Analog simulation system and simulation method of submarine radar

Abstract

This invention discloses a simulation system and method for submarine radar, primarily addressing the limitations of existing technologies in performance testing and verification during algorithm development, and the inability to simultaneously conduct testing and verification alongside practical training for submarine radar professionals on a single simulation platform. It integrates a situation generation unit, a signal simulation unit, and a display and control unit into a single software system. The situation generation unit simulates radar antenna scanning, generates simulated radar echo data, and sends this data to the signal simulation unit for signal processing. The display and control unit provides a human-machine interface for displaying radar video and controlling the interface. The signal simulation unit simulates the radar processing cabinet, performing hardware module status simulation, signal processing, and data processing functions. This invention is simple to deploy, requires no complex hardware, has low maintenance costs, and can be used to verify the effectiveness of signal processing and target tracking algorithms while simultaneously supporting operational training for radar professionals.

Description

Technical Field

[0001] This invention belongs to the field of radar technology, specifically relating to a simulation system for submarine radar, which can be used by researchers for algorithm testing and verification and by submarine radar professionals for practical training. Background Technology

[0002] Submarine radar consists of three parts: a radar antenna, a radar processing cabinet, and a display and control device. It is primarily used during surface navigation or periscope maneuvers. Utilizing a retractable mast, the antenna extends from the hull, transmitting and receiving electromagnetic waves to perform surface target detection, navigation, and collision avoidance tasks. With the increasing complexity of radar technology, submarine radar is evolving towards multi-system, highly integrated, and intelligent designs. Traditional on-site testing faces challenges such as high cost, high risk, and low flexibility, and can no longer meet the requirements. Therefore, simulation-based testing and training are necessary.

[0003] As a core tool for scientific research verification, radar simulation systems support fundamental theoretical research, key technology breakthroughs, and innovative algorithm exploration in the field of radar technology by constructing a controllable, repeatable, and high-fidelity virtual experimental environment. Through parameterized configuration and automated simulation, researchers can quickly verify theoretical hypotheses and shorten the research cycle.

[0004] Existing typical radar simulation systems mainly consist of five parts: target environment simulation, echo generation, signal processing, operation and display control, and data evaluation. Several mature systems have been developed. Examples include the Leike Defense shipborne radar target echo simulator, the Huali Chuangtong radar real-time clutter signal simulator, and the Chengdu Dingxun LDMN-JM1 radar signal simulator.

[0005] The Leike Defense shipborne radar target echo simulator consists of a control computer, an FPGA+DSP core signal processing unit, an RF transceiver module, a clock synchronization unit, and various interfaces, enabling parameter configuration, echo calculation, signal transmission and reception, and device connection. This simulator employs a Digital Radio Frequency Storage (DRFM) mechanism. After receiving and digitizing radar signals, it modulates target parameters, including range and velocity, through the FPGA, synthesizes the echo signal, and then transmits it to the radar via frequency conversion. While it provides operators with a near-realistic training environment and its wide bandwidth adapts to the testing and training needs of various radar systems, its high degree of specialization, large size and power consumption, and poor portability hinder flexible practical training for radar operators and make it unsuitable for algorithm testing and deployment in submarine scenarios.

[0006] Huali Chuangtong's real-time radar clutter signal simulator consists of a scene modeling computer, an FPGA array real-time signal generation unit, a wide-band RF frequency conversion unit, and a synchronization interface. It focuses on clutter scene modeling and real-time signal generation. Based on input radar and environmental parameters, it generates clutter data using statistical and electromagnetic scattering models, superimposes propagation effects, and then outputs the converted data to the radar receiver to complete clutter simulation. While it can provide high-precision test data for anti-clutter algorithms, it cannot provide complete test scenarios for radar target detection and recognition algorithms, resulting in weak target simulation capabilities.

[0007] Chengdu Dingxun LDMN-JM1 radar signal simulator features a portable, integrated design, including a main unit, signal generation module, S / C band microwave frequency conversion unit, and control interface, making it suitable for mobile deployment. Based on the configured radar signal parameters, the FPGA generates a baseband waveform, which is then amplified and output as an RF signal, supporting real-time drive, waveform playback, and multi-radiation source simulation. While it can provide high-precision test data for algorithms, its frequency band coverage is narrow, only covering 2GHz to 6GHz (S / C band), making it unsuitable for algorithm testing and operator training needs of special frequency band radars such as submarine radars.

[0008] In summary, existing radar simulation systems combine hardware and software, resulting in high usage costs and deployment environment requirements. Their functions are biased towards simulating targets and clutter in the external environment, rather than simulating submarine radar equipment. Furthermore, they lack sufficient support for specialized testing and verification of radar algorithms, making it difficult to flexibly integrate core algorithms such as signal processing and target tracking. This hinders the performance verification and optimization training needs during algorithm development. Moreover, their focus on a single purpose prevents simultaneous algorithm testing and verification with practical training for submarine radar professionals on the same simulation platform, leading to low resource utilization and high usage costs. Summary of the Invention

[0009] The purpose of this invention is to address the shortcomings of the prior art by proposing a simulation system for submarine radar. This system simulates submarine radar equipment to reduce operating costs, improve resource utilization, and simultaneously perform performance testing and verification of algorithms such as signal processing and target tracking on the same simulation platform, as well as provide practical training for submarine radar professionals.

[0010] The technical approach to achieving the purpose of this invention is as follows: to simulate various parts of the submarine radar using pure software without complex hardware dependencies, thereby reducing usage costs and improving resource utilization; to perform performance testing and verification of the algorithm through independent algorithm modules with modifiable parameters; and to achieve better practical training results for submarine radar professionals by using an operating interface and operating procedures that are basically consistent with the actual equipment, as well as fault simulation functions.

[0011] Based on the above ideas, the technical solution of the present invention includes:

[0012] 1. A simulation system for a submarine radar, characterized in that it comprises:

[0013] The display and control unit is used to complete the functions of radar terminal display, radar control and external data communication, and ultimately realize the tasks of radar navigation, radar self-test and radar search.

[0014] The signal simulation unit is used to simulate the radar processing cabinet and radar antenna to complete the hardware state simulation; it performs signal processing on the simulated radar echo to realize radar target acquisition and motion parameter calculation tasks, and supports the display and control unit to complete the navigation function.

[0015] The situation generation unit is used to simulate radar antenna scanning, complete the generation of radar simulated echo data, generate radar simulated echoes based on the number of target batches and target motion elements set by the user, and send the radar video to the display and control unit and the signal simulation unit via Ethernet for echo display and target tracking calculation, respectively.

[0016] Preferably, the situation generation unit, signal simulation unit, and display and control unit are all desktop software that do not require specific complex hardware, and the units interact with each other via gigabit Ethernet.

[0017] Preferably, the display and control unit includes:

[0018] The navigation module is used in navigation mode to complete navigation tasks.

[0019] The self-test module is used for the self-test working mode to complete the self-test task.

[0020] The search module is used to search for work modes and complete search tasks.

[0021] The video display module is used for analog echo display in navigation and search modes.

[0022] Preferably, the signal simulation unit includes:

[0023] The antenna control module is used to simulate radar antennas in different states;

[0024] Hardware failure simulation module, used to simulate hardware failures;

[0025] The basic motion parameter processing module is used to calculate the basic motion parameters of the target;

[0026] The collision risk parameter processing module is used to calculate the collision risk parameters of the target.

[0027] The signal processing module is used to process the analog echo data.

[0028] Preferably, the situation generation unit includes:

[0029] The target generation module is used to simulate target generation.

[0030] Clutter generation module, used to simulate clutter generation.

[0031] 2. A simulation method for a submarine radar, characterized in that it includes simulation of the radar antenna, radar processing cabinet, and display and control device, the implementation of which includes:

[0032] By simulating various actions of the radar antenna, such as rotation, stopping, speed switching, locking, unlocking, raising and lowering, and transmission switching, the radar antenna in different states can be obtained.

[0033] The original simulated echo data is obtained by simulating the actions of radar antenna transmitting and receiving signals through the situation generation unit.

[0034] The signal processing module simulates the radar processing cabinet's signal processing to obtain processed analog echo data.

[0035] By simulating the radar processing cabinet to solve the target motion parameters through the basic motion parameter processing module and the collision risk parameter processing module, the basic motion parameters and collision risk parameters of the tracked target are obtained.

[0036] The simulated display and control device is used through a video display module to display the simulated echo data;

[0037] The navigation module simulates the radar's navigation operation mode;

[0038] The self-test module simulates the self-test working mode of the radar.

[0039] The search module simulates the radar's search operation mode;

[0040] The hardware failure simulation module simulates potential hardware failures in radar equipment.

[0041] Based on the simulation results above, a complete submarine radar device was finally obtained.

[0042] Compared with the prior art, the present invention has the following advantages:

[0043] Firstly, this invention simulates all parts of the submarine radar using pure software, realizing the entire workflow of the submarine radar without complex hardware dependencies. At the same time, it can realize the performance testing and verification of the algorithm and the simulation training of submarine radar professionals on the same simulation platform, reducing the cost of use and improving resource utilization.

[0044] Secondly, since this invention can port independent algorithm modules into the system to perform performance testing and verification of the algorithm, it can be used for algorithm optimization and product design improvement.

[0045] Third, since the display and control unit of this invention is designed with reference to the actual software, the operation interface and operation process are basically consistent with the actual equipment. At the same time, it can simulate the hardware failures that may occur in submarine radar equipment, which is conducive to the solidification of skills of submarine radar professionals and improves training efficiency. Attached Figure Description

[0046] Figure 1 This is a block diagram of the simulation system structure of the submarine radar of the present invention;

[0047] Figure 2 This is a schematic diagram of the interface of the situation generation unit in the system of the present invention;

[0048] Figure 3 This is a schematic diagram of the interface of the signal simulation unit in the system of the present invention;

[0049] Figure 4 This is a schematic diagram of the interface of the display and control unit in the system of the present invention;

[0050] Figure 5 This is a structural block diagram of the situation generation unit in the system of the present invention;

[0051] Figure 6 This is a structural block diagram of the signal simulation unit in the system of this invention;

[0052] Figure 7 This is a structural block diagram of the display and control unit in the system of the present invention;

[0053] Figure 8 This is a flowchart of the simulation method for the submarine radar of the present invention. Detailed Implementation

[0054] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0055] Example 1: Simulation system for submarine radar.

[0056] Reference Figure 1 This example includes: a situation generation unit 1, a signal simulation unit 2, and a display and control unit 3. These three units are desktop software that requires no specific complex hardware, and they interact with each other via gigabit Ethernet. Among them:

[0057] The situation generation unit is used to simulate radar antenna scanning, generate simulated radar echo data, generate simulated radar echoes based on the number of target batches and target motion elements set by the user, and send the radar video to the signal simulation unit via Ethernet for signal processing. Specifically: the situation generation unit creates a 3600×4096 array as a data buffer to store simulated echo data, where 3600 represents the total number of azimuths and 4096 represents the range data for a single azimuth; a vector algorithm is used to update the position of a single target once per second based on the speed and heading of each target; the maximum target capacity in the program is 100 batches, and 100 data blocks in the array are rendered based on the target range and azimuth index; data outside the 100 data blocks are filled with sea clutter data, which is calculated based on the selected sea clutter model; after the simulated echo data is calculated, the transmission interval of each data packet is calculated based on the current rotational speed, and a high-precision timer is used to send the data packets to the signal simulation unit one by one.

[0058] The interface of the situation generation unit is displayed as follows: Figure 2 As shown. The current antenna rotation speed and current radio frequency status are used to display the current antenna rotation speed and the current transmission on / off status; the target mode is used to select three different scenarios, and the hull angle, heading, distance, speed, length and width of individual simulated targets can be modified in each scenario; the target intensity and sea clutter intensity are used to adjust the overall simulated target intensity and sea clutter intensity; the sea clutter model selection is used to select different models to generate sea clutter.

[0059] The signal simulation unit is used to simulate the radar processing cabinet and radar antenna to complete hardware state simulation; it processes the simulated radar echo to achieve radar target acquisition and motion parameter calculation tasks, and supports the display and control unit to complete navigation functions. Specifically, the signal simulation unit adopts a multi-threaded mechanism, consisting of four threads: Thread 1 receives raw simulated echo data from the situation generation unit via UDP and transmits it to Thread 2; Thread 2 includes clutter suppression, wave suppression, rain and snow suppression, and constant false alarm rate (CFAR) algorithms, and processes the raw simulated echo data according to the on / off state of each algorithm. After processing, the data is sent to Thread 3 and Thread 4; Thread 3 sends the data to the display and control unit via UDP; Thread 4 mainly completes the target tracking calculation task, using the simulated echo data processed by Thread 2 and the target tracking command sent by the display and control unit as input, and obtains the target's motion parameters through a series of data processing algorithms, and sends the target's motion parameters to the display and control unit via UDP.

[0060] The interface of the signal simulation unit is displayed as follows: Figure 3As shown. Its antenna control area is used to control the antenna's rotation, stop, speed, locking, and unlocking states, as well as to display the antenna's direction; the radio frequency control area is used to control the antenna's transmission on and off; the fault simulation area is used to simulate faults in the power supply system, antenna control system, measurement system, data processing system, and signal processing system; the signal processing algorithm status area is used to control the on / off state of each signal processing algorithm.

[0061] The display and control unit is used to complete the functions of radar terminal display, radar control, and external data communication, ultimately realizing the tasks of radar navigation, radar self-test, and radar search. Specifically: the display and control unit uses QWidget as the main interface, and uses a UI editor to drag and drop the layout of controls, mainly to complete the design of the PPI video display area, the target tracking information table display area, and the main menu control area; the PPI video display area uses OpenGL technology, using texture and shader binding to render the screen pixels, and completes the display of processed simulated echo data; after receiving the processed simulated echo data via UDP, it is passed to the texture buffer and refreshed periodically to present a dynamic scanning image; after receiving the target motion parameters via UDP, it is passed to the target tracking information table display area to complete the display of target motion parameters.

[0062] The interface display of the display and control unit is as follows: Figure 4 As shown. The top working mode menu bar of the unit can select three working modes: navigation, search, and self-test; the PPI display area on the left is used to display the received radar simulated echo data; the target tracking information table display area is used to display the basic motion parameters and collision risk parameters of the tracked target; the main menu control area is used to issue control commands for navigation control, antenna control, plotting function, signal processing adjustment, self-test interface, etc.

[0063] Reference Figure 5 The situation generation unit 1 includes a target generation module 11 and a clutter generation module 12. The target generation module 11 is used to simulate target generation; the clutter generation module 12 is used to simulate clutter generation. The target generation module 11 and the clutter generation module 12 jointly generate the original simulated echo data and send the original simulated echo data to the signal simulation unit 2 for signal processing.

[0064] Reference Figure 6 The signal simulation unit 2 includes: a basic motion parameter processing module 21, a satellite control module 22, a collision risk parameter processing module 23, a hardware fault simulation module 24, and a signal processing module 25.

[0065] The basic motion parameter processing module 21 includes: a distance submodule 211, a bearing submodule 212, a speed submodule 213, a heading submodule 214, and a hull angle submodule 215. The collision risk parameter processing module 23 includes: a time to nearest encounter submodule 231, a nearest encounter distance submodule 232, a target passing bow time submodule 233, and a target passing bow distance submodule 234. The signal processing module 25 includes: a clutter suppression submodule 251, a wave suppression submodule 252, a rain and snow suppression submodule 253, and a constant false alarm rate (CFAR) submodule 254.

[0066] The functions of each module in signal simulation unit 2 are as follows:

[0067] The antenna control module 22 is used to simulate radar antennas in different states and supports the display and control unit 3 in controlling the antenna rotation, stop, speed switching, locking, unlocking, lifting and lowering, and transmission on / off actions.

[0068] The hardware fault simulation module 24 is used to simulate hardware faults;

[0069] The signal processing module 25 is used to perform signal processing on the received raw analog echo data generated by the situation generation unit 1, wherein:

[0070] Clutter suppression submodule 251 is used to suppress clutter according to an adjustable fixed threshold. For simulated echo data Clutter suppression processing is performed to obtain the simulated echo data after clutter suppression:

[0071] ;

[0072] Wave suppression submodule 252, used to suppress waves based on simulated echo distance. Wave suppression factor For simulated echo data Wave suppression processing was performed to obtain simulated echo data after wave suppression:

[0073] ,

[0074] in, A mapping of distances from 0 to 4095. The wave suppression distance threshold;

[0075] Rain and snow suppression submodule 253, used to adjust a fixed threshold. For simulated echo data

[0076] Rain and snow suppression processing was performed to obtain simulated echo data after rain and snow suppression processing:

[0077] ;

[0078] The constant false alarm submodule 254 adopts... The algorithm takes 6 cells on each side of the echo data at each distance, with the two adjacent cells on each side serving as guard cells and the remaining 4 cells on each side serving as reference cells. The algorithm then uses the average value of the reference cells... Standardization factor The threshold value at that distance is obtained. Then analyze the simulated echo data. Perform constant false alarm rate (CFAR) processing to obtain the simulated echo data after CFAR processing:

[0079] ;

[0080] The simulated echo data processed by the above sub-modules is sent to the display and control unit 3 for echo display.

[0081] The basic motion parameter processing module 21 and the collision risk parameter processing module 23 are used to calculate the target's basic motion parameters and collision risk parameters, wherein:

[0082] Range submodule 211 is used to calculate the distance between the radar and the tracked target based on the speed of light c and the round-trip propagation time t of electromagnetic waves. ;

[0083] Azimuth submodule 212 is used to determine the mechanical angle of the antenna relative to the bow when the echo is strongest. Calculate the relative position of the tracked target: ;

[0084] Speed ​​submodule 213 is used to detect the same target output by the radar. Time Distance and direction , Time Distance and direction Let's define the northeast coordinate system, with north as... Axis, East is Axis, to obtain the tracked target , Coordinates at two moments , and the goal is On-axis speed component ,exist On-axis speed component The relative speed of the tracked target is calculated. :

[0085] ,

[0086] in, ;

[0087] Heading submodule 214 is used to determine the same target based on radar output. Time Distance and direction , Time Distance and direction Let's define the northeast coordinate system, with north as... Axis, East is Axis, to obtain the tracked target , Coordinates at two moments , ,Target Displacement increment on axis , Displacement increment on axis The relative heading of the tracked target is calculated. :

[0088] ,according to The quadrant in which the course is located will be planned to be 0~360°.

[0089] in, ;

[0090] Angle submodule 215, used to determine the relative bearing of the tracked target Calculate the hull angle of the tracked target:

[0091] ;

[0092] The arrival time of the nearest encounter point submodule 231 is used to determine the ship's speed relative to the ground. Target speed to ground Let's define the northeast coordinate system, with north as... Axis, East is Axis, relative velocity components: , Let the current position of the ship be... Target location Relative position components: Calculate the time to the nearest encounter point for the tracked target: ,like (Relatively stationary), with no nearest meeting point, the algorithm fails;

[0093] The nearest encounter will be with distance submodule 232, used to determine the ship's ground speed. Target speed to ground Let's define the northeast coordinate system, with north as... Axis, East is Axis, relative velocity components: , Let the current position of the ship be... Target location Relative position components: Calculate the nearest encounter distance of the tracked target: ,like (Relatively stationary), with no nearest meeting point, the algorithm fails;

[0094] Target bow passage time submodule 233 is used to determine the ship's ground speed. Target speed to ground Let's define the northeast coordinate system, with north as... Axis, East is Axis, relative velocity components: Let the current position of the ship be... Target location Relative position components: Calculate the time it takes for the tracked target to pass the bow: ,like (Without lateral relative motion), it will not pass the bow, so the algorithm fails;

[0095] Target distance past bow submodule 234, used to determine the ship's speed relative to ground. Target speed to ground Let's define the northeast coordinate system, with north as... Axis, East is Axis, relative velocity components: , Let the current position of the ship be... Target location Relative position components: Calculate the BCR of the tracked target: ,like (Without lateral relative motion), it will not pass the bow, so the algorithm fails;

[0096] The motion parameters calculated by the above sub-modules are sent to the display and control unit 3 for display of the tracking target information.

[0097] Reference Figure 7The display and control unit 3 includes: a navigation module 31, a self-test module 32, a search module 33, and a video display module 34. Specifically: the navigation module 31 is used in navigation mode to complete navigation tasks; the self-test module 32 is used in self-test mode to complete self-test tasks; the search module 33 is used in search mode to complete search tasks; and the video display module 34 is used to display simulated echo and tracking target information after receiving processed simulated echo data and calculated motion parameters sent by the signal simulation unit 2.

[0098] It should be noted that the above functional modules can be implemented, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, they can be implemented, in whole or in part, as a program instruction product. A program instruction product includes one or a set of program instructions. When the program instructions are loaded and executed on a computer, the described process or function is generated, in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The program instructions can be stored in a computer-readable and writable storage medium, or transferred from one computer's readable and writable storage medium to another.

[0099] The direct coupling or communication connections between the modules shown or discussed in this embodiment can be achieved through indirect coupling or communication connections via interfaces, devices, or modules. The various functional modules and sub-modules in this embodiment can dynamically reside within a single processing unit, or each module can exist physically independently, or two or more modules can dynamically reside within a single processing unit. When these dynamic components are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable and writable storage medium. This storage medium can be a memory, disk, or optical disc, etc.

[0100] Example 2: Simulation method for submarine radar.

[0101] Reference Figure 8 This simulation example includes simulations of the radar antenna, radar processing cabinet, and display and control device, implemented as follows:

[0102] Step 1: Simulate the radar antenna:

[0103] The antenna control module 22 simulates various actions of the antenna, including rotation, stopping, speed switching, locking, unlocking, raising and lowering, and transmission on / off.

[0104] The target generation module 11 and clutter generation module 12 are used to simulate the operation of the antenna transmitting and receiving signals.

[0105] The hardware failure simulation module 24 simulates potential hardware failures of the radar antenna.

[0106] Step 2: Simulate the radar processing cabinet:

[0107] The signal processing module 25 simulates the radar processing cabinet for signal processing.

[0108] The target motion parameters are calculated by simulating the radar processing cabinet through the basic motion parameter processing module 21 and the collision risk parameter processing module 23.

[0109] The hardware failure simulation module 24 simulates potential hardware failures in the radar processing cabinet.

[0110] Step 3: Simulate the display and control device:

[0111] The simulated display and control device is used through the video display module 34 to display the simulated echo data;

[0112] The navigation module 31 simulates the radar's navigation operation mode to complete the radar navigation and collision avoidance task.

[0113] The self-test module 32 simulates the self-test working mode of the radar to complete the radar self-test task;

[0114] The search module 33 simulates the radar's search mode to complete the radar search and acquisition task.

[0115] Step 4: Based on the above simulation results, a complete submarine radar device is finally obtained.

[0116] The submarine radar consists of three parts: a radar antenna, a radar processing cabinet, and a display and control device. Its working principle is as follows:

[0117] The submarine radar antenna transmits and receives electromagnetic waves, sending the received raw echo data to the radar processing cabinet. The radar processing cabinet processes the received raw echo data and then sends the processed echo data to the display and control device for display. The display and control device can issue target tracking commands. After receiving the target tracking command, the radar processing cabinet calculates the target's motion parameters and sends the calculated motion parameters to the display and control device for display. The display and control device can also issue antenna control commands to control the radar antenna's rotation, stopping, speed switching, locking, unlocking, raising and lowering, and transmission on / off.

[0118] Based on the above simulation results, a complete submarine radar can be obtained, realizing the full-link simulation of submarine radar. It can be used by researchers to test and verify algorithms and by submarine radar professionals for practical training.

[0119] The above description is merely a specific example of the present invention and does not constitute any limitation on the present invention. Obviously, those skilled in the art, after understanding the content and principles of the present invention, may make various modifications and changes in form and detail without departing from the principles and structure of the present invention. For example, a different signal processing algorithm may be used when processing echo data; the method of data communication between units may be changed, such as using TCP for communication between units; the layout of the UI interface of each unit may be changed, etc. However, these modifications and changes based on the ideas of the present invention are still within the scope of protection of the claims of the present invention.

Claims

1. A simulation system for a submarine radar, characterized in that, include: The display and control unit is used to complete the functions of radar terminal display, radar control and external data communication, and ultimately realize the tasks of radar navigation, radar self-test and radar search. The signal simulation unit is used to simulate the radar processing cabinet and radar antenna to complete the hardware state simulation; it performs signal processing on the simulated radar echo to realize radar target acquisition and motion parameter calculation tasks, and supports the display and control unit to complete the navigation function. The situation generation unit is used to simulate radar antenna scanning, complete the generation of radar simulated echo data, generate radar simulated echoes based on the number of target batches and target motion elements set by the user, and send the radar video to the display and control unit and the signal simulation unit via Ethernet for echo display and target tracking calculation, respectively.

2. The system according to claim 1, characterized in that, The display and control unit, signal simulation unit, and situation generation unit are all desktop software that do not require specific complex hardware, and the units interact with each other via gigabit Ethernet.

3. The system according to claim 1, characterized in that, The display and control unit includes: The navigation module is used in navigation mode to complete navigation tasks. The self-test module is used for the self-test working mode to complete the self-test task. The search module is used to search for work modes and complete search tasks. The video display module is used for analog echo display in navigation and search modes.

4. The system according to claim 1, characterized in that, The signal simulation unit includes: The antenna control module is used to simulate radar antennas in different states; Hardware failure simulation module, used to simulate hardware failures; The basic motion parameter processing module is used to calculate the basic motion parameters of the target; The collision risk parameter processing module is used to calculate the collision risk parameters of the target. The signal processing module is used to process the analog echo data.

5. The system according to claim 1, characterized in that, The situation generation unit includes: The target generation module is used to simulate target generation. Clutter generation module, used to simulate clutter generation.

6. The system according to claim 4, characterized in that, The basic motion parameter processing module includes: The range submodule is used to calculate the distance between the radar and the tracked target based on the speed of light c and the round-trip time t of electromagnetic waves. ; The azimuth submodule is used to determine the mechanical angle of the antenna relative to the bow when the echo is strongest. Calculate the relative position of the tracked target: ; The speed submodule is used to detect the same target output by the radar. Time Distance and direction , Time Distance and direction The relative velocity components are obtained. Calculate the relative speed of the tracked target: ； The heading submodule is used to determine the same target based on radar output. Time Distance and direction , Time Distance and direction To obtain the relative position increment Calculate the relative heading of the tracked target: ； The hull angle sub-module is used to determine the relative azimuth of the tracked target. Calculate the hull angle of the tracked target: 。 7. The system according to claim 4, characterized in that, The collision risk parameter processing module includes: The time to nearest encounter point submodule is used to determine the relative velocity component of the target. , Relative position components Calculate the time to the nearest encounter point for the tracked target: ； The next module you'll encounter is the distance submodule, used to calculate the target's relative velocity components. , Relative position components Calculate the nearest encounter distance of the tracked target: ； The target bow passage time submodule is used to calculate the target's relative velocity components. Relative position components Calculate the time it takes for the tracked target to pass the bow: ； The target bow distance submodule is used to calculate the target's relative velocity components. Relative position components Calculate the distance of the tracked target past the bow: 。 8. The system according to claim 4, characterized in that, The signal processing module includes: Clutter suppression submodule, used to suppress clutter based on an adjustable fixed threshold. For simulated echo data Clutter suppression processing is performed to obtain the simulated echo data after clutter suppression: ； The wave suppression submodule is used to determine the wave suppression factor. Wave suppression distance threshold stc_limit, simulated echo distance For simulated echo data Wave suppression processing was performed to obtain simulated echo data after wave suppression: ; Rain and snow suppression submodule, used to adjust a fixed threshold. For simulated echo data Rain and snow suppression processing was performed to obtain simulated echo data after rain and snow suppression processing: ； The constant false alarm submodule is used to calculate the average value of the reference cell. Standardization factor y, for simulated echo data Perform constant false alarm rate (CFAR) processing to obtain the simulated echo data after CFAR processing: 。 9. A simulation method for submarine radar, characterized in that, This includes simulation of radar antennas, radar processing cabinets, and display and control devices, the implementation of which includes: By simulating various actions of the radar antenna, such as rotation, stopping, speed switching, locking, unlocking, raising and lowering, and transmission switching, the radar antenna in different states can be obtained. The original simulated echo data is obtained by simulating the actions of radar antenna transmitting and receiving signals through the situation generation unit. The signal processing module simulates the radar processing cabinet's signal processing to obtain processed analog echo data. By simulating the radar processing cabinet to solve the target motion parameters through the basic motion parameter processing module and the collision risk parameter processing module, the basic motion parameters and collision risk parameters of the tracked target are obtained. The simulated display and control device is used through a video display module to display the simulated echo data; The navigation module simulates the radar's navigation operation mode; The self-test module simulates the self-test working mode of the radar. The search module simulates the radar's search operation mode; The hardware failure simulation module simulates potential hardware failures in radar equipment. Based on the simulation results above, a complete submarine radar device was finally obtained.

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