A vehicle-mounted radar tracking method and system

Abstract

This invention relates to a vehicle-mounted radar tracking method and system. The method includes: activating the vehicle-mounted radars of all civilian vehicles within a designated area; within the designated area, when a vehicle-mounted radar on a preset road scans an object, using that vehicle-mounted radar as a reference, selecting another vehicle-mounted radar on a different road that scans the object to form a network with the reference vehicle-mounted radar, thereby determining the location of the object; when either of the two networked vehicle-mounted radars loses contact with the object, using the vehicle-mounted radar that has not lost contact with the object as a reference, selecting another vehicle-mounted radar on a different road that scans the object to re-network with the reference vehicle-mounted radar, thereby determining the location of the object. This invention utilizes the vehicle-mounted radars of civilian vehicles for military defensive reconnaissance, which can significantly reduce military costs, achieve all-weather, all-range reconnaissance, and is unaffected by cloud cover, enabling the creation of a very dense observation network.

Description

Technical Field

[0001] This invention relates to the field of radar tracking technology, and specifically to a vehicle-mounted radar tracking method and system. Background Technology

[0002] Given the current complex and volatile international situation and the frequent low-altitude attacks, significant security risks have been posed to some regions. Currently, to prevent low-altitude attacks, military radar is generally used to detect and track low-altitude flying objects, while the widely distributed civilian vehicle-mounted radar cannot be effectively utilized to track low-altitude aircraft. Summary of the Invention

[0003] This invention provides a vehicle-mounted radar tracking method and system to solve at least one of the above-mentioned technical problems.

[0004] The technical solution of the present invention to solve the above-mentioned technical problems is as follows: A vehicle-mounted radar tracking method, comprising: If a risk exists in a designated area, activate the vehicle-mounted radar of all civilian vehicles within the designated area. Within the designated area, when a vehicle-mounted radar on a preset road detects an object, another vehicle-mounted radar that has detected the object on a different road is selected to network with the reference vehicle-mounted radar, based on the vehicle-mounted radar and according to a preset filtering strategy, in order to determine the location of the object. When either of the two networked vehicle-mounted radars loses the object, the vehicle-mounted radar that has not lost the object is used as a reference. According to the preset screening strategy, another vehicle-mounted radar that scanned the object on a different road is selected to re-network with the reference vehicle-mounted radar to determine the location of the object, thereby achieving continuous tracking of the object.

[0005] Based on the above technical solution, the present invention can be further improved as follows.

[0006] Furthermore, the preset filtering strategies include road filtering strategies, elevation angle filtering strategies, and road condition filtering strategies; The road selection strategy is as follows: The angle between the roads where the two vehicle-mounted radars in the network are located is preferably between 60° and 90°, secondly between 30° and 60°, and lastly between 0° and 30°. The elevation angle selection strategy is as follows: The elevation angle difference between the two vehicle-mounted radars in the network should preferably be greater than 10°, and less than 10° as a secondary option; The specific road condition screening strategy is as follows: The preferred route for the two vehicle-mounted radars in the network is a straight road, followed by a curve. When the road where the two vehicle radars in the network are located is a curve, the curve with time difference avoidance is selected.

[0007] Furthermore, during the tracking of the aircraft by the two networked vehicle-mounted radars, the process also includes: If it is predicted whether an obstruction will appear simultaneously within the scanning range of the two networked vehicle-mounted radars, then another vehicle-mounted radar that scans the flying object along the direction of the obstruction and the flying object is found on a different road, and the radar is re-networked with either of the two networked vehicle-mounted radars to determine the location of the flying object.

[0008] Furthermore, during the tracking of the aircraft by the two networked vehicle-mounted radars, the process also includes: Based on the latitude and longitude coordinates of the two networked vehicle-mounted radars and the relative direction of the flying object, the linear equations between the two networked vehicle-mounted radars and the flying object are constructed with the two networked vehicle-mounted radars as the origins. The latitude and longitude coordinates of the flying object are then solved based on the linear equations between the two networked vehicle-mounted radars and the flying object. Using the level instrument inside the vehicles to which the two networked vehicle-mounted radars belong, the driving tilt angle of the two networked vehicle-mounted radars is calculated, and the horizontal angle between the flying object and the two networked vehicle-mounted radars is determined based on the driving tilt angle of the two networked vehicle-mounted radars. The relative height between the flying object and the two vehicles belonging to the networked vehicle-mounted radars is calculated based on the latitude and longitude coordinates of the flying object and the horizontal angle between the flying object and the vehicles belonging to the two networked vehicle-mounted radars. The altitude of the flying object is calculated based on the altitude of the vehicles to which the two networked vehicle-mounted radars belong and the relative altitude between the flying object and the vehicles to which the two networked vehicle-mounted radars belong. Draw the angle bisector of the angle formed by the aircraft and the two networked vehicle-mounted radars; wherein the vertex of the angle formed by the aircraft and the two networked vehicle-mounted radars is the aircraft. Within a preset angle range of the angle bisector, another vehicle-mounted radar is searched to detect the flying object, and the latitude, longitude, and altitude of the flying object are verified based on the found vehicle-mounted radar.

[0009] Furthermore, during the tracking of the aircraft by the two networked vehicle-mounted radars, the process also includes: The planar velocity of the vehicle to which the networked vehicle radar belongs is calculated using the level instrument inside the vehicle and the vehicle speed. Based on the changes in the horizontal and vertical angles between the vehicle and the flying object detected by the networked vehicle-mounted radar, and combined with the planar velocity of the vehicle to which the networked vehicle-mounted radar belongs, the flight speed and flight direction of the flying object are calculated.

[0010] Furthermore, during the tracking of the aircraft by the two networked vehicle-mounted radars, the process also includes: The flying object was photographed using the networked vehicle-mounted radar to obtain radar images; Based on the latitude, longitude coordinates and altitude of the flying object and the vehicle to which the networked vehicle-mounted radar belongs, the distance between the flying object and the networked vehicle-mounted radar is calculated. The actual size of the flying object is estimated based on the distance between the flying object and the networked vehicle-mounted radar and the size of the flying object in the radar image. The coarse classification of the aircraft is determined based on its actual dimensions. Based on the rough type of the flying object and its flight speed, the more detailed type of the flying object is determined. Based on the latitude and longitude coordinates and altitude of the flying object and the vehicle to which the networked vehicle-mounted radar belongs, the flight direction of the flying object, and the detection elevation angle of the networked vehicle-mounted radar, the relationship between the shooting direction of the radar image and the head of the flying object is calculated. Based on the relationship between the shooting direction of the radar photos and the head of the flying object, multiple radar photos are combined to profile the shape of the flying object.

[0011] Furthermore, during the tracking of the aircraft by the two networked vehicle-mounted radars, the process also includes: Construct a straight flight path based on the flight direction of the aircraft; When a target is present within a preset distance of the straight flight path, the target is predicted as the attack target of the flying object. If there is no target within the preset distance of the straight flight path, it is predicted that the flying object will turn during the subsequent flight. When it is predicted that the aircraft will turn during its subsequent flight, the time required for the nearest fighter jet to arrive at the aircraft is calculated. The distance obtained by multiplying the time by the aircraft's flight speed is used as the radius to create a fan-shaped area within a preset angle to the left and right of the aircraft's flight direction. The target within the fan-shaped area is predicted as the aircraft's attack target.

[0012] Furthermore, during the tracking of the aircraft by the two networked vehicle-mounted radars, the process also includes: Within a preset range of the flight direction of the flying object, the search range of each vehicle-mounted radar is statistically analyzed and overlapped multiple times. The area of ​​vehicle-mounted radar with less than a preset number of overlaps after a preset number of statistical analyses is marked as a blind spot area. The vehicle-mounted radar in the surrounding area of ​​the blind spot is temporarily recalled to the blind spot area; at the same time, the turning trajectory is corrected in the blind spot area to widen the angle of the fan-shaped area; if the flying object passes through the blind spot area normally, the angle of the fan-shaped area is restored to the original angle.

[0013] Furthermore, during the tracking of the aircraft by the two networked vehicle-mounted radars, the process also includes: Draw the trajectory diagram of the flying object based on its flight direction; A tangent is drawn backward from the trajectory map of the flying object. The intersection of the tangent and the preset boundary line is taken as the origin. A perpendicular line to the preset connection line is drawn at the origin. The carrier of the flying object is searched along the tangent and the perpendicular.

[0014] Based on the above-mentioned vehicle-mounted radar tracking method, the present invention also provides a vehicle-mounted radar tracking system.

[0015] A vehicle-mounted radar tracking system includes a processor, a memory, and a computer program stored in the memory. When the computer program is executed by the processor, it implements the vehicle-mounted radar tracking method as described above.

[0016] The beneficial effects of this invention are as follows: This invention provides a vehicle-mounted radar tracking method and system that utilizes the vehicle-mounted radar of civilian vehicles for military defensive reconnaissance, which can significantly reduce military costs; at the same time, due to the wide distribution of civilian vehicles, the vehicle-mounted radar can achieve all-weather, all-range reconnaissance, and is not easily identified by all flying objects; this invention can conduct reconnaissance in low-altitude and ultra-low-altitude areas, and is not affected by cloud cover, and can weave a very dense observation network to identify low-altitude attacks around the clock. Attached Figure Description

[0017] Figure 1 This is a diagram of a vehicle-mounted radar tracking method according to the present invention; Figure 2 A schematic diagram for locating the calibration vehicle during the coordinate verification of an object in flight; Figure 3 This is a structural block diagram of a vehicle-mounted radar tracking system according to the present invention. Detailed Implementation

[0018] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0019] like Figure 1 As shown, a vehicle-mounted radar tracking method includes: If a risk exists in a designated area, activate the vehicle-mounted radar of all civilian vehicles within the designated area. Within the designated area, when a vehicle-mounted radar on a preset road detects an object, another vehicle-mounted radar that has detected the object on a different road is selected to network with the reference vehicle-mounted radar, based on the vehicle-mounted radar and according to a preset filtering strategy, in order to determine the location of the object. When either of the two networked vehicle-mounted radars loses the object, the vehicle-mounted radar that has not lost the object is used as a reference. According to the preset screening strategy, another vehicle-mounted radar that scanned the object on a different road is selected to re-network with the reference vehicle-mounted radar to determine the location of the object, thereby achieving continuous tracking of the object.

[0020] The method of the present invention will be described in detail below: I. Conditions for the military requisition of vehicle-mounted radar.

[0021] Before civilian vehicle-mounted radar is used for military defensive reconnaissance, automakers cooperate with the government and sign cooperation agreements. Individuals should also be aware of these agreements when purchasing a vehicle. The agreements mainly include: the government has the right to proactively activate vehicle-mounted radar for reconnaissance, and the resulting data usage costs can be subsidized for insurance, annual inspections, etc. When the vehicle-mounted radar is passively activated and detects a target, it can proactively upload target and vehicle information.

[0022] Active Activation: When a nation perceives a risk of surprise attack in a certain area, it can activate radar and control information on all vehicles within that area that are covered by agreements. The radars of all moving vehicles will then conduct targeted reconnaissance.

[0023] Passive activation: When the vehicle owner turns on the vehicle's radar, the radar will identify flying objects within its range. If the conditions for a possible attack are met, and the vehicle is determined to pose a safety hazard to a certain area (i.e., the area is at risk), the information will be automatically reported and reviewed by the state. The vehicle owner has no right to make this determination themselves, nor can they prevent the reporting.

[0024] II. Determining the location of the flying object.

[0025] 1. Proactive search after military requisition: The search angle of the vehicle-mounted radar is within a horizontal upward elevation of 30°.

[0026] When the vehicle-mounted radar detects a flying object, it networks with other vehicle-mounted radars (also capable of detecting flying objects) located off-road. The location of the flying object is determined based on the angles of the two vehicles. Then, a third vehicle is connected to the network to verify the determined location, enabling continuous tracking. Details are as follows: The Y-axis detection angle of all vehicle radars is set to 30° on each side. If the angle is too small, it will be difficult to achieve multi-vehicle radar detection. If the angle is too large, the error will increase in the subsequent coordinate and speed calculations, which will cause misjudgment.

[0027] After activating its onboard radar for active search, vehicle A scans for flying objects within its radar's field of view. Once a flying object is detected, vehicle A uses it as a reference point to assess whether the onboard radars of other vehicles on other roads can also detect it. Vehicle A then issues a scanning request, and the onboard radars of other vehicles on other roads that meet the requirements simultaneously begin scanning. Based on a preset filtering strategy, vehicle A determines that the onboard radar of vehicle B meets the scanning requirements.

[0028] In other cases, multiple vehicles on other roads may have their onboard radars simultaneously meeting the scanning requirements, therefore a preset filtering strategy is defined: Road selection strategy: The angle between the roads where the two vehicle-mounted radars in a network are located is preferably between 60° and 90°, secondarily between 30° and 60°, and lastly between 0° and 30°. For example, the preferred angle between the roads where vehicle B and vehicle A are located is between 60° and 90°, the second preferred angle is between 30° and 60°, and the last preferred angle is between 0° and 30°; a larger angle between the two vehicles allows for more accurate determination of the coordinates and trajectory of flying objects.

[0029] Elevation angle selection strategy: The elevation angle difference between the two vehicle-mounted radars in a network is preferably greater than 10°, and secondarily less than 10°. For example, if the elevation angle of vehicle A's vehicle-mounted radar is 27°, then the preferred elevation angle of vehicle B's vehicle-mounted radar is less than 17°. This is because as the vehicle and the flying object move, the flying object may disappear from the vehicle-mounted radar's line of sight. In this case, the vehicle needs to iterate. That is, when the flying object is at the vehicle A's vehicle-mounted radar elevation angle of 31°, vehicle A's vehicle-mounted radar considers it to have lost the target. At this time, the flying object is in the field of view of vehicle B's vehicle-mounted radar. Using vehicle B's vehicle-mounted radar as a reference, the vehicle then searches for vehicle C's vehicle-mounted radar that meets the scanning conditions. If the elevation angles of the two vehicle-mounted radars are the same, it may cause both vehicle-mounted radars to lose the target simultaneously, resulting in the flying object disappearing from the field of view.

[0030] Road condition selection strategy: For the two vehicle-mounted radars in a network, straight roads are preferred, followed by curves. When the road is a curve, a curve with time-difference avoidance is selected. For example, when assessing the road conditions of vehicle B, straight roads are the highest priority, avoiding curves. When the optimal road has curves, curve time-difference avoidance is necessary. For instance, if vehicle A is expected to encounter a curve in 1 minute, vehicle B, which will encounter a curve within 40 or 80 seconds, is preferred. Thus, after vehicle A enters a curve and its radar loses target, vehicle B's radar tracks the target and searches for vehicle C, always keeping the object within the radar range of one vehicle.

[0031] Obstruction Screening Strategy: When two networked vehicle radars may simultaneously lose sight of a flying object due to obstruction, another vehicle radar that scans the flying object on a different road is searched along the direction of the obstruction and the flying object. This radar is then re-networked with either of the two existing vehicle radars to determine the location of the flying object. For example, when vehicle radars A and B lock onto a flying object, the flying object may enter an obstruction area, such as a hillside or buildings. This factor may cause vehicle radars A and B to simultaneously lose sight of the target. Therefore, when vehicle radars A and B detect the target, they simultaneously check the map for obstructions. If obstructions exist, vehicle C is searched along the direction of the obstruction-flying object (left and right angle 10°), and the vehicle radar network of vehicles A and B is iterated to that of vehicles B and C (vehicle radar A loses sight of the flying object, but vehicle radar B does not), to lock onto the flying object.

[0032] 2. Passive search under special weather conditions: According to airline flight standards, the weather conditions for the day are assessed to determine if it is suitable for flight. If it is not suitable for flight, the visibility is assessed. If the visibility is less than 300 meters, the system immediately enters search mode, and any detected flying objects are uploaded to the national security department.

[0033] 3. Passive search in non-flight areas: Domestic flight routes are updated every 7 days or half a month. The search function is activated when the vehicle's location deviates more than 10km from the horizontal distance of the flight route.

[0034] III. Identification of Flying Objects.

[0035] 1. Determining the coordinates of the flying object: Based on the latitude and longitude coordinates of the two networked vehicle-mounted radars and the relative direction of the flying object, the linear equations between the two networked vehicle-mounted radars and the flying object are constructed with the two networked vehicle-mounted radars as the origins. The latitude and longitude coordinates of the flying object are then solved based on the linear equations between the two networked vehicle-mounted radars and the flying object. Using the level instrument inside the vehicles to which the two networked vehicle-mounted radars belong, the driving tilt angle of the two networked vehicle-mounted radars is calculated, and the horizontal angle between the flying object and the two networked vehicle-mounted radars is determined based on the driving tilt angle of the two networked vehicle-mounted radars. The relative height between the flying object and the two vehicles belonging to the networked vehicle-mounted radars is calculated based on the latitude and longitude coordinates of the flying object and the horizontal angle between the flying object and the vehicles belonging to the two networked vehicle-mounted radars. The altitude of the flying object is calculated based on the altitude of the vehicles to which the two networked vehicle-mounted radars belong and the relative altitude between the flying object and the vehicles to which the two networked vehicle-mounted radars belong.

[0036] For example, based on the latitude and longitude coordinates of vehicle A and the relative direction of the flying object, the linear coordinate equations of vehicle A and the flying object can be obtained with vehicle A as the origin. Similarly, the linear equations of vehicle B and the flying object can be obtained with vehicle B as the origin. The coordinates of the flying object at its latitude and longitude position can be determined based on the intersection of the two linear equations.

[0037] The vehicle is equipped with a level indicator to calculate the vehicle's current tilt angle, thus determining the horizontal angle between the object and the vehicle. Once the horizontal angles and latitude / longitude of vehicles A and B relative to the object are determined, the relative altitudes of the object and vehicles A and B can be obtained. Based on the altitudes of vehicles A and B, the altitude of the object can be calculated.

[0038] 2. Verification of the coordinates of the flying object: Draw the angle bisector of the angle formed by the aircraft and the two networked vehicle-mounted radars; wherein the vertex of the angle formed by the aircraft and the two networked vehicle-mounted radars is the aircraft. Within a preset angle range of the angle bisector, another vehicle-mounted radar is searched to detect the flying object, and the latitude, longitude, and altitude of the flying object are verified based on the found vehicle-mounted radar.

[0039] Specifically, because the accuracy of onboard radar varies among different vehicle models, after determining the location of a flying object, it is necessary to introduce the onboard radar of another vehicle to verify the object's position. For example, Figure 2 As shown, using vehicle A, the flying object, and vehicle B as the reference point, draw the angle bisector. Search for vehicle C within a ±5° range on the other side of the angle bisector. The selection of vehicle C differs from the preset screening strategy described above. When altitude is critical, a 15° elevation angle is optimal; the closer the elevation angle is to 15°, the better. Road conditions are prioritized, with a curve appearing after 1 minute. Obstruction optimization is canceled. Note: The priority selection for vehicles A and B focuses on avoiding losing track of the flying object, while the priority selection for vehicle C focuses on minimizing the risk of losing track of the flying object itself.

[0040] 3. Determining the speed and direction of the flying object: The planar velocity of the vehicle to which the networked vehicle radar belongs is calculated using the level instrument inside the vehicle and the vehicle speed. Based on the changes in the horizontal and vertical angles between the vehicle and the flying object detected by the networked vehicle-mounted radar, and combined with the planar velocity of the vehicle to which the networked vehicle-mounted radar belongs, the flight speed and flight direction of the flying object are calculated.

[0041] 4. Determining the type of flying object: The flying object was photographed using the networked vehicle-mounted radar to obtain radar images; Based on the latitude, longitude coordinates and altitude of the flying object and the vehicle to which the networked vehicle-mounted radar belongs, the distance between the flying object and the networked vehicle-mounted radar is calculated. The actual size of the flying object is estimated based on the distance between the flying object and the networked vehicle-mounted radar and the size of the flying object in the radar image. The coarse classification of the aircraft is determined based on its actual dimensions. Based on the rough type of the flying object and its flight speed, the detailed type of the flying object is determined.

[0042] For example, when vehicle A's onboard radar detects a flying object, it takes a picture and archives the image. Vehicle B's onboard radar then takes another picture and archives the image. Based on the distance between the flying object and the onboard radar, and the size of the flying object in the radar image, its actual size is estimated.

[0043] The actual size is divided into three categories: less than 1m, 1~3m, and more than 3m. Less than 1m corresponds to civilian small drones, 1~3m corresponds to military drones, and more than 3m corresponds to attack drones or helicopters.

[0044] The speed and actual size of the flying object are then compared. If the actual size is within 3 meters and the flight speed is greater than 40 km / h, it is initially assessed as a non-civilian drone and an alert is uploaded as a Class B warning. If the actual size is greater than 3 meters and the flight speed is greater than 70 km / h, it is initially assessed as a threatening drone and an alert is uploaded as a Class A warning. If the actual size is greater than 3 meters and the flight speed is greater than 200 km / h, it is assessed as an offensive armed helicopter or drone, an alert is uploaded as a Class A warning, and the active search settings for vehicle-mounted radars within a 200 km radius are activated.

[0045] 5. Profile drawing of the shape of an aircraft: Based on the latitude and longitude coordinates and altitude of the flying object and the vehicle to which the networked vehicle-mounted radar belongs, the flight direction of the flying object, and the detection elevation angle of the networked vehicle-mounted radar, the relationship between the shooting direction of the radar image and the head of the flying object is calculated. Based on the relationship between the shooting direction of the radar photos and the head of the flying object, multiple radar photos are combined to profile the shape of the flying object.

[0046] Specifically, when the actual size of the flying object is estimated to be greater than 3 meters and its flight speed is greater than 200 km / h, the onboard radars of vehicles A and B are automatically activated to take pictures, and pictures are taken again whenever the onboard radars are changed. The pictures are simultaneously uploaded to the military server, where the shape of the flying object is generated using composite technology. At this point, the shooting angle of the flying object needs to be defined: The above process allows us to determine the flight speed of an object and define the side of the object along its direction of travel as its "head." Based on the positional relationship between the vehicle and the object, the object's orientation, and the radar's detection elevation angle, we can calculate the relationship between the radar image's shooting direction and the "head." In other words, multiple radar images can reveal the object's external features from different angles, similar to a blind men and an elephant positioning game. This allows us to correct radar images of varying resolutions and obtain an accurate profile of the object's shape.

[0047] IV. Prediction of Flying Objects.

[0048] Construct a straight flight path based on the flight direction of the aircraft; When a target is present within a preset distance of the straight flight path, the target is predicted as the attack target of the flying object. If there is no target within the preset distance of the straight flight path, it is predicted that the flying object will turn during the subsequent flight. When it is predicted that the aircraft will turn during its subsequent flight, the time required for the nearest fighter jet to arrive at the aircraft is calculated. The distance obtained by multiplying the time by the aircraft's flight speed is used as the radius to create a fan-shaped area within a preset angle to the left and right of the aircraft's flight direction. The target within the fan-shaped area is predicted as the aircraft's attack target.

[0049] For example, when a Class A warning is issued, an algorithm is activated to assess the target or trajectory of the flying object.

[0050] The trajectory calculation is performed on military computers. Personal vehicles are only responsible for uploading location information in one direction and have no right to receive reply information.

[0051] Straight-line trajectory: Based on the current direction of motion of the aircraft, predict its target while moving in a straight line. If a large city or military facility (planned target) exists within 300km of the straight line, it is considered an attack target of the aircraft, and an early warning notice is issued. If no such target exists within 300km, it is predicted that the aircraft will make a turn.

[0052] Turning Trajectory: Calculate the time required for the nearest fighter jet to arrive. Multiply this time by the aircraft's speed to obtain the distance, and use this distance as the radius to create a fan-shaped area 50° to the left and right of the aircraft's direction of travel. This area is predicted to be the aircraft's potential strike zone. Within this fan-shaped area, identify the target with the smallest angle on both the left and right sides of the direction of travel (cities, large infrastructure such as power plants, water plants, chemical plants, and military units) as the aircraft's preferred attack targets. The remaining targets are secondary attack targets. Early warning processing is then implemented for these targets.

[0053] V. Disconnection and source tracing prediction of flying objects.

[0054] 1. Disconnection prediction: Within a preset range of the flight direction of the flying object, the search range of each vehicle-mounted radar is statistically analyzed and overlapped multiple times. The area of ​​vehicle-mounted radar with less than a preset number of overlaps after a preset number of statistical analyses is marked as a blind spot area. The vehicle-mounted radar in the surrounding area of ​​the blind spot is temporarily recalled to the blind spot area; at the same time, the turning trajectory is corrected in the blind spot area to widen the angle of the fan-shaped area; if the flying object passes through the blind spot area normally, the angle of the fan-shaped area is restored to the original angle.

[0055] For example, when a Class A warning is issued, an algorithm is activated to assess the possibility of disconnection.

[0056] The disconnected computing is located on military computers. Personal vehicles are only responsible for uploading location information in one direction and have no right to receive reply information.

[0057] An assessment is conducted within a 50km radius ahead of the object's trajectory. Vehicle-mounted radars within this range are actively activated. The search range of each vehicle-mounted radar is statistically analyzed and overlapped at fixed time points on a planar map. Areas with fewer than two overlapping vehicle-mounted radars are included in the statistical analysis. This is repeated every 1 minute, for a total of 3 times. This yields a map of the object's blind spot distribution, showing the locations with fewer than two overlapping vehicle-mounted radars in each statistical analysis. Warnings are issued for these locations, and the following two responses are implemented: (1) Temporarily requisition vehicles around the blind spot area, invite them to the blind spot area, and provide them with economic compensation and People's Guardian certificates afterward.

[0058] (2) At the same time, the turning trajectory is corrected in the blind spot: the 50° fan-shaped area is increased to a 70° fan-shaped area. If the flying object passes through the blind spot area normally, the angle of the fan-shaped area is adjusted back to 50°.

[0059] 2. Source tracing and prediction: Draw the trajectory diagram of the flying object based on its flight direction; A tangent is drawn backward from the trajectory map of the flying object. The intersection of the tangent and the preset boundary line is taken as the origin. A perpendicular line to the preset connection line is drawn at the origin. The carrier of the flying object is searched along the tangent and the perpendicular.

[0060] Specifically, draw the trajectory of the flying object and deduce its possible starting point based on the trajectory. Draw a tangent line backward from the trajectory; the surface-based mothership carrier may be located on this tangent line. Alternatively, draw a perpendicular line from the intersection of the tangent line and the national coastline to this point; the surface-based mothership carrier may be located on this perpendicular line. Search for the mothership carrier along these two routes. The mothership may be located at sea or on land.

[0061] 3. Subsequent team evaluation: Once a Class A warning is issued, the algorithm is activated to detect subsequent teams.

[0062] If similar flying objects are detected in subsequent attacks, it is immediately classified as a surprise attack, and the relevant information is forwarded to the combat units for response.

[0063] Based on the above-mentioned vehicle-mounted radar tracking method, the present invention also provides a vehicle-mounted radar tracking system.

[0064] like Figure 3 As shown, a vehicle-mounted radar tracking system includes a processor, a memory, and a computer program stored in the memory. When the computer program is executed by the processor, it implements the vehicle-mounted radar tracking method as described above.

[0065] In other words, the vehicle-mounted radar tracking system of this invention may include, but is not limited to: a processor and a memory; the memory is used to store computer programs; the processor is used to execute the vehicle-mounted radar tracking method of this invention by calling the computer programs.

[0066] In one alternative embodiment, a vehicle-mounted radar tracking system is provided, such as Figure 3 As shown. Figure 3The illustrated vehicle-mounted radar tracking system includes a processor and a memory. The processor and memory are connected, for example, via a bus. Optionally, the vehicle-mounted radar tracking system may also include a transceiver, which can be used for data interaction between the vehicle-mounted radar tracking system and other electronic devices, such as sending and / or receiving data. It should be noted that in practical applications, the transceiver is not limited to one unit, and the structure of this vehicle-mounted radar tracking system does not constitute a limitation on the embodiments of the present invention.

[0067] The processor can be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), a PLC (Programmable Logic Controller), a FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this invention. The processor can also be a combination that implements computational functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0068] A bus can include a pathway for transmitting information between the aforementioned components. The bus can be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of representation, Figure 3 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0069] The memory may be ROM (Read Only Memory) or other types of static storage devices capable of storing static information and instructions, RAM (Random Access Memory) or other types of dynamic storage devices capable of storing information and instructions, or EEPROM (Electrically Erasable Programmable Read Only Memory), CD-ROM (Compact Disc Read Only Memory) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited to these.

[0070] The memory stores application code (computer program) that executes the present invention, and its execution is controlled by a processor. The processor executes the application code stored in the memory to implement the content shown in the foregoing method embodiments.

[0071] The vehicle radar tracking system can also be a terminal device, which can be any device that can install applications, including at least one of smartphones, tablets, laptops, desktop computers, smart speakers, smartwatches, smart TVs, and smart in-vehicle devices.

[0072] It should be noted that, Figure 3 The vehicle-mounted radar tracking system shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0073] This invention discloses a vehicle-mounted radar tracking method and system that utilizes vehicle-mounted radar in civilian vehicles for military defensive reconnaissance, which can significantly reduce military costs. Furthermore, due to the widespread distribution of civilian vehicles, vehicle-mounted radar can achieve all-weather, all-range reconnaissance, and is not easily identified by all flying objects. This invention can conduct reconnaissance in low-altitude and ultra-low-altitude areas, unaffected by cloud cover, and can create a very dense observation network to identify low-altitude attacks around the clock.

[0074] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A vehicle-mounted radar tracking method, characterized in that, include: If a risk exists in a designated area, activate the vehicle-mounted radar of all civilian vehicles within the designated area. Within the designated area, when a vehicle-mounted radar on a preset road detects an object, another vehicle-mounted radar that has detected the object on a different road is selected to network with the reference vehicle-mounted radar, based on the vehicle-mounted radar and according to a preset filtering strategy, in order to determine the location of the object. When either of the two networked vehicle-mounted radars loses the object, the vehicle-mounted radar that has not lost the object is used as a reference. According to the preset screening strategy, another vehicle-mounted radar that scanned the object on a different road is selected to re-network with the reference vehicle-mounted radar to determine the location of the object, thereby achieving continuous tracking of the object.

2. The vehicle-mounted radar tracking method according to claim 1, characterized in that, The preset filtering strategies include road filtering strategy, elevation angle filtering strategy, and road condition filtering strategy; The road selection strategy is specifically as follows: The angle between the roads where the two vehicle-mounted radars in the network are located is preferably between 60° and 90°, secondly between 30° and 60°, and lastly between 0° and 30°. The elevation angle selection strategy is as follows: The elevation angle difference between the two vehicle-mounted radars in the network should preferably be greater than 10°, and less than 10° as a secondary option; The specific road condition screening strategy is as follows: The preferred route for the two vehicle-mounted radars in the network is a straight road, followed by a curve. When the road where the two vehicle radars in the network are located is a curve, the curve with time difference avoidance is selected.

3. The vehicle-mounted radar tracking method according to claim 1, characterized in that, The process of tracking the flying object by the two networked vehicle-mounted radars also includes: If it is predicted whether an obstruction will appear simultaneously within the scanning range of the two networked vehicle-mounted radars, then another vehicle-mounted radar that scans the flying object along the direction of the obstruction and the flying object is found on a different road, and the radar is re-networked with either of the two networked vehicle-mounted radars to determine the location of the flying object.

4. The vehicle-mounted radar tracking method according to any one of claims 1 to 3, characterized in that, The process of tracking the flying object by the two networked vehicle-mounted radars also includes: Based on the latitude and longitude coordinates of the two networked vehicle-mounted radars and the relative direction of the flying object, the linear equations between the two networked vehicle-mounted radars and the flying object are constructed with the two networked vehicle-mounted radars as the origins. The latitude and longitude coordinates of the flying object are then solved based on the linear equations between the two networked vehicle-mounted radars and the flying object. Using the level instrument inside the vehicles to which the two networked vehicle-mounted radars belong, the driving tilt angle of the two networked vehicle-mounted radars is calculated, and the horizontal angle between the flying object and the two networked vehicle-mounted radars is determined based on the driving tilt angle of the two networked vehicle-mounted radars. The relative height between the flying object and the two vehicles belonging to the networked vehicle-mounted radars is calculated based on the latitude and longitude coordinates of the flying object and the horizontal angle between the flying object and the vehicles belonging to the two networked vehicle-mounted radars. The altitude of the flying object is calculated based on the altitude of the vehicles to which the two networked vehicle-mounted radars belong and the relative altitude between the flying object and the vehicles to which the two networked vehicle-mounted radars belong. Draw the angle bisector of the angle formed by the aircraft and the two networked vehicle-mounted radars; wherein the vertex of the angle formed by the aircraft and the two networked vehicle-mounted radars is the aircraft. Within a preset angle range of the angle bisector, another vehicle-mounted radar is searched to detect the flying object, and the latitude, longitude, and altitude of the flying object are verified based on the found vehicle-mounted radar.

5. The vehicle-mounted radar tracking method according to claim 4, characterized in that, The process of tracking the flying object by the two networked vehicle-mounted radars also includes: The planar velocity of the vehicle to which the networked vehicle radar belongs is calculated using the level instrument inside the vehicle and the vehicle speed. Based on the changes in the horizontal and vertical angles between the vehicle and the flying object detected by the networked vehicle-mounted radar, and combined with the planar velocity of the vehicle to which the networked vehicle-mounted radar belongs, the flight speed and flight direction of the flying object are calculated.

6. The vehicle-mounted radar tracking method according to claim 5, characterized in that, The process of tracking the flying object by the two networked vehicle-mounted radars also includes: The flying object was photographed using the networked vehicle-mounted radar to obtain radar images; Based on the latitude, longitude coordinates and altitude of the flying object and the vehicle to which the networked vehicle-mounted radar belongs, the distance between the flying object and the networked vehicle-mounted radar is calculated. The actual size of the flying object is estimated based on the distance between the flying object and the networked vehicle-mounted radar and the size of the flying object in the radar image. The coarse classification of the aircraft is determined based on its actual dimensions. Based on the rough type of the flying object and its flight speed, the more detailed type of the flying object is determined. Based on the latitude and longitude coordinates and altitude of the flying object and the vehicle to which the networked vehicle-mounted radar belongs, the flight direction of the flying object, and the detection elevation angle of the networked vehicle-mounted radar, the relationship between the shooting direction of the radar image and the head of the flying object is calculated. Based on the relationship between the shooting direction of the radar photos and the head of the flying object, multiple radar photos are combined to profile the shape of the flying object.

7. The vehicle-mounted radar tracking method according to claim 5, characterized in that, The process of tracking the flying object by the two networked vehicle-mounted radars also includes: Construct a straight flight path based on the flight direction of the aircraft; When a target is present within a preset distance of the straight flight path, the target is predicted as the attack target of the flying object. If there is no target within the preset distance of the straight flight path, it is predicted that the flying object will turn during the subsequent flight. When it is predicted that the aircraft will turn during its subsequent flight, the time required for the nearest fighter jet to arrive at the aircraft is calculated. The distance obtained by multiplying the time by the aircraft's flight speed is used as the radius to create a fan-shaped area within a preset angle to the left and right of the aircraft's flight direction. The target within the fan-shaped area is predicted as the aircraft's attack target.

8. The vehicle-mounted radar tracking method according to claim 7, characterized in that, The process of tracking the flying object by the two networked vehicle-mounted radars also includes: Within a preset range of the flight direction of the flying object, the search range of each vehicle-mounted radar is statistically analyzed and overlapped multiple times. The area of ​​vehicle-mounted radar with less than a preset number of overlaps after a preset number of statistical analyses is marked as a blind spot area. The vehicle-mounted radar in the surrounding area of ​​the blind spot is temporarily recalled to the blind spot area; at the same time, the turning trajectory is corrected in the blind spot area to widen the angle of the fan-shaped area; if the flying object passes through the blind spot area normally, the angle of the fan-shaped area is restored to the original angle.

9. The vehicle-mounted radar tracking method according to claim 5, characterized in that, The process of tracking the flying object by the two networked vehicle-mounted radars also includes: Draw the trajectory diagram of the flying object based on its flight direction; A tangent is drawn backward from the trajectory map of the flying object. The intersection of the tangent and the preset boundary line is taken as the origin. A perpendicular line to the preset connection line is drawn at the origin. The carrier of the flying object is searched along the tangent and the perpendicular.

10. A vehicle-mounted radar tracking system, characterized in that, It includes a processor, a memory, and a computer program stored in the memory, wherein the computer program, when executed by the processor, implements the vehicle radar tracking method as described in any one of claims 1 to 9.

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