Moving platform multi-target search and tracking method, device and equipment and storage medium

Abstract

This application discloses a method, apparatus, device, and storage medium for multi-target search and tracking on a moving platform. The method includes: scanning and searching for targets within a specified airspace using a phased array antenna according to a preset scanning mode; acquiring the electromagnetic wave signal emitted by the target after it touches the beam path of the scanning signal; obtaining the target's position detection result based on the electromagnetic wave signal; obtaining the azimuth and elevation errors of the target's position detection result using a diversity synthesis mode angle error demodulation method; correcting the target's position detection result using the azimuth and elevation errors to obtain the corrected position detection result; and transmitting a scanning signal to the position indicated by the corrected position detection result via the phased array antenna to track the target. This method achieves the technical effect of solving complex problems with a simple technical solution and improving the efficiency of real-time multi-target search and tracking.

Description

Technical Field

[0001] This application relates to the field of target search and tracking on moving platforms, and more specifically, to a method, apparatus, device, and storage medium for multi-target search and tracking on moving platforms. Background Technology

[0002] Multi-target search and tracking on moving platforms refers to the technical process of mounting telemetry equipment on moving platforms (such as drones, ships, and aircraft) to detect, lock onto, and continuously track multiple dynamic targets (such as aircraft, ships, and ground targets) in real time.

[0003] Existing multi-target search and tracking methods for motion platforms typically employ intelligent algorithms and sensor collaboration to achieve rapid identification and tracking of multiple targets. While intelligent algorithms primarily utilize deep reinforcement learning to optimize multi-target priority allocation and improve tracking accuracy, they struggle to meet the stringent real-time requirements of motion platforms and suffer from high computational complexity and cost. In sensor collaboration, differences in sampling frequency, data format, and timestamps among different sensors hinder effective fusion. Furthermore, each sensor has inherent performance limitations, potentially leading to target loss or inaccurate identification. Integrating multiple sensors increases system cost and power consumption, limiting its application and endurance. Therefore, an improved solution is urgently needed to address these technical challenges. Summary of the Invention

[0004] This application provides a method, apparatus, device, and storage medium for multi-target search and tracking on a dynamic platform, which achieves the technical effect of solving complex problems with simple technical solutions and improving the efficiency of real-time multi-target search and tracking.

[0005] In a first aspect, embodiments of this application provide a multi-target search and tracking method for a moving platform, the method comprising: Using a phased array antenna, the target is scanned and searched within a specified airspace according to a preset scanning method. Once the target touches the beam path of the scanning signal, the electromagnetic wave signal emitted by the target is acquired. The target's position detection result is obtained based on the electromagnetic wave signal; Based on the angular error demodulation method of the aggregation synthesis mode, the azimuth error and pitch error of the target's position detection result are obtained; The azimuth error and pitch error are used to correct the target's position detection result, resulting in the corrected position detection result of the target. A scanning signal is transmitted to the position indicated by the corrected position detection result of the target through a phased array antenna to track the target; Wherein, the number of targets is greater than 1, and the moving platform multi-target search and tracking device is in a non-stationary state.

[0006] Secondly, embodiments of the present invention also provide a multi-target search and tracking device for a moving platform, the device comprising: The phased array antenna module (10) is used to scan and search for targets in a specified airspace according to a preset scanning method. After the target touches the beam path of the scanning signal, the electromagnetic wave signal emitted by the target is acquired. The position analysis module (20) is used to obtain the position detection result of the target based on the electromagnetic wave signal; The system angle tracking module (30) is used to obtain the azimuth error and pitch error of the target's position detection result according to the ensemble synthesis mode angle error demodulation method; The position correction module (40) is used to correct the position detection result of the target using the azimuth error and pitch error, so as to obtain the corrected position detection result of the target; The phased array antenna module (10) is also used to transmit a scanning signal to the position indicated by the corrected position detection result of the target to track the target; Wherein, the number of targets is greater than 1, and the moving platform multi-target search and tracking device is in a non-stationary state.

[0007] Thirdly, embodiments of the present invention also provide a movable device, the movable device comprising: One or more processors; Storage device for storing one or more programs; Motion device, used to drive the movement of movable equipment; When the one or more programs are executed by the one or more processors, the one or more processors implement the dynamic platform multi-target search and tracking method as described in the first aspect.

[0008] Fourthly, embodiments of the present invention also provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the moving platform multi-target search and tracking method as described in the first aspect.

[0009] The technical solution of this embodiment scans and searches for a target within a specified airspace according to a preset scanning method. After the target touches the beam path of the scanning signal, the electromagnetic wave signal emitted by the target is acquired. The position detection result of the target is obtained based on the electromagnetic wave signal. The azimuth error and pitch error of the target's position detection result are obtained according to the diversity synthesis mode angle error demodulation method. The position detection result of the target is corrected using the azimuth error and pitch error to obtain the corrected position detection result of the target. A scanning signal is emitted to the position represented by the corrected position detection result of the target to track the target. This solution solves the problems of poor real-time performance, high computational complexity, easy target loss, inaccurate identification, high power consumption, and high cost of existing multi-target search and tracking methods for moving platforms. It achieves the technical effect of solving complex problems with a simple technical solution and improving the efficiency of real-time multi-target search and tracking. Attached Figure Description

[0010] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0011] Figure 1 A flowchart of a multi-target search and tracking method for a moving platform provided in Embodiment 1 of this application; Figure 2A This is a schematic diagram of the scan path for a rectangular normal scan. Figure 2B This is a schematic diagram of the scanning path for a rectangular spiral scan. Figure 2C This is a schematic diagram of the path for a spiral scan with equal spacing and constant linear rate. Figure 3 This is a flowchart of the inter-array mode angle error demodulation described in Embodiment 1 of this application; Figure 4 This is a flowchart of the automatic task status as described in Embodiment 1 of this application; Figure 5 This is a flowchart illustrating the process of the multi-target search and tracking method for a moving platform described in Embodiment 1 of this application, which simultaneously searches for and tracks multiple targets. Figure 6 is a structural schematic diagram of a moving platform multi-target search and tracking device provided in Embodiment 2 of this application; Figure 7 This is a schematic diagram of the structure of a movable device provided in Embodiment 3 of the present invention. Detailed Implementation

[0012] The technical solutions of this application will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0013] Example 1 Figure 1 This is a flowchart of a multi-target search and tracking method for a moving platform provided in Embodiment 1 of this application. This embodiment is applicable to situations where a moving platform (such as a drone, ship, or aircraft) performs real-time detection, locking, and continuous tracking of multiple dynamic targets (such as aircraft, ships, and ground targets). This method can be executed by a multi-target search and tracking device for a moving platform, and specifically includes the following steps: S110. Using a phased array antenna, the target is scanned and searched within a specified airspace according to a preset scanning method. After the target touches the beam path of the scanning signal, the electromagnetic wave signal emitted by the target is acquired.

[0014] Traditional methods of rotating antennas mechanically result in high antenna inertia and slow rotation speed, making rapid beam scanning impossible. Phased array antennas, on the other hand, change the radiation pattern shape by controlling the feed phase of each radiating element in the array. By controlling the phase, the direction of the antenna's maximum radiation value is altered, thus achieving beam scanning. Since the feed phase is typically controlled by a computer, phased array antennas exhibit rapid phase changes (on the order of milliseconds), resulting in high beam scanning speeds—meaning rapid changes in the direction of the antenna's maximum radiation value or other parameters.

[0015] This embodiment uses a phased array antenna to scan and search for targets, overcoming the problem of slow scanning speed of traditional mechanical rotating antennas, and achieving the technical effect of rapid scanning in a specified airspace.

[0016] Optionally, the scanning method includes at least one of: rectangular ordinary scanning, rectangular spiral scanning, and equal-interval equal-linear-rate spiral scanning.

[0017] Figure 2A This is a schematic diagram of the scan path for a rectangular normal scan. (Example) Figure 2A As shown, a rectangular normal scan refers to continuously scanning from one end of a specified airspace to the other end, repeating the process to achieve coverage of the entire specified airspace. Figure 2A The elevation and azimuth angles of the scan path shown can be adjusted according to actual conditions, such as adjusting the spacing between beams in the scan path based on the size of the target. The times marked in the figure are as follows: Figure 2A Within the indicated airspace range Figure 2AThe time required to complete a full scan using the rectangular scanning method. The advantage of rectangular normal scan is that it can quickly and completely cover a specified airspace, and it is relatively easy in terms of design complexity and solution implementation. However, since the probability of a target appearing within a specified airspace may be different, and rectangular normal scan treats the entire specified airspace equally, rectangular scan time is relatively long and scanning efficiency is relatively low.

[0018] Figure 2B This is a schematic diagram of the scanning path for a rectangular spiral scan. (Example) Figure 2B As shown, rectangular spiral scanning adds a spiral scanning method to the basic rectangular scanning. Rectangular spiral scanning uses the position with the highest probability of the target appearing as the initial scanning position, for example, using... Figure 2B Position A, as shown, serves as the initial scanning position. A rectangular spiral trajectory is then used to extend the scanning path to other positions, overcoming to some extent the drawbacks of long scanning time and low efficiency associated with conventional rectangular scans. The position with the highest probability of target appearance mentioned here can be the location where the target was lost, or other predetermined positions. For example... Figure 2B As shown, the rectangular spiral scan maintains an overlap of more than 15% between each scanning beam, with an azimuth step of 1° and an elevation step of 6°. The search range has an azimuth angle of 4° and an elevation angle of 24°. The time required for each scanning beam to establish direction and complete subsequent signal processing is 10ms.

[0019] Figure 2C This is a schematic diagram of the path for a helical scan with equal spacing and constant linear rate. For example... Figure 2C As shown, the equal-interval, constant-linear-rate spiral scanning method uses the position with the highest probability of target appearance within a specified spatial range as the initial scanning position, for example, using... Figure 2C Position B, as shown, serves as the initial scanning position. Then, a near-circular spiral trajectory is used to extend the scanning path to other positions at specific intervals and linear rates, further reducing scanning time and improving scanning efficiency.

[0020] The three scanning methods described above are merely examples. Other scanning methods can be selected based on the target's motion or other actual conditions, such as adjusting the distance between each beam, adopting a non-equidistant spacing design, or adjusting the shape of the scanning path.

[0021] The advantage of this setup is that it allows for the selection of an appropriate scanning method based on the target situation, thereby improving scanning efficiency and reducing computational burden.

[0022] Optionally, before scanning and searching for the target in a specified airspace according to a preset scanning method using a phased array antenna, and before acquiring the electromagnetic wave signal emitted by the target after the target touches the beam path of the scanning signal, the method further includes: determining the range in which the target may appear, and using the range as the specified airspace range.

[0023] The designated airspace range mentioned in step S110 can be a pre-set airspace range or the entire airspace range that the moving platform multi-target search and tracking device can search. The designated airspace range and initial scanning position can be selected in the following three ways: 1) Based on pre-calculated or specified results, the range where the target may appear is used as the designated airspace range, and the location with the highest probability of the target appearing is used as the initial scanning position; 2) Based on the target's characteristics, such as heading, speed, track, and orbital parameters, search control parameters are established to determine the designated airspace range and initial scanning position; 3) Based on the target's position when it is lost, prediction and extrapolation are performed using the target position parameters and characteristics obtained from previous tracking to determine the designated airspace range and initial scanning position. The scanning method, designated airspace range, scanning period, and other parameters can be set as needed. In addition to the spiral scan mentioned above, the scanning method can also include sinusoidal scan, etc. The "emission" in the electromagnetic wave signal emitted by the target mentioned in step S110 is broadly defined, including reflected signals generated by the target reflecting other electromagnetic waves. Selecting an appropriate designated airspace range enables the multi-target search and tracking device of the moving platform to search for and track specific targets more efficiently.

[0024] Step 120: Obtain the target's position detection result based on the electromagnetic wave signal.

[0025] The position detection results include the detected pitch and azimuth angles. When an electromagnetic wave signal is received, the received electromagnetic wave signal is filtered, amplified with low noise, down-converted, and gain controlled. Then, its path difference is compensated and synthesized to form the horizontal and vertical polarization signals of the electromagnetic wave signal of the target. These signals are then sent to the telemetry baseband to obtain the target's pitch and azimuth angles.

[0026] Step S130: According to the angular error demodulation method of the aggregation synthesis mode, the azimuth error and pitch error of the target's position detection result are obtained.

[0027] Since both the moving platform multi-target search and tracking device and the target described in this embodiment are in constant motion, that is, while the target position detection result is obtained in step S120, both the moving platform multi-target search and tracking device and the target are also in motion, and their attitude and position are slightly offset, in order to obtain a more accurate target detection result, it is necessary to correct the target position detection result obtained in step S120, so that the moving platform multi-target search and tracking method can continuously track the target.

[0028] In order to correct the target position detection result obtained in step S120, this application adopts a subset synthesis mode angular error demodulation method to quickly obtain the angular error of the target position detection result, namely the azimuth error and the pitch error.

[0029] Figure 3 This is a flowchart of the inter-channel synthesis mode angle error demodulation described in Embodiment 1 of this application. Taking a dual-channel single-pulse frequency modulation system as an example, the electromagnetic wave signal received by the moving platform multi-target search and tracking device is processed to obtain the sum-path intermediate frequency signal and the difference-path intermediate frequency signal, respectively:

[0030] in, A Indicates the amplitude of the received signal. Indicates the intermediate frequency signal of the circuit. Indicates the intermediate frequency signal of the differential path. and These represent the azimuth error signal and the elevation error signal, respectively. The center frequency of the carrier wave.

[0031] like Figure 3 As shown, for a dual-channel monopulse system, the received linearly polarized electromagnetic wave signal is converted into left-handed and right-handed spiral signals, resulting in left-handed sum signal, left-handed differential signal, right-handed sum signal, and right-handed differential signal. The signal strength of the sum signal is used to perform amplitude normalization control on the differential signal. Using the phase information of the sum signal as a reference, a fixed phase shift between the sum and differential signals is used to phase-shift the local signal. The phase-shifted local signal is in phase and frequency with the differential signal. The local signal is used to perform quadrature coherent demodulation of the sum signal, and the phase-shifted local signal is used to perform quadrature coherent demodulation of the differential signal, ultimately yielding the azimuth and pitch errors. The fixed phase shift between the sum and differential signals needs to be obtained in advance through phase calibration. The local signal is generated by a digitally controlled oscillator (NCO).

[0032] According to the error extraction principle, since the angular error voltage is obtained through the sum and difference signals, whether the error voltage can be obtained normally depends on the total energy and signal form of the sum and difference signals, not on the signal-to-noise ratio of a single symbol. Therefore, when the ratio of bit energy to noise power spectral density (Eb / No) is negative, the angular error voltage can still be obtained. When the signal-to-noise ratio of a single symbol is extremely low, causing the carrier loop to fail to lock and track normally, the sum and difference signals described in this application both have the same residual frequency difference, thus not affecting the phase difference between the sum and difference signals. Therefore, in the carrier open-loop state, the angular error demodulation method of the diversity synthesis mode described in this application can still be used to perform phase correction and demodulation of the angular error in the target's position detection result, thereby obtaining the azimuth error signal. ΔA and pitch error signal .

[0033] The advantage of using the diversity synthesis mode angle error demodulation method lies in its open-loop demodulation approach. Therefore, the angle error demodulation delay is not affected by the time consumed by carrier closed-loop tracking; the delay is primarily determined by the delays of narrowband filtering and other signal processing stages. When the bandwidth of the narrowband filter is set to 1kHz, the narrowband filter delay is approximately 1ms. Adding the signal processing time of other stages, the angle error demodulation delay can be controlled within 2-3ms, enabling rapid output of angle error data.

[0034] Step S140: Correct the target's position detection result using the azimuth error and pitch error to obtain the corrected position detection result of the target.

[0035] The azimuth and pitch angles of the target's position detection results are subtracted from the azimuth error and pitch error, respectively, to obtain the corrected position detection result of the target.

[0036] Step S150: Using a phased array antenna, a scanning signal is transmitted to the position indicated by the corrected position detection result of the target to track the target.

[0037] In this embodiment, the number of targets is greater than one, and the moving platform multi-target search and tracking device is in a non-stationary state. That is, the moving platform multi-target search and tracking device in this embodiment simultaneously searches and tracks multiple targets, which relies on the fast processing and response design for multi-target pointing provided in this application embodiment. Optionally, the phased array antenna includes multiple antenna subarrays, and the number of antenna subarrays is not less than the number of targets.

[0038] When a moving platform multi-target search and tracking device searches and tracks multiple targets, it employs a multi-beam tracking method. This involves dividing the phased array antenna into multiple antenna subarrays, with each subarray transmitting a scanning signal independently pointed at a specific target, allowing for simultaneous search and tracking of multiple targets. The advantage of this setup is that it leverages the characteristic of phased array antennas having multiple radiating elements. By dividing the number of antenna subarrays according to the number of targets, it enables simultaneous search and tracking of multiple targets even when the number of targets changes.

[0039] Optionally, the plurality of antenna subarrays transmit multiple scanning signals, with at least two antenna subarrays tracking the same target. If one of the at least two antenna subarrays loses tracking of the target and becomes a lost subarray, its position is reconstructed using the position detection results of the remaining antenna subarrays tracking the target. It is understood that even when each antenna subarray tracks a target individually, if one subarray loses tracking, the scanning signals of other antenna subarrays may accidentally find the lost target. Therefore, the lost subarray can quickly re-search and track the lost target based on the scanning signals of other antenna subarrays. The advantage of this configuration is that, for situations where a target transmits multiple telemetry point frequencies, or when the target is very important, searching and tracking the target using multiple scanning signals increases the reliability of the search and tracking, and allows for faster recovery of tracking if one antenna subarray loses tracking of the target.

[0040] Optionally, after step S150, which involves transmitting a scanning signal to the position indicated by the corrected position detection result of the target and tracking the target, the method further includes: using the position indicated by the corrected position detection result of the target as the center, and performing a scanning search on the target according to a preset scanning method.

[0041] In rare cases, target tracking may fail, meaning that a scan signal is emitted to the location indicated by the corrected target position detection result but the target is not detected. In such cases, it is necessary to re-scan and track the target. To improve scanning and tracking efficiency, since the location indicated by the corrected target position detection result represents a location where the target has a high probability of appearing, the target is likely to be nearby. Therefore, by using the location indicated by the corrected target position detection result as the center and scanning and searching for the target according to a preset scanning method, the target can be quickly re-tracked. Figure 2B , 2CAs shown, scanning can be performed using a rectangular spiral scan centered at position A, or using a spiral scan with equal spacing and constant linear rate centered at position B. It should be noted that the scanning methods described here are not recommended as centerless, traversal scans of a specified airspace, such as rectangular ordinary scans. Traversal scans are inefficient when the target is lost for a short time and are not conducive to re-searching and tracking the target.

[0042] Optionally, the phased array antenna can be controlled using an architecture that combines a field-programmable gate array (FPGA) and a digital signal processing (DSP) device to achieve target scanning and search.

[0043] To improve the efficiency and speed of the moving platform multi-target search and tracking method and reduce the impact of human intervention on target acquisition, the control of the phased array antenna scanning signal is achieved through an automatic task algorithm. This automatic task algorithm can run automatically when the moving platform multi-target search and tracking method starts or when the target is lost, thereby enabling rapid target search and tracking.

[0044] The automatic task algorithm corresponds to the automatic task state of the moving platform multi-target search and tracking device. Figure 4 This is a flowchart illustrating the automatic task status as described in Embodiment 1 of this application. Figure 4 As shown, after the multi-target search and tracking device on the moving platform enters the automatic task state, its beam pointing module can sequentially check whether it has the execution conditions for self-tracking mode, memory tracking mode, digital guidance mode, and program follow mode. If none of the above execution conditions are met, it enters the scanning search mode.

[0045] Among them, the self-tracking mode indicates that the moving platform multi-target search and tracking device has already tracked the target and only needs to continue tracking the target; the memory tracking mode indicates that the moving platform multi-target search and tracking device knows the target's trajectory over a period of time and can roughly determine the airspace range where the target is located at this time based on the trajectory, and needs to search for the target within this airspace range; the digital guidance mode indicates that the moving platform multi-target search and tracking device is controlled by the central digital guidance information to transmit scanning signals to a specific location; the program tracking mode indicates that the moving platform multi-target search and tracking device has stored theoretical ballistic information internally and can determine to transmit scanning signals to a specific location based on the theoretical ballistic information; and the scanning search mode indicates that the moving platform multi-target search and tracking device controls the phased array antenna to traverse and scan the airspace range to search for and track the target.

[0046] Figure 5This is a schematic diagram illustrating the process of simultaneously searching and tracking multiple targets using the multi-target search and tracking method for a moving platform as described in Embodiment 1 of this application. Figure 5 As shown, this multi-target search and tracking device on the moving platform simultaneously searches for and tracks four targets. In reality, the number of targets is not limited to this. The four antenna subarrays are respectively in digital guidance mode, self-tracking mode, manual tracking mode, and program tracking mode. Among them, the manual tracking mode is not an automatic task state, but requires manual intervention.

[0047] Because the moving platform multi-target search and tracking device needs to simultaneously and independently control multiple antenna subarrays of the phased array antenna to point scanning signals at different targets, and the tracking guidance modes of different scanning signals can be arbitrarily selected, and the moving platform multi-target search and tracking device also needs to achieve in-motion beam pointing based on its position and attitude information in real time, this requires the moving platform multi-target search and tracking device to have high-speed computing power and powerful parallel processing capabilities. This moving platform multi-target search and tracking device adopts an architecture combining FPGA and DSP devices. The FPGA is used to complete data interaction and other tasks, and the DSP device is used to complete algorithm processing. Therefore, the beam pointing module of this moving platform multi-target search and tracking device can complete the simultaneous search and tracking of multiple targets within 1ms, meeting the requirements of high-speed computing and parallel processing. The data update rate can reach 1kHz, and it has the ability to quickly output beam pointing information. The response time of this moving platform multi-target search and tracking device is within 5ms. Here, the response time refers to the time required for the phased array antenna to control each radiating element after receiving the beam pointing information from the beam pointing module. In summary, the time required for beam pointing establishment and signal processing for each scanning signal is less than 10ms.

[0048] The technical solution of this embodiment scans and searches for a target within a specified airspace according to a preset scanning method. After the target touches the beam path of the scanning signal, the electromagnetic wave signal emitted by the target is acquired. The position detection result of the target is obtained based on the electromagnetic wave signal. The azimuth error and pitch error of the target's position detection result are obtained according to the diversity synthesis mode angle error demodulation method. The position detection result of the target is corrected using the azimuth error and pitch error to obtain the corrected position detection result of the target. A scanning signal is emitted to the position represented by the corrected position detection result of the target to track the target. This solution solves the problems of poor real-time performance, high computational complexity, easy target loss, inaccurate identification, high power consumption, and high cost of existing multi-target search and tracking methods for moving platforms. It achieves the technical effect of solving complex problems with a simple technical solution and improving the efficiency of real-time multi-target search and tracking.

[0049] Example 2 The moving platform multi-target search and tracking device provided in this embodiment of the invention can execute the moving platform multi-target search and tracking method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method execution. Figure 6 is a schematic diagram of the structure of a moving platform multi-target search and tracking device provided in Embodiment 2 of this application, as shown in the figure: A multi-target search and tracking device for a moving platform, the device comprising: The phased array antenna module 10 is used to scan and search for targets within a specified airspace according to a preset scanning method, and to acquire the electromagnetic wave signals emitted by the target after the target touches the beam path of the scanning signal. Position analysis module 20 is used to obtain the position detection result of the target based on the electromagnetic wave signal; The system angle tracking module 30 is used to obtain the azimuth error and pitch error of the target's position detection result according to the ensemble synthesis mode angle error demodulation method; The position correction module 40 is used to correct the position detection result of the target using the azimuth error and pitch error, so as to obtain the corrected position detection result of the target. The phased array antenna module 10 is also used to transmit a scanning signal to the position indicated by the corrected position detection result of the target to track the target; Wherein, the number of targets is greater than 1, and the moving platform multi-target search and tracking device is in a non-stationary state.

[0050] Optionally, the phased array antenna module 10 is further configured to scan and search for the target using the position indicated by the corrected position detection result of the target as the center, according to a preset scanning method.

[0051] Optionally, the scanning method includes at least one of: rectangular ordinary scanning, rectangular spiral scanning, and equal-interval equal-linear-rate spiral scanning.

[0052] Optionally, the phased array antenna module includes multiple antenna subarray submodules, each of which includes one antenna subarray, and the number of antenna subarrays is not less than the target number.

[0053] Optionally, the phased array antenna module can be controlled using an architecture combining a field-programmable gate array (FPGA) and a digital signal processing (DSP) device to perform target scanning and search.

[0054] Optionally, the moving platform multi-target search and tracking device further includes a spatial range determination module, used to determine the range in which the target may appear, and to use the range as the designated spatial range.

[0055] Optionally, the plurality of antenna subarray submodules transmit a plurality of scanning signals respectively, and the scanning signals of at least two antenna subarray submodules track the same target. After one of the antenna subarrays loses tracking of the target and becomes a lost subarray, the position of the lost subarray is reconstructed using the position detection results of the remaining antenna subarrays tracking the target.

[0056] The technical solution of this embodiment solves the problems of poor real-time performance, high computational complexity, easy target loss, inaccurate identification, high power consumption, and high cost of existing multi-target search and tracking methods for moving platforms by designing a multi-target search and tracking device for moving platforms. It achieves the technical effect of solving complex problems with a simple technical solution and improving the efficiency of real-time multi-target search and tracking.

[0057] Example 3 Figure 7 This is a schematic diagram of the structure of a movable device provided in Embodiment 3 of the present invention, as shown below. Figure 7 As shown, the movable device includes a processor 70, a memory 71, an input device 72, and an output device 73; the number of processors 70 in the movable device can be one or more. Figure 7 Taking a processor 70 as an example; the processor 70, memory 71, input device 72, and output device 73 in this movable device can be connected via a bus or other means. Figure 7 Taking the example of a connection between China and Israel via a bus.

[0058] The memory 71, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the modules corresponding to the moving platform multi-target search and tracking device in this embodiment of the invention (e.g., phased array antenna module 10, position analysis module 20, system angle tracking module 30, and position correction module 40). The processor 70 executes various functional applications and data processing of the movable device by running the software programs, instructions, and modules stored in the memory 71, thereby realizing the above-described moving platform multi-target search and tracking method.

[0059] The memory 71 may primarily include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a given function; the data storage area may store data created based on terminal usage. Furthermore, the memory 71 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory, or other non-volatile solid-state storage device. In some instances, the memory 71 may further include memory remotely located relative to the processor 70, which can be connected to the device / terminal / server via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0060] Input device 72 can be used to receive input digital or character information, and to generate key signal inputs related to user settings and function control of the movable device. Output device 73 may include display devices such as a display screen.

[0061] Example 4 Embodiment 4 of the present invention also provides a storage medium containing a computer program, which, when executed by a computer processor, is used to perform a multi-target search and tracking method for a moving platform, the method comprising: Using a phased array antenna, the target is scanned and searched within a specified airspace according to a preset scanning method. Once the target touches the beam path of the scanning signal, the electromagnetic wave signal emitted by the target is acquired. The target's position detection result is obtained based on the electromagnetic wave signal; Based on the angular error demodulation method of the aggregation synthesis mode, the azimuth error and pitch error of the target's position detection result are obtained; The azimuth error and pitch error are used to correct the target's position detection result, resulting in the corrected position detection result of the target. A scanning signal is transmitted to the position indicated by the corrected position detection result of the target through a phased array antenna to track the target; Wherein, the number of targets is greater than 1, and the moving platform multi-target search and tracking device is in a non-stationary state.

[0062] Of course, the storage medium containing a computer program provided in the embodiments of the present invention is not limited to the method operation described above, but can also execute related operations in the dynamic platform multi-target search and tracking method provided in any embodiment of the present invention.

[0063] Based on the above description of the implementation methods, those skilled in the art can clearly understand that the present invention can be implemented using software and necessary general-purpose hardware, and of course, it can also be implemented using hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk, or optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0064] It is worth noting that in the embodiments of the search device described above, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of each functional unit are only for easy differentiation and are not used to limit the scope of protection of the present invention.

[0065] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A method for multi-target search and tracking on a moving platform, characterized in that, The method includes: Using a phased array antenna, the target is scanned and searched within a specified airspace according to a preset scanning method. Once the target touches the beam path of the scanning signal, the electromagnetic wave signal emitted by the target is acquired. The target's position detection result is obtained based on the electromagnetic wave signal; Based on the angular error demodulation method of the aggregation synthesis mode, the azimuth error and pitch error of the target's position detection result are obtained; The azimuth error and pitch error are used to correct the target's position detection result, resulting in the corrected position detection result of the target. A scanning signal is transmitted to the position indicated by the corrected position detection result of the target through a phased array antenna to track the target; Wherein, the number of targets is greater than 1, and the moving platform multi-target search and tracking device is in a non-stationary state.

2. The method according to claim 1, characterized in that, After tracking the target by transmitting a scanning signal to the position indicated by the corrected position detection result of the target via a phased array antenna, the process further includes: Centered on the position indicated by the corrected position detection result of the target, the target is scanned and searched according to a preset scanning method.

3. The method according to claim 1, characterized in that, The scanning method includes at least one of the following: rectangular ordinary scanning, rectangular spiral scanning, and equal-interval equal-linear-rate spiral scanning.

4. The method according to claim 1, characterized in that, The phased array antenna includes multiple antenna subarrays, and the number of antenna subarrays is not less than the target number.

5. The method according to claim 1, characterized in that, The phased array antenna is controlled by a combination of a field-programmable gate array (FPGA) and a digital signal processing (DSP) device to perform target scanning and search.

6. The method according to claim 1, characterized in that, Before acquiring the electromagnetic wave signal emitted by the target after it touches the beam path of the scanning signal, the process further includes: (The text then goes on to describe the process of scanning and searching for the target within a designated airspace using a phased array antenna according to a preset scanning method.) Determine the possible range in which the target may appear, and use the range as the designated airspace range.

7. The method according to claim 4, characterized in that, The multiple antenna subarrays transmit multiple scanning signals respectively, and the scanning signals of at least two antenna subarrays track the same target. After one of the at least two antenna subarrays loses tracking of the target and becomes a lost subarray, the position of the lost subarray is reconstructed using the position detection results of the remaining antenna subarrays that tracked the target.

8. A multi-target search and tracking device for a moving platform, characterized in that, The device includes: The phased array antenna module (10) is used to scan and search for targets in a specified airspace according to a preset scanning method. After the target touches the beam path of the scanning signal, the electromagnetic wave signal emitted by the target is acquired. The position analysis module (20) is used to obtain the position detection result of the target based on the electromagnetic wave signal; The system angle tracking module (30) is used to obtain the azimuth error and pitch error of the target's position detection result according to the ensemble synthesis mode angle error demodulation method; The position correction module (40) is used to correct the position detection result of the target using the azimuth error and pitch error, so as to obtain the corrected position detection result of the target; The phased array antenna module (10) is also used to transmit a scanning signal to the position indicated by the corrected position detection result of the target to track the target; Wherein, the number of targets is greater than 1, and the moving platform multi-target search and tracking device is in a non-stationary state.

9. A movable device, characterized in that, The movable device includes: One or more processors; Storage device for storing one or more programs; Motion device, used to drive the movement of movable equipment; When the one or more programs are executed by the one or more processors, the one or more processors implement the dynamic platform multi-target search and tracking method as described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by the processor, the program implements the multi-target search and tracking method for a moving platform as described in any one of claims 1-7.

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