Air radar high-precision target positioning method based on ray model tracking

Abstract

The invention discloses an air radar high-precision target positioning method based on ray model tracking. The method comprises the following steps: establishing a dominating model of ray trajectory propagation based on a Snell law and a partial derivative relationship of a refractive index to an elevation angle; a discrete ray elevation angle, a target height and a slope distance are calculated through an iterative stepping model, and a continuous change curve is constructed through linear interpolation; through forward and reverse conversion of a local east-north-sky coordinate system and a geodetic coordinate system, coordinate conversion is accelerated in combination with a pre-calculated sine and cosine relation, and longitude and latitude positioning of a target is achieved; and determining a target receiving elevation angle and a slope distance through nearest neighbor query and ball distance interpolation. The method effectively solves the problems of precision and efficiency of ray trajectory calculation in a complex atmospheric environment, remarkably improves the accuracy and real-time performance of sea level target positioning, and is suitable for the fields of radar detection, meteorological monitoring and the like.

Description

Technical Field

[0001] This invention belongs to the field of radar data processing technology, and in particular relates to a high-precision target localization method for air-to-air radar based on ray model tracking. Background Technology

[0002] Currently, target location methods for air-to-air radar are mainly based on the 4 / 3 equivalent Earth curvature model. This model is derived from the global annual average atmospheric refraction gradient, also known as the standard atmospheric environment. Therefore, it is not applicable to non-standard atmospheric environments, such as evaporation waveguides commonly found on the sea surface, surface waveguides that occur with a certain probability on land, and suspended waveguide environments. In these waveguide environments, radar waves are affected by the atmospheric refractive index along their path, resulting in a refraction effect. Radar waves emitted at a specific elevation angle change the slant range, elevation angle, and altitude values ​​at various points along their path in the vertical plane, causing errors in the radar's measured target elevation angle and distance. The ray-based tracking method, however, can achieve high-precision target location by analyzing atmospheric measurement results, the average results for the region in that season, and the annual average results for that region.

[0003] There are two main solution methods for traditional ray tracing models. One is the high elevation angle integral method, which is only applicable to high elevation angle scenarios and fails in low elevation angle scenarios, making it difficult to apply to atmospheric waveguide scenarios. The other is the low elevation angle Taylor second-order expansion method. Because the derivation process uses the second-order Taylor approximation of the nonlinear cosine and tangent functions, it is only applicable to low elevation angle scenarios. Its error increases significantly with the increase of elevation angle. In addition, it is necessary to determine whether the outgoing ray is opposite to the incident ray during the ray stepping iteration process, so as to select the sign of the square root, which increases the complexity of the solution. Summary of the Invention

[0004] The purpose of this invention is to provide a high-precision target localization method for air radar based on ray model tracking, which effectively solves the problem of accuracy and efficiency in ray trajectory calculation under complex atmospheric conditions and improves the accuracy and real-time performance of target localization at sea level.

[0005] To achieve the objective of this invention, a high-precision target localization method for air-to-air radar based on ray-model tracking is provided, comprising the following steps:

[0006] Step 1: Collect the front and rear elevation angles of electromagnetic wave rays incident on the layered interface and their corresponding corrected refractive index. Based on Snell's law of the spherical layered atmosphere and the partial derivative of the refractive index with respect to the elevation angle of the rays, the dominant model of electromagnetic wave ray trajectory propagation is obtained through the chain rule.

[0007] Step 2: Based on the electromagnetic wave trajectory model, obtain the relationship conditions between the propagation distance increment and the elevation angle increment, and between the propagation distance increment and the ray height increment during the ray propagation process;

[0008] Step 3: Construct an iterative step model of the ray trajectory based on the aforementioned relationship conditions, determine the ray height and elevation angle, and thus obtain a regularized grid model to calculate the discrete ray elevation angle, target height, and target slant distance;

[0009] Step 4: Calculate the discrete ray elevation angle, target height, and target slant range based on the regularized mesh model. Then, perform linear interpolation on the slant range to obtain continuous curves showing the change of target distance and target height with slant range at a given ray elevation angle.

[0010] Step 5: Based on the radar's location, establish a local northeast-sky rectangular coordinate system, obtain the radar target's latitude and longitude, and convert it into its position in the geodetic coordinate system. Rotate the northeast-sky rectangular coordinate system twice to obtain the final target's latitude and longitude and its positive coordinate transformation model.

[0011] Step 6: Based on the radar station location and the latitude and longitude of the final target, the azimuth and distance of the target are determined by an inverse rotation process, and then the inverse coordinate transformation model is obtained by two coordinate system rotations.

[0012] Step 7: Based on the forward / reverse coordinate transformation model, the forward and reverse coordinate transformation model is accelerated by using the pre-calculated sine and cosine relationship of the radar station for positioning of sea-level targets.

[0013] Step 8: Based on the calculated curves of the continuous target ball distance and target height variation with slant distance at the given ray elevation angle, the target receiving elevation angle is obtained by performing a nearest neighbor query on the continuous target height at the given ray elevation angle, and the final target slant distance is obtained by performing linear interpolation on the ball distance.

[0014] A computer program product includes computer program instructions that, when executed on a computer, cause the computer to perform the aforementioned high-precision target positioning method for air-to-surface radar.

[0015] The significant advancement of this invention compared to existing technologies lies in:

[0016] (1) Improved computational efficiency: By combining a regularized grid model with linear interpolation, the parameters of continuous rays are discretized, reducing the amount of real-time computation; the sine and cosine relationships of coordinate system transformation are pre-stored, accelerating the forward and reverse coordinate transformation process.

[0017] (2) Positioning accuracy optimization: Based on the iterative stepping of the spherical layered atmospheric model, the refraction effect of the ray trajectory is accurately described; through nearest neighbor query and spherical distance interpolation, the matching error between elevation angle and slant distance is reduced.

[0018] (3) Strong engineering applicability: The forward / reverse coordinate transformation model is compatible with the dynamic positioning requirements of the radar station and the target, and supports highly robust target tracking in complex sea environments.

[0019] (5) Resource saving: Discretization modeling and pre-computation strategies reduce hardware computing power requirements and are suitable for embedded systems and real-time processing scenarios.

[0020] To more clearly illustrate the functional characteristics and structural parameters of the present invention, further explanation is provided below in conjunction with the accompanying drawings and specific embodiments. Attached Figure Description

[0021] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0022] Figure 1 This is a schematic diagram of the atmospheric refractive index gradient and electromagnetic wave propagation trajectory of the present invention;

[0023] Figure 2 This is a schematic diagram illustrating the forward and reverse transformation of the target location distance and latitude and longitude in this invention;

[0024] Figure 3 This is a schematic diagram illustrating the difference between the actual trajectory of an electromagnetic wave and the trajectory of a ray under the standard refraction conditions of this invention.

[0025] Figure 4 This is a schematic diagram illustrating the difference between the actual trajectory of the electromagnetic wave and the trajectory of the ray under the critical refraction condition of this invention;

[0026] Figure 5 This is a schematic diagram illustrating the difference between the actual trajectory of an electromagnetic wave and the trajectory of a ray under waveguide trapping conditions according to the present invention;

[0027] Figure 6 This is a flowchart of the steps of the present invention. Detailed Implementation

[0028] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] Combination Figure 1The forward transformation model establishes the relationship between ray trajectories by combining coordinate transformation with the ray tracing model. Let the spherical distance (spherical surface distance) be... The sea level is The Earth's surface coordinate system is used, and the latitude and longitude of the radar station are set as follows: The radar antenna is installed at a height of The measured target elevation angle is Current revised atmospheric refractive index The variation with altitude is ,in The atmospheric refractive index, Using the Earth's radius, the elevation angle of the ray is derived. Target height and target slant distance With ball distance The positive coordinate transformation model.

[0030] This invention discloses a high-precision target localization method for air-to-air radar based on ray-tracking model. The forward transformation model establishes the relationship between ray trajectories through coordinate transformation combined with the ray-tracking model. Let the spherical distance (spherical surface distance) be... The sea level is The Earth's surface coordinate system is used, and the latitude and longitude of the radar station are set as follows: The radar antenna is installed at a height of The measured target elevation angle is Current revised atmospheric refractive index The variation with altitude is ,in The atmospheric refractive index, Using the Earth's radius, the elevation angle of the ray is derived. Target height and target slant distance With ball distance The positive coordinate transformation model;

[0031] Combination Figure 6 This includes the following steps:

[0032] Step 1: Collect the front and rear elevation angles of electromagnetic wave rays incident on the layered interface and their corresponding corrected refractive index. Based on Snell's law of the spherical layered atmosphere and the partial derivative of the refractive index with respect to the elevation angle of the rays, the dominant model of electromagnetic wave ray trajectory propagation is obtained through the chain rule.

[0033] Step 2: Based on the electromagnetic wave trajectory model, obtain the relationship conditions between the propagation distance increment and the elevation angle increment, and between the propagation distance increment and the ray height increment during the ray propagation process;

[0034] Step 3: Construct an iterative step model of the ray trajectory based on the aforementioned relationship conditions, determine the ray height and elevation angle, and thus obtain a regularized grid model to calculate the discrete ray elevation angle, target height, and target slant distance;

[0035] Step 4: Calculate the discrete ray elevation angle, target height, and target slant range based on the regularized mesh model. Then, perform linear interpolation on the slant range to obtain continuous curves showing the change of target distance and target height with slant range at a given ray elevation angle.

[0036] Step 5: Based on the radar's location, establish a local northeast-sky rectangular coordinate system, obtain the radar target's latitude and longitude, and convert it into its position in the geodetic coordinate system. Rotate the northeast-sky rectangular coordinate system twice to obtain the final target's latitude and longitude and its positive coordinate transformation model.

[0037] Step 6: Based on the radar station location and the latitude and longitude of the final target, the azimuth and distance of the target are determined by an inverse rotation process, and then the inverse coordinate transformation model is obtained by two coordinate system rotations.

[0038] Step 7: Based on the forward / reverse coordinate transformation model, the forward and reverse coordinate transformation model is accelerated by using the pre-calculated sine and cosine relationship of the radar station for positioning of sea-level targets.

[0039] Step 8: Based on the calculated curves of the continuous target ball distance and target height variation with slant distance at the given ray elevation angle, the target receiving elevation angle is obtained by performing a nearest neighbor query on the continuous target height at the given ray elevation angle, and the final target slant distance is obtained by performing linear interpolation on the ball distance.

[0040] Step 1 includes the following steps:

[0041] Step 1-1: The elevation angle before and after the electromagnetic wave ray incident on the layered interface is... and The corrected refractive index is and According to Snell's law for the stratified atmosphere of a sphere, i.e., the tangential wavenumber components of electromagnetic waves are equal, we can obtain:

[0042] ;

[0043] Step 1-2: Substitute the initial value of the electromagnetic wave ray into the equation to obtain the identity that varies with the initial elevation angle:

[0044]

[0045] in, It is a fixed constant. This is the corrected refractive index of the ray at the antenna height. Let be the initial elevation angle of the ray. The corrected refractive index of the ray at the current altitude. The elevation angle of the ray at the current altitude;

[0046] Steps 1-3: After taking the partial derivative of the modified refractive index with respect to the ray elevation angle, we obtain:

[0047] ;

[0048] Steps 1-4: After expanding the partial derivative of the refractive index with respect to the elevation angle of the ray using the chain rule, we obtain the dominant model for the propagation of the electromagnetic wave ray trajectory:

[0049] ;

[0050] in, For the corrected refractive index gradient at the height position of the ray, The height of the ray. The distance between the sphere and the electromagnetic wave trajectory.

[0051] Step 2 includes the following steps:

[0052] Step 2-1: Based on the electromagnetic wave trajectory model, obtain the relationship between the propagation distance increment and the elevation angle increment during ray propagation:

[0053] ;

[0054] Step 2-2: Obtain the relationship between the propagation distance increment and the ray height increment based on geometric relationships:

[0055] .

[0056] Step 3 includes the following steps:

[0057] Step 3-1: Using the differential solution method of the relationship between the parameters, an iterative step model of the ray trajectory is formed. When the ray is incident below the terrain boundary, the ray height... Less than the terrain height The current terrain slope angle is Reset the ray height according to the following formula and elevation angle :

[0058] ;

[0059] Step 3-2, based on the ray height and elevation angle Determine the elevation angle of the ray Target height and target slant distance :

[0060] .

[0061] Step 4 utilizes the ray elevation angle. Target height and target slant distance With ball distance After obtaining the numerical solution, the continuous target ball distance at a given ray elevation angle is determined by linear interpolation of the slant range. and target height :

[0062] ;

[0063] in, The target sphere distance is a linear interpolation operator. This is accomplished through slant range interpolation, while the target height... The interpolation ratio is the same as the slope interpolation ratio.

[0064] Combination Figure 2 Step 5 includes the following steps:

[0065] Step 5-1: Assume the radar station's latitude and longitude are located at the North Pole, and establish a local northeast-sky rectangular coordinate system. Based on the target's measured azimuth and distance... By utilizing the characteristic that when the radar is located at the North Pole, the line connecting the radar and the target lies on a meridian passing through the center of the sphere, the target's latitude and longitude when the radar is at the North Pole can be obtained. :

[0066] ;

[0067] ;

[0068] in, This is the radar covariant angle. The radius of the Earth;

[0069] Step 5-2: Set the target latitude and longitude. Position converted to ECEF geodetic coordinate system :

[0070] ;

[0071] ;

[0072] ;

[0073] Step 5-3: Rotate the radar and target along the prime meridian. Rotate the aforementioned northeast-central rectangular coordinate system counterclockwise along the Y-axis of the geodetic coordinate system until it reaches the radar's latitude, forming a second coordinate system. According to the coordinate transformation relationship, the target's position is:

[0074] ;

[0075] in, This is the transformation matrix for parallels of latitude;

[0076] The rotation transformation matrix from the Northeast Celestial Cartesian coordinate system to the second coordinate system is:

[0077] ;

[0078] Step 5-4: Rotate the radar and target along the meridian corresponding to the radar station's latitude. Rotate the second coordinate system counterclockwise along the Z-axis of the geodetic coordinate system until it reaches the radar station's position, forming the third coordinate system. According to the coordinate transformation relationship, the target's position is:

[0079] ;

[0080] The rotation transformation matrix from the second coordinate system to the third coordinate system is:

[0081] ;

[0082] in, This is the meridian transformation matrix;

[0083] The rotation transformation matrix from the Northeast Celestial Cartesian coordinate system to the third coordinate system is:

[0084] ;

[0085] in, This is the total transformation matrix;

[0086] Step 5-5: Transform the target position after the two rotations from the ECEF geodetic coordinate system to the latitude and longitude coordinate system to obtain the target latitude and longitude. :

[0087] ;

[0088] ;

[0089] in, For arctan;

[0090] Steps 5-6: Combine the target's position in the ECEF geodetic coordinate system with the rotation matrix to obtain the target's latitude and longitude. Forward coordinate transformation model:

[0091] ;

[0092] .

[0093] Step 6 is based on the radar's local location. and target latitude and longitude The target's azimuth and distance are determined by a reverse rotation process. Based on the inverse of the rotation matrix, the inverse coordinate transformation model of the target range and azimuth is obtained:

[0094] ;

[0095] .

[0096] Step 7 is specifically shown in the following formula:

[0097] make ,

[0098] ;

[0099] ;

[0100] ;

[0101] in, The cosine value of latitude. The value is the sine of the latitude. To find the cosine value, The value is the sine of longitude. It is the product of the latitude cosine and the longitude cosine. It is the product of the cosine of latitude and the sine of longitude. It is the product of the sine of latitude and the cosine of longitude. It is the product of the sine values ​​of latitude and longitude.

[0102] The final target slant range in step 8 and target receiving elevation angle As shown in the following formula:

[0103] ;

[0104] in, For nearest neighbor query operator, It is a linear interpolation operator.

[0105] Specific ray-tracking model tracking and forward coordinate transformation implementation, for example... Figure 3 , Figure 4 and Figure 5As shown, the calculation results for standard refraction (-40 N / km), critical refraction (-157 N / km), and trapped refraction (-450 N / km) scenarios are presented. The results show that as the atmospheric refractive index gradient decreases, electromagnetic rays gradually bend towards the sea surface. For standard refraction, target spatial position correction is required when the target elevation angle is below 5°, with the difference in elevation angle not exceeding 0.5° compared to unrefractive propagation. For the critical refraction scenario frequently occurring at the sea surface, correction is required when the target elevation angle is below 15°, with the difference reaching 1.5°. Notably, when the incident angle of the electromagnetic ray is 0°, the electromagnetic wave propagates at the same altitude as the sea surface. When significant trapped refraction occurs, correction is required when the target elevation angle is below 20°, with the difference approaching 2°. The low-altitude ray trajectory exhibits multipath interference of the incident wave due to the trapping effect, which further complicates the multipath interference effect with the scattered waves from the sea surface.

[0106] Error analysis was conducted using a critical refraction scenario, and the errors of the proposed method and the traditional ray method as a function of elevation angle were presented. The results show that the error of the traditional ray method increases significantly with elevation angle, while the error of the proposed method hardly increases with elevation angle, thus having a wider range of applicability. The effectiveness of the invention was verified by comparing height error, elevation angle error, and slant distance error.

[0107] Table 1. Error variation of the method of this invention and the traditional ray method with elevation angle when the ball distance step size is 100m and the maximum ball distance is 300km.

[0108] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0109] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A high-precision target localization method for air-to-air radar based on ray-model tracking, characterized in that, Includes the following steps: Step 1: Collect the front and rear elevation angles of electromagnetic wave rays incident on the layered interface and their corresponding corrected refractive index. Based on Snell's law of the spherical layered atmosphere and the partial derivative of the refractive index with respect to the elevation angle of the rays, the dominant model of electromagnetic wave ray trajectory propagation is obtained through the chain rule. Step 2: Based on the electromagnetic wave trajectory model, obtain the relationship conditions between the propagation distance increment and the elevation angle increment, and between the propagation distance increment and the ray height increment during the ray propagation process; Step 3: Construct an iterative step model of the ray trajectory based on the aforementioned relationship conditions, determine the ray height and elevation angle, and thus obtain a regularized grid model to calculate the discrete ray elevation angle, target height, and target slant distance; Step 4: Calculate the discrete ray elevation angle, target height, and target slant range based on the regularized mesh model. Then, perform linear interpolation on the slant range to obtain continuous curves showing the change of target distance and target height with slant range at a given ray elevation angle. Step 5: Based on the radar's location, establish a local northeast-sky rectangular coordinate system, obtain the radar target's latitude and longitude, and convert it into the position in the geocentric-earth-fixed coordinate system. Rotate the northeast-sky rectangular coordinate system twice to obtain the final target's latitude and longitude and its positive coordinate transformation model. Step 6: Based on the radar station location and the latitude and longitude of the final target, the azimuth and distance of the target are determined by an inverse rotation process, and then the inverse coordinate transformation model is obtained by two coordinate system rotations. Step 7: Based on the forward / reverse coordinate transformation model, the forward and reverse coordinate transformation model is accelerated by using the pre-calculated sine and cosine relationship of the radar station for positioning of sea-level targets. Step 8: Based on the calculated curves of the continuous target ball distance and target height variation with slant distance at the given ray elevation angle, the target receiving elevation angle is obtained by performing a nearest neighbor query on the continuous target height at the given ray elevation angle, and the final target slant distance is obtained by performing linear interpolation on the ball distance.

2. The high-precision target localization method for air-to-air radar based on ray-model tracking according to claim 1, characterized in that, Step 1 includes the following steps: Step 1-1: The elevation angle before and after the electromagnetic wave ray incident on the layered interface is... and The corrected refractive index is and According to Snell's law for a spherically layered atmosphere: ； Step 1-2: Substitute the initial value of the electromagnetic wave ray into the equation to obtain the identity that varies with the initial elevation angle: ； in, It is a fixed constant. This is the corrected refractive index of the ray at the antenna height. Let be the initial elevation angle of the ray. The corrected refractive index of the ray at the current altitude. The elevation angle of the ray at the current altitude; Steps 1-3: After taking the partial derivative of the modified refractive index with respect to the ray elevation angle, we obtain: ； Steps 1-4: After expanding the partial derivative of the refractive index with respect to the elevation angle of the ray using the chain rule, we obtain the dominant model for the propagation of the electromagnetic wave ray trajectory: ； in, For the corrected refractive index gradient at the height position of the ray, The height of the ray. The distance of the sphere is the trajectory of the electromagnetic wave.

3. The high-precision target localization method for air-to-air radar based on ray-model tracking according to claim 2, characterized in that, Step 2 includes the following steps: Step 2-1: Based on the electromagnetic wave trajectory model, obtain the relationship between the propagation distance increment and the elevation angle increment during ray propagation: ； Step 2-2: Obtain the relationship between the propagation distance increment and the ray height increment based on geometric relationships: 。 4. The high-precision target localization method for air-to-air radar based on ray model tracking according to claim 3, characterized in that, Step 3 includes the following steps: Step 3-1: Using the differential solution method of the relationship between the parameters, an iterative step model of the ray trajectory is formed. When the ray is incident below the terrain boundary, the ray height... Less than the terrain height The current terrain slope angle is Reset the ray height according to the following formula and elevation angle : ； Step 3-2, based on the ray height and elevation angle Determine the elevation angle of the ray Target height and target slant distance : 。 5. A high-precision target localization method for air-to-air radar based on ray-model tracking according to claim 4, characterized in that, Step 4 utilizes the ray elevation angle. Target height and target slant distance With ball distance After obtaining the numerical solution, the continuous target ball distance at a given ray elevation angle is determined by linear interpolation of the slant range. and target height : ； in, It is a linear interpolation operator.

6. The high-precision target localization method for air-to-air radar based on ray model tracking according to claim 5, characterized in that, Step 5 includes the following steps: Step 5-1: Assume the radar station's latitude and longitude are located at the North Pole, and establish a local northeast-sky rectangular coordinate system. Based on the target's measured azimuth and distance... The radar obtained the target's latitude and longitude when it was in the Arctic. : ； ； in, The radar covariant angle, The radius of the Earth; Step 5-2: Set the target latitude and longitude. Position converted to Earth-centered Earth-fixed coordinate system : ； ； ； Step 5-3: Rotate the radar and target along the prime meridian, and rotate the northeast-sky rectangular coordinate system counterclockwise along the Y-axis of the geocentric coordinate system to the radar's latitude, forming a second coordinate system. The target position is: ； in, This is the transformation matrix for parallels of latitude; The rotation transformation matrix from the Northeast Celestial Cartesian coordinate system to the second coordinate system is: ； Step 5-4: Rotate the radar and target along the meridian corresponding to the radar station's latitude. Rotate the second coordinate system counterclockwise along the Z-axis of the geocentric coordinate system until it reaches the radar station's position, forming the third coordinate system. The target's position is: ； The rotation transformation matrix from the second coordinate system to the third coordinate system is: ； in, This is the meridian transformation matrix; The rotation transformation matrix from the Northeast Celestial Cartesian coordinate system to the third coordinate system is: ； in, This is the total transformation matrix; Step 5-5: Transform the target position after the two rotations from the Earth-centered Earth-fixed coordinate system to the latitude and longitude coordinate system to obtain the target latitude and longitude. : ； ； in, For arctan; Steps 5-6: Combine the target's geocentric coordinate system position with the rotation matrix to obtain the target's latitude and longitude. Forward coordinate transformation model: ； 。 7. A high-precision target localization method for air-to-air radar based on ray model tracking according to claim 6, characterized in that, Step 6 is based on the radar's local location. and target latitude and longitude The target's azimuth and distance are determined by a reverse rotation process. Based on the inverse of the rotation matrix, the inverse coordinate transformation model of the target range and azimuth is obtained: ； 。 8. A high-precision target localization method for air-to-air radar based on ray model tracking according to claim 7, characterized in that, Step 7 is specifically shown in the following formula: make , ； ； ； in, The cosine value of latitude. The value is the sine of the latitude. To find the cosine value, The value is the sine of longitude. It is the product of the latitude cosine and the longitude cosine. It is the product of the cosine of latitude and the sine of longitude. It is the product of the sine of latitude and the cosine of longitude. It is the product of the sine values ​​of latitude and longitude.

9. A high-precision target localization method for air-to-air radar based on ray model tracking according to claim 8, characterized in that, The final target slant range in step 8 and target receiving elevation angle As shown in the following formula: ； in, For nearest neighbor query operator, It is a linear interpolation operator.

10. A computer program product comprising computer program instructions, characterized in that, When the computer program instructions are executed on a computer, the computer causes the computer to perform the method as described in any one of claims 1 to 9.

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