Cooperative intelligent management and control system and method for load of aviation search and rescue system

Abstract

The invention relates to an aviation search and rescue system load cooperative intelligent management and control system and method, and belongs to the technical field of aviation detection. The search load is used for acquiring target information of a search area and providing real-time position and attitude information; the interface equipment is used for matching the data of each search load and a control interface to realize receiving, conversion and sending of the data; and the display control equipment is used for receiving the search data of each search load and generating target identification information, realizing real-time management and control on each load, and issuing a control command according to a search and rescue task process. When a search rescue task is executed, depending on the established intelligent decision model library, the working modes of the search loads can be intelligently controlled in an automatic / manual control mode, target information is obtained, cross control over the different search loads is achieved according to the target information, and cooperative intelligent control over the loads is achieved when search rescue is carried out in a general scene.

Description

Technical Field

[0001] This invention relates to the field of aerial detection technology, and in particular to an intelligent control system and method for payload coordination in aerial search and rescue systems. Background Technology

[0002] When performing search and rescue missions, unmanned aerial vehicles (UAVs) must accurately acquire target information, perform effective path planning, and select appropriate automatic or manual control modes to execute the search task. However, in current UAV systems, the realization of these functions still faces some key challenges and shortcomings.

[0003] First, in autonomous flight, path planning is a core component. It requires the aircraft, after acquiring information about its surrounding environment, to calculate an optimal flight path that is both safe and efficient in utilizing time and energy, using mathematical models and optimization algorithms (such as ant colony optimization or genetic algorithms). Current technologies often lack sufficient flexibility and adaptability in path planning, making it difficult to cope with uncertainties that arise during flight, such as sensor malfunctions, sudden weather changes, or newly appearing obstacles. This limits the ability of unmanned aerial vehicles to quickly replan their paths in unexpected situations, impacting flight safety and mission completion.

[0004] Secondly, the target recognition process for acquiring target information typically relies on image processing and pattern recognition techniques to analyze the input image. Existing systems have limited ability to detect and identify target objects in complex backgrounds, and their accuracy in identifying and locating target confidence levels is insufficient. Furthermore, the decision support functions of existing systems are inadequate in processing recognition results from different loads in real time and performing decision-level fusion processing, making it difficult to generate accurate and reliable final recognition results as a valid basis for judgment.

[0005] Finally, in automated control systems, the switching function between automatic and manual control is crucial. Existing systems may experience conflicts during the switching process, and the automatic control adaptability of the system state is insufficient when switching back from manual to automatic mode. These problems can lead to reduced control efficiency and even affect flight safety at critical moments. Summary of the Invention

[0006] To address the aforementioned technical problems, this invention proposes a payload-coordinated intelligent control system and method for aviation search and rescue systems. Specifically, it includes the following technical solutions:

[0007] An intelligent payload coordination and control system for an aviation search and rescue system includes: a search payload, interface devices, and display and control devices; wherein,

[0008] The search payload includes radar, electro-optical turret, Automatic Identification System (AIS), and inertial navigation equipment, which are used to acquire target information in the search area and provide real-time position and attitude information.

[0009] The interface equipment includes an integrated interface processor and a switch, which are used to match the data and control interfaces of each search payload to realize data reception, conversion and transmission;

[0010] The display and control equipment includes a mission processing computer, which receives search data from each search payload and generates target identification information, enables real-time management and control of each payload, and issues control commands based on the progress of the search and rescue mission.

[0011] A method for collaborative intelligent control of payloads in an air search and rescue system includes the following steps:

[0012] After the aerial search and rescue system takes off with the flight platform, the search payload, interface equipment, and display and control equipment are powered on, start up, and complete self-tests.

[0013] Open the intelligent decision-making model library, select the corresponding main control program control type decision-making model, and bind the search and rescue mission information;

[0014] The main control program's control-type decision model calls the fault monitoring and early warning-type decision model to monitor the fault information of each search load in real time and generate decision results;

[0015] The main control program's control decision model calls the target area planning decision model and the flight path decision model to generate the search and rescue aircraft's flight path based on the mission information, and then sends the flight path information to the display and control equipment.

[0016] The main control program's control decision model calls upon the radar control decision model and the electro-optical turret control decision model to intelligently control the radar and electro-optical turret based on the aircraft's position information and mission requirements.

[0017] The main control program's control-type decision model calls the target collection and distribution model set and the target identification decision model to collect, fuse, and identify the acquired target information and generate a target list;

[0018] The main control program's control decision model calls the flight path decision model and the photoelectric turret control decision model based on the information in the target list to track and process the targets;

[0019] The main control program's decision-making model monitors task execution in real time and calls the corresponding decision-making model to adjust the task based on task progress and target status.

[0020] After the mission is completed, the main control program's decision-making model calls the inbound route decision-making model to guide the search and rescue aircraft back to port and land.

[0021] The present invention has the following beneficial effects:

[0022] 1. This invention achieves intelligent collaborative control of various search payloads in an air search and rescue system through the establishment of an intelligent decision-making model library. This collaborative control ensures that each payload can work efficiently and orderly in complex search and rescue missions, improving the overall search and rescue efficiency and effectiveness.

[0023] 2. This invention enables automatic monitoring of the status information of each payload in the air search and rescue system, and allows for alarm decisions based on the monitoring results. This function significantly improves the safety and reliability of the system, ensuring timely response in the event of payload failure and preventing mission failure or delays.

[0024] 3. This invention can intelligently receive and distribute data information from various payloads, optimizing the data processing flow and improving the efficiency and accuracy of information processing. This helps to quickly extract useful information from large amounts of data, providing support for decision-making.

[0025] 4. This invention possesses the capability for automatic real-time intelligent route planning and guidance, enabling rapid adjustments to flight paths based on mission requirements and environmental changes, providing effective guidance for pilots. This enhances flight flexibility and safety, especially in complex or rapidly changing environments.

[0026] 5. This invention can autonomously control the fusion and processing of multimodal data to generate perceived information, and then visualize this information on multiple display screens. This capability improves the understandability of information, enabling operators to intuitively understand the current task status and environmental conditions, thereby making better decisions.

[0027] 6. This invention possesses the capability for automatic / manual switching control of various payloads within the air search and rescue system, allowing for switching between automatic and manual control at any time based on mission requirements and circumstances. This flexibility enables the system to operate automatically under normal conditions, or be taken over by operators when needed, enhancing the system's adaptability and controllability. Attached Figure Description

[0028] Figure 1 The present invention provides a structural diagram of a payload collaborative intelligent control system for an aviation search and rescue system;

[0029] Figure 2 This is a structural diagram of the intelligent decision-making model library;

[0030] Figure 3 This is a flowchart of a payload collaborative intelligent control method for an aviation search and rescue system. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other. To achieve the above objectives, this invention adopts the following technical solution.

[0032] According to one embodiment of the present invention, such as Figure 1 As shown, this invention proposes an intelligent control system for payload coordination in an aviation search and rescue system, comprising: a search payload, an interface device, and a display and control device.

[0033] The search payloads include radar, electro-optical turrets, Automatic Identification System (AIS), and inertial navigation equipment. The radar is used to acquire synthetic aperture radar (SAR) / inverse synthetic aperture radar (ISAR) images and wide-area surveillance (WAS) / moving target indication (GMTI) information of the search area during search and rescue missions. The electro-optical turret is used to acquire visible light and infrared images or video information of the search area during search and rescue missions. The Automatic Identification System (AIS) is used to acquire ship identification information of the search area during search and rescue missions. The inertial navigation equipment is used to provide real-time position and attitude information to each search payload.

[0034] The interface equipment includes an integrated interface processor and a switch. One end of the integrated interface processor is connected to the radar, optoelectronic turret, AIS and inertial navigation equipment, and the other end is connected to the switch. It is used to match the data and control interfaces of each search payload. It can receive the data and payload status information of each search payload and convert them into network protocol format and send them to the switch. It can also receive the payload control commands sent by the switch and convert them into the corresponding payload control interface protocol format and send them to the corresponding search payload.

[0035] The display and control equipment includes a task processing computer, a multi-screen display, a gamepad, a keyboard, and a mouse. It is used to receive search data from each payload and generate target identification information, receive status information from each payload to achieve real-time control of each payload, and intelligently issue control commands such as payload parameter configuration and mode settings based on the progress of the search and rescue mission.

[0036] A smart decision-making model library is established in the task processing computer to realize central decision-making for load collaborative intelligent control. The smart decision-making model library is divided into 11 model sets, such as... Figure 2As shown, it includes decision models for main control program control, target area planning, flight path, radar control, photoelectric turret control, UAV control, data processing, target collection and distribution, target identification, automatic / manual control switching, and fault monitoring and early warning.

[0037] a) The main control program control-type decision model set is the overall decision model of the system, used for overall execution control of load collaborative intelligent management and control. It calls specific models in the other 10 model sets according to the event triggering logic. The relationship between the main control program control-type decision model set and the other model sets is one of calling and being called. Except for the main control program control-type decision model set, the decision model sets are called in parallel. The fault monitoring and early warning decision model set is called throughout the process. The other 9 model sets are called by event triggering. In the 9 model sets, the models in a single model set are called in a serial manner.

[0038] b) Target area planning decision model set, used for decision generation in target area planning. There are 4 models, including low-speed / stationary targets at sea, high-speed targets, regional targets, and island and reef target area planning decision models. Based on the binding task requirement model, the task operation area can be automatically generated and the operation area can be adjusted in real time according to the operation requirements.

[0039] c) Flight route decision model set, used for real-time decision generation and updating of aircraft flight routes, consists of 8 models, including departure route, arrival route, emergency arrival route, maritime target search area route, maritime single target identification route, maritime single target tracking route, island and reef target imaging area route, and recovery search route route decision model, providing rapid route guidance instructions for search operations.

[0040] d) Radar control decision model set, used for radar decision control during mission execution. There are 8 models in total, including power-on self-test, long-range WAS mode parameter setting, specific target WAS mode parameter setting, left-side view strip mode parameter setting, right-side view strip mode parameter setting, radiation on control, radiation off control, and radar off control decision models, which can implement specific operations on the radar.

[0041] e) A set of decision-making models for photoelectric turret control, used for decision-making and control of photoelectric turrets during task execution. There are 3 models, mainly including control decision-making models such as follow-up range scanning control, fixed-point follow-up gaze tracking control, and fixed angle scanning control, as well as the ability to make decision-making decisions based on the status information after each control decision command is issued, which can implement intelligent control operations on photoelectric turrets.

[0042] f) Aircraft guidance instruction decision model set, used to provide guidance instructions for flight platforms. There are 5 models in total, including takeoff prompts, fixed-point direct flight, fixed-point detour flight, landing prompts, and regional route patrol flight guidance instruction decision models. Guidance instructions can be sent to multi-screen displays to provide guidance reference for flight platform pilots.

[0043] g) Data processing control decision model set, used to control the output of data processing fusion recognition results. There are 2 models, including the control decision model for enabling data processing module fusion recognition and disabling data processing module fusion recognition, which can realize intelligent control of data processing fusion recognition software.

[0044] h) Target acquisition and distribution model set, used for target acquisition and distribution decision control, consists of 3 models, including AIS target retrieval, radar target retrieval, and radar target distribution model, which can realize intelligent control of AIS received information, radar search target information, and radar target information distribution.

[0045] i) Target recognition decision model set, used for target recognition decision and output of recognition results. There are two models, including AIS and radar target fusion decision and processing module result and binding information fusion decision model, which can realize intelligent control of target decision-level fusion and result output.

[0046] j) Automatic / Manual Control Switching Decision Model Set, used for decision control of automatic / manual switching, consists of 2 models, including automatic switching to manual control and manual switching to automatic control switching decision model, to realize intelligent autonomous control and human-in-the-loop switching.

[0047] k) Fault monitoring and early warning decision model set, used to monitor the fault status of each payload. There are 4 models in total, including radar fault monitoring, optoelectronic turret fault monitoring, mission processing computer fault monitoring, and AIS fault monitoring and early warning model. It can generate decision results in real time based on the received payload fault status.

[0048] This invention also provides a method for intelligent collaborative control of payloads in an aviation search and rescue system. During search and rescue missions, the system can automatically and sequentially control the operating modes of each search payload, acquire target information, and, based on this target information, achieve cross-control of different search payloads, thus realizing collaborative control of each payload. Figure 3 As shown, when executing a general search and rescue mission scenario, the main control program in the intelligent decision-making model calls other decision-making models to achieve automatic control of each payload, including the following steps:

[0049] Step 1: After the air search and rescue system takes off with the flight platform, the search payload, interface equipment, and display and control equipment are powered on and start up, and complete self-test;

[0050] Step 2: Open the intelligent decision model library, select the main control program control type decision model for general search and rescue mission scenarios, and bind the search and rescue mission information. The mission information can be the image, type, location, speed, direction of movement, etc. of the search target, or the estimated area of ​​the search target, etc.

[0051] Step 3: After the main control program's control-type decision model is started, it calls the fault monitoring and early warning-type decision model to monitor fault information of radar, photoelectric turret, mission processing computer, AIS, etc. in real time, and receives the decision results generated by the fault status. If a return or mission abort alarm is detected, an alarm message is displayed.

[0052] Step 4: The main control program's control decision model calls the target area planning decision model and the flight route decision model. Based on the binding information, it automatically generates the predicted position of the search and rescue aircraft reaching the sea target, intelligently plans the search range of the general scenario operation area, generates the departure planning route, the target area search route, and the arrival planning route, and sends the route information to the multi-screen display as the flight basis for the flight route.

[0053] Step 5: The main control program's control decision model monitors the aircraft's real-time position information and the distance between the current position and the planned route to the target area. If preset conditions are met, it calls the radar control decision model to implement control, calls the power-on self-test decision model to generate a power-on self-test command and sends it to the radar, and monitors the command's feedback information; it calls the long-range WAS mode parameter setting control decision model to generate the corresponding parameter setting command and sends it to the radar, and monitors the command's feedback information; it calls the radiation activation control decision model to generate a radiation activation command and sends it to the radar, and monitors the command's feedback information.

[0054] Step 6: The main control program's control decision model calls the photoelectric turret control decision model to implement intelligent control operations on the photoelectric turret. It also calls the follow-up range scanning control decision model to generate follow-up range scanning control commands and send them to the photoelectric turret, and monitors the feedback information from the command issuance.

[0055] Step 7: The main control program's control decision model calls the AIS target retrieval model in the target collection and distribution model set, receives the target retrieval information sent by the AIS device, and generates an AIS target list;

[0056] Step 8: The main control program control decision model calls the radar data output result information and sends the data output result information to the target identification decision model to generate and update the target identification list, catalog the detected targets within the target range, and record each target's number, longitude, latitude, speed, direction of movement, detection time, distance, target type, whether it is a search target, and whether the search is completed.

[0057] Step 9: The main control program control decision model traverses the target identification list to see if there is target information. After traversing the target information, it extracts the "whether it is a search target" value and determines whether it is an identified target. If it is an identified target, it continues to traverse the identified target list. If it is an unidentified target, it extracts the latitude and longitude information of the target.

[0058] Step 10: The main control program control decision model sends the latitude and longitude information of the targets extracted from the target list to the flight route decision model. The maritime single target identification route decision model generates the maritime single target identification route and sends it to the multi-screen display as the flight basis for the flight route.

[0059] Step 11: The main control program's control decision model calls the photoelectric turret control decision model to implement intelligent control operations on the photoelectric turret. It also calls the fixed-point follow-up gaze tracking control decision model to generate fixed-point follow-up gaze tracking control commands and send them to the photoelectric turret, monitoring the command issuance feedback information.

[0060] Step 12: The main control program controls the decision model to call the data processing module fusion recognition decision model, generates the command to enable the data processing module fusion recognition, and sends it to the data processing software to monitor the command feedback information.

[0061] The main control program control decision model monitors the data processing software to fuse the recognition results, and sends the fused recognition results to the processing module. The results are then fused with the binding information and other decision models for judgment. The main control program control decision model updates the target recognition list based on the judgment results.

[0062] The main control program's control decision model calls the data processing module's fusion recognition decision model to shut down, generates a command to shut down the data processing module's fusion recognition, and sends it to the data processing software, monitoring the command's feedback information.

[0063] Step 13: The main control program's decision-making model traverses the target identification list. If the "Is it a search target?" item in the current target information is yes, it is determined that the target has been found and the tracking state is maintained. If the "Is it a search target?" item is no, it continues to monitor the "Is the search completed?" item in the list. If no, it retrieves the next target location information in the target identification list and repeats steps 10 to 13.

[0064] Step 14: The main control program control class decision model traverses and identifies the target list. If the "whether the search is completed" item in the list is yes, the main control program control class decision model calls the recovery search route model, generates the recovery search route, and sends the route information to the multi-screen display as the flight basis for updating the flight route. Repeat steps 5 to 14.

[0065] Step 15: The main control program control decision model monitors the location information of the search and rescue aircraft in real time, monitors whether the search and rescue aircraft has completed the planned route in the target area, and reports a return request after completing the planned route in the area.

[0066] Step 16: If the main control program's decision-making model receives the return confirmation information, it calls the arrival route decision-making model to generate the arrival route and sends the route information to the multi-screen display as the flight basis for updating the flight route, guiding the search and rescue aircraft to land. The general search and rescue mission scenario is now complete.

[0067] Although the illustrative specific embodiments of the present invention have been described above to enable those skilled in the art to understand the invention, it should be understood that the invention is not limited to the scope of the specific embodiments. For those skilled in the art, various changes will be obvious as long as they are within the spirit and scope of the invention as defined and determined by the appended claims, and all inventions utilizing the concept of the present invention are protected.

Claims

1. A payload collaborative intelligent control system for an aviation search and rescue system, characterized in that, include: The search payload, interface devices, and display control devices; among which... The search payload includes radar, electro-optical turret, Automatic Identification System (AIS), and inertial navigation equipment, which are used to acquire target information in the search area and provide real-time position and attitude information. The interface equipment includes an integrated interface processor and a switch, which are used to match the data and control interfaces of each search payload to realize data reception, conversion and transmission; The display and control equipment includes a mission processing computer, which receives search data from each search payload and generates target identification information, enables real-time management and control of each payload, and issues control commands based on the progress of the search and rescue mission.

2. The payload collaborative intelligent control system for an aviation search and rescue system according to claim 1, characterized in that, Radar is used to acquire synthetic aperture radar / inverse synthetic aperture radar images and wide-area surveillance / moving target indication information of the search area during search and rescue missions. Electro-optical turrets are used to acquire visible light, infrared images or video information of the search area during search and rescue missions. Automatic Identification System (AIS) is used to acquire ship identification information of the search area during search and rescue missions. Inertial navigation equipment is used to provide real-time position and attitude information to each search payload.

3. The payload collaborative intelligent control system for an aviation search and rescue system according to claim 1, characterized in that, One end of the integrated interface processor is connected to the radar, electro-optical turret, AIS, and inertial navigation equipment, and the other end is connected to the switch. It is used to match the data and control interfaces of each search payload, receive the data and payload status information of each search payload and convert them into network protocol format to send to the switch. It can also receive payload control commands from the switch and convert them into the corresponding payload control interface protocol format to send to the corresponding search payload.

4. The payload collaborative intelligent control system for an aviation search and rescue system according to claim 1, characterized in that, The task processing computer contains multiple decision model sets for making decisions on payload collaborative intelligent management and control. These decision model sets include decision model sets for main control program control, target area planning, flight path, radar control, optoelectronic turret control, aircraft guidance and indication, data processing control, target collection and distribution, target identification, automatic / manual control switching, and fault monitoring and early warning.

5. The payload collaborative intelligent control system for an aviation search and rescue system according to claim 4, characterized in that, The master control program's decision-making model set serves as the overall decision-making model, calling specific models in other decision-making model sets according to the event-triggered logic; the relationship between the master control program's decision-making model set and other model sets is one of calling and being called. The fault monitoring and early warning decision model set was invoked throughout the process to monitor the fault status of each search load in real time and generate corresponding decision results. The target area planning decision model set, under the call of the main control program control decision model set, is used for the generation of target area planning decisions. It automatically generates the task search operation area according to task requirements and can adjust the search operation area in real time according to task requirements. The flight path decision model set, under the call of the main control program's control decision model set, is used for real-time decision generation and updating of aircraft flight paths, providing route guidance instructions for search operations; The radar control decision model set, under the call of the main control program's control decision model set, is used for radar decision control to realize specific operations on the radar; The photoelectric turret control decision model set, under the call of the main control program control decision model set, is used for the decision control of the photoelectric turret, as well as the status information decision capability after each control decision command is issued, to realize the control operation of the photoelectric turret; The aircraft guidance instruction decision model set, under the invocation of the main control program control decision model set, is used to provide guidance instructions for the flight platform; The data processing control decision model set, under the invocation of the main control program control decision model set, is used to control the output of data processing fusion and recognition results; The target collection and distribution model set is used for target collection and distribution decision control under the invocation of the main control program's control decision model set; The target recognition decision model set, under the call of the main control program's control decision model set, is used for target recognition decision-making and outputs the recognition results; The automatic / manual control switching decision model set, under the invocation of the main control program's control decision model set, is used to achieve intelligent autonomous control and human-in-the-loop switching through automatic / manual switching decision control.

6. The payload collaborative intelligent control system for an aviation search and rescue system according to claim 5, characterized in that, The target area planning decision model set includes four regional planning decision models: low-speed / stationary targets at sea, high-speed targets, regional targets, and island and reef targets. The flight route decision model set includes eight route decision models: departure route, arrival route, emergency arrival route, maritime target search area route, maritime single target identification route, maritime single target tracking route, island and reef target imaging area route, and recovery search route. The radar control decision model set includes eight decision models: power-on self-test, long-range WAS mode parameter setting, specific target WAS mode parameter setting, left-side view strip mode parameter setting, right-side view strip mode parameter setting, radiation on control, radiation off control, and radar off control. The optoelectronic turret control decision model set includes three control decision models: servo range scanning control, fixed-point servo staring tracking control, and fixed angle scanning control. The aircraft guidance and instruction decision model set includes five guidance and instruction decision models: takeoff prompts, fixed-point direct flight, fixed-point detour flight, landing prompts, and regional route patrol flight. The data processing control decision model set includes two control decision models: one with data processing module fusion recognition enabled and the other with data processing module fusion recognition disabled. The target acquisition and distribution model set includes three models: AIS target retrieval, radar target retrieval, and radar target distribution. The target identification decision model set includes two decision models: AIS and radar target fusion decision and processing module results and binding information fusion decision. The set of automatic / manual control switching decision models includes two switching control decision models: automatic switching to manual control and manual switching to automatic control. The fault monitoring and early warning decision model set includes four monitoring and early warning models: radar fault monitoring, electro-optical turret fault monitoring, mission processing computer fault monitoring, and AIS fault monitoring.

7. A method for intelligent collaborative control of payloads in an aviation search and rescue system, characterized in that, Includes the following steps: After the aerial search and rescue system takes off with the flight platform, the search payload, interface equipment, and display and control equipment are powered on, start up, and complete self-tests. Open the intelligent decision-making model library, select the corresponding main control program control type decision-making model, and bind the search and rescue mission information; The main control program's control-type decision model calls the fault monitoring and early warning-type decision model to monitor the fault information of each search load in real time and generate decision results; The main control program's control decision model calls the target area planning decision model and the flight path decision model to generate the search and rescue aircraft's flight path based on the mission information, and then sends the flight path information to the display and control equipment. The main control program's control decision model calls upon the radar control decision model and the electro-optical turret control decision model to intelligently control the radar and electro-optical turret based on the aircraft's position information and mission requirements. The main control program's control-type decision model calls the target collection and distribution model set and the target identification decision model to collect, fuse, and identify the acquired target information and generate a target list; The main control program's control decision model calls the flight path decision model and the photoelectric turret control decision model based on the information in the target list to track and process the targets; The main control program's decision-making model monitors task execution in real time and calls the corresponding decision-making model to adjust the task based on task progress and target status. After the mission is completed, the main control program's decision-making model calls the inbound route decision-making model to guide the search and rescue aircraft back to port and land.

8. The method for intelligent load coordination and control of an air search and rescue system according to claim 7, characterized in that, Search and rescue mission information includes images, type, location, speed, direction of movement, or estimated area of ​​the search target.

9. The method for intelligent load coordination and control of an air search and rescue system according to claim 7, characterized in that, The generated flight paths for search and rescue aircraft include outbound planned routes, target area search routes, and inbound planned routes.

10. The method for intelligent load coordination and control of an air search and rescue system according to claim 7, characterized in that, For the target list, the targets within the target range are cataloged, and each target's number, longitude, latitude, speed, direction of movement, discovery time, distance, target type, whether it is a search target, and whether the search has been completed are recorded.

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