of roll and pitch. When a ship rolls, the horizontal pointing change of the antenna is mainly determined by the roll angle. The "sine of the roll angle" in the numerator represents the main displacement component in the horizontal direction caused by the roll motion. However, the simultaneous pitch (nodding or raising) motion of the ship geometrically affects the observation effect of this horizontal offset. It can be imagined that when the antenna is pointing towards the sky (large pitch angle), the horizontal movement of the ground projection point caused by the same left and right roll will be much smaller than when the antenna is pointing horizontally. The "cosine of the pitch angle" in the denominator describes this geometric effect, correcting for the horizontal displacement component caused by the roll. Therefore, the result calculated by dividing the fractional part "sine of the roll angle" by the "cosine of the pitch angle" is the ratio of the equivalent horizontal offset to the forward projection after combining the two motions. Finally, the arctangent function is used to convert this ratio into a specific angle value, namely the "horizontal offset" that needs to be compensated.

[0086] In antenna pointing control, a core challenge is that the ship's motion is not singular; roll and pitch always occur simultaneously, and their effects on antenna pointing are not simply linear superpositions, but involve complex "nonlinear coupling effects." If only roll and pitch are compensated independently, residual pointing errors will inevitably exist, which is unacceptable for high-precision detection.

[0087] S4043: Substitute the attitude information into the first calculation formula and the second calculation formula respectively to obtain the pitch angle change and horizontal offset; The pitch angle change refers to the antenna's pointing deviation in the vertical direction caused by coupling effects. The horizontal offset refers to the antenna's pointing deviation in the horizontal direction caused by coupling effects. Substituting the data means using the actually measured attitude information to calculate the specific offset value.

[0088] This step involves substituting the acquired attitude information into the first and second calculation formulas. By substituting the attitude information at the same moment into these two formulas, the pitch angle change and horizontal offset caused by the coupling effect at that moment are obtained. These two quantities together reflect the actual impact of the nonlinear coupling effect on the antenna pointing.

[0089] S4044: Based on the pitch angle change and horizontal offset, the target pointing vector transferred to the preset geographic coordinate system is compensated to obtain the actual pointing information of the antenna.

[0090] The preset geographic coordinate system refers to the standard reference coordinate system used to represent the antenna pointing direction. The target pointing vector refers to the expected pointing direction of the antenna beam. Compensation refers to the correction of the pointing direction based on the calculated offset. Actual pointing information refers to the true pointing direction after compensation.

[0091] This step compensates for the antenna pointing using calculated elevation angle changes and horizontal offsets. First, the target pointing vector is transformed into a preset geographic coordinate system. Then, it is compensated and corrected based on the calculated elevation angle changes and horizontal offsets, ultimately obtaining information reflecting the actual pointing of the antenna. This compensation process ensures that the system can accurately grasp the true pointing state of the antenna after considering coupling effects.

[0092] The following are system embodiments of this application, which can be used to execute the method embodiments of this application. For details not disclosed in the system embodiments of this application, please refer to the method embodiments of the application.

[0093] Please see Figure 2 This illustration shows a schematic diagram of a shipborne radio detection bearing calibration system provided in an exemplary embodiment of this application. The system can be implemented as all or part of a system through software, hardware, or a combination of both. The shipborne radio detection bearing calibration system includes: The sampling module is used to acquire the attitude information of the ship carrying the radio detection equipment in real time. The attitude information includes at least the ship's roll and pitch angles. The calculation module is used to analyze the roll and pitch angles within a preset time window to obtain the ship roll index in the current sea area. The scheme generation module is used to compare the ship's roll index with the preset roll threshold to determine the ship's current roll level, and generate a preliminary calibration scheme corresponding to the current roll level based on the attitude information. The scheme adjustment module is used to obtain historical attitude data and historical pointing compensation amount corresponding to the current swing level when the radio detection equipment receives a high-precision detection command, calculate the predicted compensation weight based on the historical attitude data and historical pointing compensation amount, and adjust the preliminary calibration scheme according to the predicted compensation weight to obtain the target calibration scheme. The calibration module is used to calibrate the antenna orientation of the radio detection equipment according to the target calibration scheme.

[0094] Based on the above embodiments, as an optional embodiment, the scheme generation module is further used to obtain the ship's position information and the initial pointing vector of the antenna of the radio detection equipment in a preset antenna coordinate system; determine the pointing deviation information of the antenna in a preset geographic coordinate system based on the attitude information, position information and initial pointing vector, the pointing deviation information including the deviation direction and deviation amount; compare the ship's roll index with a preset roll threshold to determine the ship's current roll level, and generate a preliminary calibration scheme corresponding to the current roll level based on the pointing deviation information.

[0095] Based on the above embodiments, as an optional embodiment, the scheme generation module is further configured to: if the ship's roll index is greater than a preset roll threshold, determine the ship's current roll level as a high roll level, determine the physical compensation value of the stabilization platform of the radio detection equipment based on the pointing deviation information, and control the servo motors on the roll and pitch axes of the stabilization platform to output compensation torque according to the physical compensation value; determine the residual pointing error based on the pointing deviation information and the physical compensation value, calculate the complex weight vector required for the residual pointing error, and control the antenna array according to the complex weight vector to calibrate the beam pointing; or, if the ship's roll index is less than or equal to the preset roll threshold, determine the ship's current roll level as a low roll level, calculate the complex weight vector based on the pointing deviation information, and control the antenna array according to the complex weight vector to adjust the phase and amplitude of the unit signals corresponding to multiple antenna elements to calibrate the beam pointing.

[0096] Based on the above embodiments, as an optional embodiment, the scheme generation module is further configured to construct a rotation matrix around the corresponding coordinate axis in a preset ship coordinate system according to the roll angle and pitch angle; calculate the product of the rotation matrix and the initial pointing vector to obtain the target pointing vector of the antenna in the ship coordinate system; transform the target pointing vector to a preset geographic coordinate system according to the position information and attitude information to obtain the actual pointing information of the antenna; acquire the target pointing information of the antenna, and determine the pointing deviation information between the actual pointing information and the target pointing information.

[0097] Based on the above embodiments, as an optional embodiment, the scheme generation module is further configured to construct a mathematical model for the nonlinear coupling effect between the ship's pitch and roll based on the position information and attitude information; solve the mathematical model to obtain a first calculation formula and a second calculation formula for the antenna pointing change caused by the nonlinear coupling effect; substitute the attitude information into the first calculation formula and the second calculation formula respectively to obtain the pitch angle change and the horizontal offset; and compensate the target pointing vector transferred to the preset geographic coordinate system based on the pitch angle change and the horizontal offset to obtain the actual pointing information of the antenna.

[0098] This application also provides a computer storage medium that can store multiple instructions. The instructions are adapted to be loaded by a processor and executed as described in the above embodiments of the shipborne radio detection bearing calibration method. For the specific execution process, please refer to the detailed description of the embodiments, which will not be repeated here.

[0099] Please see Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 3 As shown, the electronic device 300 may include: at least one processor 301, at least one network interface 304, user interface 303, memory 305, and at least one communication bus 302.

[0100] The communication bus 302 is used to enable communication between these components.

[0101] The user interface 303 may include a display screen and a camera.

[0102] The network interface 304 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface).

[0103] The processor 301 may include one or more processing cores. The processor 301 connects to various parts of the server using various interfaces and lines, and performs various server functions and processes data by running or executing instructions, programs, code sets, or instruction sets stored in the memory 305, and by calling data stored in the memory 305. Optionally, the processor 301 may be implemented using at least one hardware form of digital signal processing, field-programmable gate array, or programmable logic array. The processor 301 may integrate one or more of the following: a central processing unit (CPU), a graphics processing unit (GPU), and a modem. The CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the content required for display; and the modem handles wireless communication. It is understood that the modem may also not be integrated into the processor 301 and may be implemented as a separate chip.

[0104] The memory 305 may include random access memory (RAM) or read-only memory (ROM). Optionally, the memory 305 may include a non-transitory computer-readable medium. The memory 305 may be used to store instructions, programs, code, code sets, or instruction sets. The memory 305 may include a program storage area and a data storage area. The program storage area may store instructions for implementing an operating system, instructions for at least one function (such as touch functionality, sound playback functionality, image playback functionality, etc.), instructions for implementing the various method embodiments described above, etc.; the data storage area may store data involved in the various method embodiments described above, etc. Optionally, the memory 305 may also be at least one storage device located remotely from the aforementioned processor 301. Figure 3 As shown, the memory 305, which serves as a computer storage medium, may include an operating system, a network communication module, a user interface module, and an application program for a shipborne radio detection bearing calibration method.

[0105] exist Figure 3 In the electronic device 300 shown, the user interface 303 is mainly used to provide an input interface for the user and to obtain the user input data; while the processor 301 can be used to call an application program stored in the memory 305 for a shipborne radio detection bearing calibration method. When executed by one or more processors, the electronic device performs one or more methods as described in the above embodiments.

[0106] An electronic device readable storage medium stores instructions that, when executed by one or more processors, cause the electronic device to perform one or more methods as described in the above embodiments.

[0107] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0108] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0109] In the several embodiments provided in this application, it should be understood that the disclosed apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the shown or discussed mutual couplings or direct couplings or communication connections may be through some service interfaces; indirect couplings or communication connections between apparatuses or units may be electrical or other forms.

[0110] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0111] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0112] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage device (CMD). Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned memory includes various media capable of storing program code, such as USB flash drives, portable hard drives, magnetic disks, or optical disks.

[0113] The above are merely exemplary embodiments of this disclosure and should not be construed as limiting the scope of this disclosure. Any equivalent changes and modifications made in accordance with the teachings of this disclosure shall still fall within the scope of this disclosure. Those skilled in the art will readily conceive of other embodiments of this disclosure upon considering the specification and the disclosure of practical truths. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not described in this disclosure.

Claims

1. A method for calibrating the bearing of a shipborne radio detection system, characterized in that, The method includes: The attitude information of the ship carrying the radio detection equipment is acquired in real time, and the attitude information includes at least the roll angle and pitch angle of the ship. The roll and pitch angles within a preset time window are analyzed to obtain the ship roll index in the current sea area. The ship's roll index is compared with a preset roll threshold to determine the ship's current roll level, and a preliminary calibration scheme corresponding to the current roll level is generated based on the attitude information. When the radio detection device receives a high-precision detection command, it acquires the historical attitude data and historical pointing compensation amount corresponding to the current sway level, calculates the predicted compensation weight based on the historical attitude data and the historical pointing compensation amount, and adjusts the preliminary calibration scheme based on the predicted compensation weight to obtain the target calibration scheme. The antenna orientation of the radio detection equipment is calibrated according to the target calibration scheme.

2. The method according to claim 1, characterized in that, The step of comparing the ship's roll index with a preset roll threshold to determine the ship's current roll level, and generating a preliminary calibration scheme corresponding to the current roll level based on the attitude information, includes: Obtain the ship's position information and the initial pointing vector of the radio detection device's antenna in a preset antenna coordinate system; Based on the attitude information, the position information, and the initial pointing vector, the pointing deviation information of the antenna in the preset geographic coordinate system is determined, and the pointing deviation information includes the deviation direction and the deviation amount. The ship's roll index is compared with a preset roll threshold to determine the ship's current roll level, and a preliminary calibration scheme corresponding to the current roll level is generated based on the pointing deviation information.

3. The method according to claim 2, characterized in that, The step of comparing the ship's roll index with a preset roll threshold to determine the ship's current roll level, and generating a preliminary calibration scheme corresponding to the current roll level based on the pointing deviation information, includes: If the ship's roll index is greater than a preset roll threshold, the ship's current roll level is determined as a high roll level. Based on the pointing deviation information, the physical compensation value of the stabilization platform of the radio detection equipment is determined, and the servo motors on the roll and pitch axes of the stabilization platform are controlled to output compensation torque according to the physical compensation value. The residual pointing error is determined based on the pointing deviation information and the physical compensation value. The complex weighted vector required for the residual pointing error is calculated, and the antenna array is controlled according to the complex weighted vector to calibrate the beam pointing. or, If the ship's roll index is less than or equal to a preset roll threshold, the ship's current roll level is determined to be a low roll level. A complex weight vector is calculated based on the pointing deviation information, and the antenna array is controlled to adjust the phase and amplitude of the unit signals corresponding to multiple antenna elements according to the complex weight vector in order to calibrate the beam pointing.

4. The method according to claim 2, characterized in that, The step of determining the pointing deviation information of the antenna in a preset geographic coordinate system based on the attitude information, the position information, and the initial pointing vector includes: Based on the roll angle and the pitch angle, a rotation matrix around the corresponding coordinate axis is constructed in the preset ship coordinate system; Calculate the product of the rotation matrix and the initial pointing vector to obtain the target pointing vector of the antenna in the ship's coordinate system; Based on the location information and the attitude information, the target pointing vector is transformed into a preset geographic coordinate system to obtain the actual pointing information of the antenna; Obtain the target pointing information of the antenna, and determine the pointing deviation information between the actual pointing information and the target pointing information.

5. The method according to claim 4, characterized in that, The step of constructing a rotation matrix around the corresponding coordinate axes in a preset ship coordinate system based on the roll angle and the pitch angle includes: In the preset ship coordinate system, a first rotation matrix of the roll angle about the Z-axis and a second rotation matrix of the pitch angle about the Y-axis are constructed respectively. Calculate the product of the first rotation matrix and the second rotation matrix to obtain the rotation matrix; The first rotation matrix is: ; in, Indicates the stated roll angle, Represents the first rotation matrix; The second rotation matrix is: ; in, Indicates the pitch angle, This represents the second rotation matrix.

6. The method according to claim 4, characterized in that, The step of converting the target pointing vector to a preset geographic coordinate system based on the location information and the attitude information to obtain the actual pointing information of the antenna includes: Based on the position information and the attitude information, a mathematical model for the nonlinear coupling effect between the ship's pitch and roll is constructed. Solving the mathematical model yields a first calculation formula and a second calculation formula for the antenna pointing change caused by the nonlinear coupling effect; Substitute the attitude information into the first calculation formula and the second calculation formula respectively to obtain the pitch angle change and the horizontal offset. Based on the pitch angle change and the horizontal offset, the target pointing vector transferred to the preset geographic coordinate system is compensated to obtain the actual pointing information of the antenna.

7. The method according to claim 1, characterized in that, The first calculation formula is: ; in, This represents the change in pitch angle. This represents the roll angle at time t. Represents the pitch angle at time t; The second calculation formula is: ； in, This represents the horizontal offset. This represents the roll angle at time t. This represents the pitch angle at time t.

8. A shipborne radio detection bearing calibration system, characterized in that, The system includes: The sampling module is used to acquire the attitude information of the ship carrying the radio detection equipment in real time, and the attitude information includes at least the ship's roll angle and pitch angle. The calculation module is used to analyze the roll angle and pitch angle within a preset time window to obtain the ship roll index in the current sea area. The scheme generation module is used to compare the ship's roll index with a preset roll threshold to determine the ship's current roll level, and generate a preliminary calibration scheme corresponding to the current roll level based on the attitude information. The scheme adjustment module is used to obtain historical attitude data and historical pointing compensation amount corresponding to the current swing level when the radio detection device receives a high-precision detection command, calculate the predicted compensation weight based on the historical attitude data and the historical pointing compensation amount, and adjust the preliminary calibration scheme according to the predicted compensation weight to obtain the target calibration scheme. The calibration module is used to calibrate the antenna orientation of the radio detection equipment according to the target calibration scheme.

9. A computer storage medium, characterized in that, The computer storage medium stores a plurality of instructions, which are adapted to be loaded by a processor and executed as described in any one of claims 1 to 7.

10. An electronic device, characterized in that, The device includes a processor, a memory, and a transceiver, wherein the memory is used to store instructions, the transceiver is used to communicate with other devices, and the processor is used to execute the instructions stored in the memory to cause the electronic device to perform the method as described in any one of claims 1 to 7.

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