Phased array radar tracking implementation method, system, device and medium adapted to complex sea conditions

Abstract

This invention discloses a phased array radar tracking method, system, device, and medium adapted to complex sea conditions, relating to the field of phased array radar technology. The key technical points are: activating the phased array radar's TWS mode to scan the sea area multiple times in a first scanning cycle to obtain multiple candidate targets; switching the phased array radar's tracking mode to TAS mode; calculating the track value of each candidate target based on its displacement change value, average target amplitude, and the target velocity standard deviation, heading change standard deviation, and target correlation value within n frames; setting a threshold value for the track value; determining a priority list of first candidate targets whose track values ​​exceed the threshold value by combining the target maneuver value and confidence level; selecting the top A first candidate targets from the priority list and incorporating them into the target list of the TAS mode; and performing scanning and tracking of the target list in TAS mode.

Description

Technical Field

[0001] This invention relates to the field of phased array radar technology, and more specifically, to a phased array radar tracking method, system, device, and medium adapted to complex sea conditions. Background Technology

[0002] Compared to traditional mechanically scanned radar, phased array radar has core advantages such as fast scanning speed, flexible beam pointing, strong anti-interference ability, and the ability to simultaneously perform search and tracking, thanks to its electronically controlled scanning and multi-task time-sharing capabilities.

[0003] Because airspace clutter is mainly composed of high-altitude atmospheric clutter and low-speed ground clutter, the clutter intensity is relatively low, resulting in fewer false targets. Compared to the more mature air-to-air phased array radar, sea-to-sea phased array radar faces the challenge of high sea clutter intensity and a large dynamic range. Due to the periodic undulations and continuous coupling characteristics of ocean waves, in complex sea conditions, the amplitude and velocity characteristics of sea clutter closely resemble those of small surface vessels and floating targets. Conventional amplitude thresholds and single-feature discrimination methods often struggle to distinguish false clutter from real low-speed small targets. Commonly used TWS and TAS tracking methods in publicly available literature often automatically filter targets for tracking based on their maneuverability. When there are many false targets generated by sea clutter, the proportion of false targets in the search results is high, and a large amount of backend computing power is consumed in processing invalid tracks, resulting in a waste of radar resources. On the other hand, in densely populated ports, the competing resources for target search and tracking increase the pressure on the real-time processing of phased array radar. Summary of the Invention

[0004] The purpose of this invention is to provide a phased array radar tracking method, system, device, and medium adapted to complex sea conditions, which solves the problem of insufficient detection capability of false targets formed by sea clutter in existing technologies.

[0005] The above-mentioned technical objective of the present invention is achieved through the following technical solution:

[0006] In a first aspect, the present invention provides a phased array radar tracking implementation method adapted to complex sea conditions, the method comprising:

[0007] The phased array radar is activated in TWS mode and scans the sea area multiple times in the first scan cycle to obtain multiple candidate targets;

[0008] The phased array radar is switched to TAS mode. The track value of each candidate target is calculated based on the displacement change value, the average target amplitude, and the target velocity standard deviation, heading change standard deviation, and target correlation value within n frames; where n is a positive integer.

[0009] A threshold value is set for the track value. A priority list of first candidate targets whose track value is greater than the threshold value is determined by combining the target maneuver value and the confidence level. The top A first candidate targets in the priority list are selected and included in the target list of the TAS mode. Wherein, A is the maximum number of targets to track in the TAS mode.

[0010] Perform the TAS mode scan and tracking on the target list.

[0011] A second aspect of the present invention provides a phased array radar tracking system adapted to complex sea conditions, the system comprising:

[0012] The candidate target scanning module is used to activate the phased array radar's TWS mode and scan the sea area multiple times in the first scanning cycle to obtain multiple candidate targets;

[0013] The track value calculation module is used to switch the phased array radar's tracking mode to TAS mode, and calculates the track value of each candidate target based on the displacement change value, the average target amplitude, and the target velocity standard deviation, heading change standard deviation, and target correlation value within n frames; where n is a positive integer;

[0014] The target determination module is used to set a threshold value for the track value, combine the target maneuver value and confidence level to determine a priority list of first candidate targets whose track value is greater than the threshold value, and select the top A first candidate targets in the priority list to be included in the target list of the TAS mode; where A is the maximum number of targets to track in the TAS mode.

[0015] The tracking module is used to perform the TAS mode scanning and tracking on the target list.

[0016] A third aspect of the present invention provides an electronic device, including a memory and a processor;

[0017] A memory for storing computer programs, the computer programs including program instructions;

[0018] A processor is configured to execute the program instructions to cause the electronic device to perform the steps of a phased array radar tracking implementation method adapted to complex sea conditions, as provided in the first aspect of the present invention.

[0019] A fourth aspect of the present invention provides a computer-readable storage medium comprising a computer program that, when executed by one or more processors, implements a phased array radar tracking method adapted to complex sea conditions as provided in the first aspect of the present invention.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. Based on the inherent characteristics of sea clutter echoes—low speed, small amplitude, and unstable position—this invention abandons the limitations of traditional single amplitude threshold and fixed-weight clutter filtering methods. Instead, it extracts the target's displacement change value, the target's average amplitude, and the target's velocity standard deviation, heading change standard deviation, and target correlation value within n frames to calculate the track value, thereby accurately eliminating false clutter. Furthermore, by combining the tracking priority of candidate targets determined by the track value, it completes automatic target priority sorting via TAS, thus generating a target list in TAS mode and reducing the number of false tracks in complex sea conditions.

[0022] 2. When there are many targets in the target list, this invention uses a non-fixed-period TWS search mode to ensure the tracking of higher-priority TAS targets. It differentiates the period parameters and uses the linked period threshold for dynamic queue management, thus ensuring the priority of TAS tracking resources.

[0023] 3. The present invention also calculates the stability parameters of the first candidate target by using the acceleration of the first candidate target and the number of times it falls back into the tracking gate. Then, it sets the upper and lower limits of the parameter threshold interval and the relationship between the magnitude of the stability parameters to determine the maneuverability analysis results of the first candidate target. The beam scanning range of the target in the next cycle is adaptively adjusted based on the maneuverability analysis results, and different filtering methods are assigned to different types of candidate targets, thereby saving computing resources and ensuring the real-time requirements of the phased array radar. Attached Figure Description

[0024] The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and form part of this application, do not constitute a limitation thereof. In the drawings:

[0025] Figure 1 A flowchart illustrating a phased array radar tracking method adapted to complex sea conditions, provided as an embodiment of the present invention;

[0026] Figure 2 The flowchart illustrates the conversion process of filtering models under different tracking modes provided in embodiments of the present invention. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the embodiments and accompanying drawings. The illustrative embodiments and descriptions of the present invention are only used to explain the present invention and are not intended to limit the present invention.

[0028] It should be noted that the terms "comprising" or "may include" used in the various embodiments of this application indicate the presence of the claimed function, operation, or element, and do not limit the addition of one or more functions, operations, or elements. Furthermore, as used in the various embodiments of this application, the terms "comprising," "having," and their cognates are intended only to indicate a specific feature, number, step, operation, element, component, or combination of the foregoing, and should not be construed as primarily excluding the presence of one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing, or adding one or more combinations of the foregoing.

[0029] It should be understood that terms such as "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0030] Please refer to Figure 1 This embodiment provides a flowchart of a phased array radar tracking implementation method adapted to complex sea conditions. The method includes the following steps:

[0031] S101, the phased array radar is activated in TWS mode to scan the sea area multiple times in the first scan cycle to obtain multiple candidate targets.

[0032] In this embodiment, TWS mode, or Search-while-Tracking mode, is a working mode of the phased array radar. While searching for new targets, the radar can continuously track already detected targets. The phased array radar activates TWS mode to perform a search scan. The first scan cycle is T1. Within this first scan cycle T1, the search scan of the sea area is completed, and one frame of data is acquired. The acquired target points are then processed. This process is repeated for several search scan cycles to generate multiple candidate targets.

[0033] S102, switch the phased array radar's tracking mode to TAS mode, and calculate the track value of each candidate target based on the displacement change value, the average target amplitude, and the target velocity standard deviation, heading change standard deviation, and target correlation value within n frames; where n is a positive integer.

[0034] In this embodiment, the process of calculating the track value for each candidate target is as follows:

[0035] First, determine the first ratio between the absolute value of the displacement change of each candidate target and the set maximum displacement threshold; determine the second ratio between the average target amplitude of each candidate target and the set amplitude threshold; determine the third ratio between the target correlation value of each candidate target and n frames.

[0036] Then, the first ratio, the standard deviation of the target speed, the second ratio, the standard deviation of the heading change, and the third ratio are weighted and summed to obtain the track value of each candidate target.

[0037] Based on the above description, the expression for calculating the track value is:

[0038] ;

[0039] in, , , , and The weighting parameters for the first ratio, the target speed standard deviation, the second ratio, the heading change standard deviation, and the third ratio are as follows: [Weighting parameters would be inserted here]. At high sea states, the weighting parameters are... The adaptive adjustment is increased to 1.5 times, where D is the displacement of the candidate target relative to the starting position. The method for calculating D is the distance between the current position and the starting position of the candidate target. The maximum displacement threshold is set (if D> Then D takes (value) The first ratio, The standard deviation of the target velocity within n frames is calculated as follows: ,in Let be the velocity of the target within the i-th frame of data. The average velocity of the target within n frames; The average amplitude of the target over n frames. For the amplitude threshold (if > but = ), The second ratio, Here, C is a constant value, and C is the standard deviation of the target's heading angle within n frames. The calculation method is as follows: , The target heading angle calculated from the data in the i-th frame. The average value of the heading; It is the number of times the target echo falls within the target's tracking gate within n frames. This is the third ratio.

[0040] S103, set a threshold value for the track value, select the first candidate target whose track value is greater than the threshold value, add it to the priority list and sort it from high to low track value, and select the first A first candidate targets in the priority list to be included in the target list of the TAS mode; where A is the maximum number of tracking targets in the TAS mode.

[0041] In this embodiment, clutter false targets whose track value S is less than the threshold value Thd are deleted, where Thd is the set threshold value for track values; for the remaining real targets, they are sorted from high to low based on the size of their track values, and no more than A targets are selected and added to the automatic TAS target list. The TAS target list is then arranged according to the automatic queue sorting rule from high to low score.

[0042] S104, Perform the TAS mode scan and tracking on the target list.

[0043] Specifically, aside from the targets added by the operator in TAS mode, the operator can click on any candidate target on the display terminal, manually select to track in TAS mode, and issue a manual TAS tracking command. The manual target is determined to have a higher priority than all the first candidate targets in the target list, and is not subject to the sorting rules of the automatic target list. The manually selected target has the highest priority and is ranked at the top of the target list (if the maximum number of targets to track has been reached before the TAS target is manually added, the first candidate target with the lowest track value will be automatically removed from the target list).

[0044] In some embodiments, based on the target list of TAS modes determined in the above embodiments, the method further includes:

[0045] S105, calculate the stability parameter of each first candidate target in the target list based on the current acceleration and the number of times it falls back into the tracking gate.

[0046] Specifically, the stability parameter for each first candidate target is calculated as follows: ;in, , Here, are the weighting parameters for acceleration and , respectively, where 'a' is the target's current acceleration. For the set acceleration threshold, if the absolute value of a exceeds... Then the value of a takes p represents the number of times the target echo fell within the tracking gate in the most recent m updates of the target.

[0047] S106, Based on the stability parameters and the preset parameter threshold range, determine the maneuverability analysis results for each first candidate target in the target list.

[0048] Specifically, set the lower limit of the parameter threshold range. and upper limit value judge Based on the location of the target within the specified interval, the maneuverability of the first candidate target is determined, and the beam scanning range of that target in the next cycle is adaptively adjusted.

[0049] S107, update the beam scanning range of TAS mode based on the mobility analysis results.

[0050] Specifically, if The first candidate target is marked as a highly maneuverable target, and the beam scanning range of the next scanning cycle is increased;

[0051] like The first candidate target is marked as a medium maneuvering target, and the beam scanning range remains unchanged in the next scanning cycle;

[0052] like The first candidate target is marked as a low-maneuverability target, and the beam scanning range of the next scanning cycle is narrowed.

[0053] like Figure 2 As shown, to save computational resources, a hierarchical composite filtering approach is used to process TWS, TAS, and STT target tracks. If the first candidate target is a TWS or STT target, the TWS mode uses a general Kalman filter model to perform linear prediction and update of position and velocity, resulting in short computation time. For STT targets, since the STT mode no longer performs scanning and tracking as in the TWS mode, there is no resource allocation issue. Therefore, an interactive multi-model filtering approach is used, switching between uniform speed, uniform acceleration, and variable acceleration motion models to adapt to the maneuvering state.

[0054] If the first candidate target is a TAS target, then determine whether the maneuverability analysis result of the first candidate target is a highly maneuverable target. If so, then interactive multi-model filtering is used for track processing; otherwise, Kalman filtering is used for track processing.

[0055] Specifically, for TAS targets, based on the target maneuverability level determined in the above embodiment, a general conventional Kalman filter is used for low-maneuverability and medium-maneuverability targets, while an interactive multi-model filter is used for high-maneuverability targets, switching between uniform speed, uniform acceleration, and variable acceleration motion models to adapt to the maneuverability state.

[0056] In some embodiments, after calculating the stability parameters, a non-fixed-period TWS mode is used to ensure the tracking of higher-priority TAS targets. The period parameters are configured differently, and a linked period threshold is used for dynamic queue management. While ensuring the priority of TAS tracking resources, the method further includes:

[0057] The phased array radar scans and tracks each first candidate target in the target list according to the second scanning cycle; wherein, the second scanning cycle is the scanning cycle of TAS mode;

[0058] During the gap between adjacent second scan cycles, TWS mode is activated for scanning and tracking until all regions are scanned within the gap of TAS mode. The third scan cycle required for TWS mode after all regions are scanned is recorded.

[0059] If the third scan cycle is less than or equal to the upper limit of the scan cycle set in TWS mode, and the maximum number of targets to be tracked in the target list has not been reached, then some targets will be selected from the candidate targets obtained in the third scan cycle of TWS mode and added to the target list.

[0060] Specifically, the second scan period is shorter than the first scan period. Similar to the general TAS mode tracking method, the TAS mode tracking method interweaves these tracking task beams of the second scan period T2 within the TWS mode.

[0061] After completing the second scan cycle of the first TAS mode, before the arrival of the second second scan cycle, the TWS mode search scan is performed during the scanning gap time. When the second TAS scan cycle arrives, the TWS search stops and the second cycle of TAS scan tracking begins. Before the arrival of the third TAS scan cycle, the TWS search is performed during the scanning gap. This process is repeated for the third, fourth, and final second scan cycles until the TWS scans the entire area within the scanning gaps between these TAS scan cycles. The third scan cycle T3 of this round of TWS is recorded. The track value is calculated according to the track value described in the above embodiment, and candidate targets that meet the TAS mode are selected. If the third scan cycle is less than or equal to the upper limit of the scan cycle set by the TWS mode and the maximum number of targets in the target list has not been reached, some targets are selected from the candidate targets obtained by the TWS mode in the third scan cycle and added to the target list.

[0062] Furthermore, if the third scan cycle exceeds the upper limit of the scan cycle set in TWS mode and reaches the maximum number of targets in the target list, the target list remains unchanged, and the next TWS mode scan and tracking is performed according to the target list.

[0063] It should be noted that only after a target in the target list of TAS mode is lost or manually deleted will a number of targets be selected from the candidate targets of TWS to be added to the target list of TAS mode.

[0064] In some embodiments, when the phased array radar tracking mode is not TAS mode, the method provided in this embodiment further includes: switching the phased array radar tracking mode to STT mode, and performing STT mode scanning and tracking on multiple candidate targets.

[0065] Specifically, to perform STT mode tracking, after completing the sea surface target discovery and track record building through TWS mode, select the corresponding candidate target for STT mode tracking. After STT mode is activated, the beam scheduling system immediately shuts down the full-domain traversal TWS beam and allocates a directional narrow beam to perform high-frequency fixed-point scanning in the vicinity of the target, increasing the scanning frame rate.

[0066] By utilizing high-frequency scanning data, multi-frame echo coherent accumulation is performed to improve the target's signal-to-noise ratio. Furthermore, based on the accumulated echoes, the tracking performance of candidate targets selected in STT mode is enhanced.

[0067] The embodiments of the present invention also provide the following simulation calculation examples in conjunction with the above embodiments:

[0068] The phased array radar was activated in TWS mode and the sea area was scanned multiple times in the first scan cycle to obtain 27 candidate targets.

[0069] Switch the phased array radar's tracking mode to TAS mode. Calculate the track value of each candidate target based on its displacement change, average target amplitude, target velocity standard deviation, heading change standard deviation, and target correlation value within 7 days, as shown in Table 1 below:

[0070] Table 1 Track values ​​of candidate targets

[0071]

[0072] Candidate targets with track values ​​greater than 0.4 are selected based on their track values ​​and added to the priority list. These targets are then sorted from highest to lowest track value. The top 10 candidates from the priority list are then added to the target list in TAS mode, as shown in Table 2 below.

[0073] Table 2. List of TAS targets generated based on track values

[0074]

[0075] Based on the current acceleration and the number of times each first candidate target in the target list falls back into the tracking gate, the stability parameters of each first candidate target in the target list are calculated. Based on the stability parameters and a preset parameter threshold range, the maneuverability analysis results of each first candidate target in the target list are determined. Refer to Table 3 below:

[0076] Table 3. Stability parameters of the first candidate target

[0077]

[0078] As can be seen from Table 3, the lower the stability parameter value, the higher the maneuverability of the target tracked by TAS.

[0079] This invention also provides a phased array radar tracking system adapted to complex sea conditions, which is different from the above-mentioned... Figure 1 The phased array radar tracking method shown is adapted to complex sea conditions and is a technical solution based on the same inventive concept. The system includes:

[0080] The candidate target scanning module is used to activate the phased array radar's TWS mode and scan the sea area multiple times in the first scanning cycle to obtain multiple candidate targets;

[0081] The track value calculation module is used to switch the phased array radar's tracking mode to TAS mode, and calculates the track value of each candidate target based on the displacement change value, the average target amplitude, and the target velocity standard deviation, heading change standard deviation, and target correlation value within n frames; where n is a positive integer;

[0082] The target determination module is used to set a threshold value for the track value, combine the target maneuver value and confidence level to determine a priority list of first candidate targets whose track value is greater than the threshold value, and select the top A first candidate targets in the priority list to be included in the target list of the TAS mode; where A is the maximum number of targets to track in the TAS mode.

[0083] The tracking module is used to perform scanning and tracking in the TAS mode according to the target list.

[0084] Through the detailed description of the phased array radar tracking implementation method adapted to complex sea conditions provided in the above embodiments, those skilled in the art can clearly understand the implementation process of each module included in the phased array radar tracking implementation system adapted to complex sea conditions in this embodiment. Therefore, for the sake of brevity, it will not be described again here.

[0085] This invention also provides an electronic device. The electronic device includes a processor, a memory, a communication interface, and at least one communication bus for connecting the processor, the memory, and the communication interface. The memory includes, but is not limited to, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (PROM), or portable read-only memory (CD-ROM), and is used for related instructions and data.

[0086] The communication interface is used to receive and send data. The processor can be one or more CPUs; if it is a single CPU, it can be a single-core CPU or a multi-core CPU. The processor in the electronic device reads one or more programs stored in the memory and performs the following operations: It initiates the TWS mode of the phased array radar and scans the sea area multiple times in a first scan cycle to obtain multiple candidate targets; it switches the phased array radar's tracking mode to TAS mode and calculates the track value of each candidate target based on the displacement change value, the average target amplitude, and the target velocity standard deviation, heading change standard deviation, and target correlation value within n frames; where n is a positive integer; it sets a threshold value for the track value, and determines a priority list of first candidate targets whose track values ​​are greater than the threshold value by combining the target maneuver value and confidence level; it selects the top A first candidate targets from the priority list and adds them to the target list in TAS mode; where A is the maximum number of targets tracked in TAS mode; it then performs a scan and track operation in TAS mode on the target list.

[0087] It should be noted that the specific implementation of each operation can be described above. Figure 1 The corresponding description of the method embodiments shown indicates that the electronic device can be used to execute a phased array radar tracking implementation method adapted to complex sea conditions according to the above method embodiments of this application, which will not be described in detail here.

[0088] This invention also provides a computer-readable storage medium, which is a memory device in a computer device for storing programs and data. It is understood that the computer-readable storage medium here can include both the built-in storage medium in the computer device and extended storage media supported by the computer device. The computer-readable storage medium provides storage space that stores the operating system of the terminal. Furthermore, the storage space also stores one or more instructions suitable for loading and execution by a processor. These instructions can be one or more computer programs (including program code). It should be noted that the computer-readable storage medium here can be high-speed RAM or non-volatile memory, such as at least one disk storage device. The processor can load and execute one or more instructions stored in the computer-readable storage medium to implement the corresponding steps of the phased array radar tracking implementation method adapted to complex sea conditions described in the above embodiments. Those skilled in the art should understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0089] This invention also provides a computer program product containing program instructions. The computer program product can be software or program products containing program instructions, capable of running on a computing device or stored on any usable medium. When the computer program product runs on at least one electronic device, it causes the at least one electronic device to execute a phased array radar tracking implementation method adapted to complex sea conditions.

[0090] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A phased array radar tracking method adapted to complex sea conditions, characterized in that, The methods include: The phased array radar is activated in TWS mode and scans the sea area multiple times in the first scan cycle to obtain multiple candidate targets; The phased array radar is switched to TAS mode. The track value of each candidate target is calculated based on the displacement change value, the average target amplitude, and the target velocity standard deviation, heading change standard deviation, and target correlation value within n frames; where n is a positive integer. A threshold value is set for the track value. A priority list of first candidate targets whose track value is greater than the threshold value is determined by combining the target maneuver value and the confidence level. The top A first candidate targets in the priority list are selected and included in the target list of the TAS mode. Wherein, A is the maximum number of targets to track in the TAS mode. Perform the TAS mode scan and tracking on the target list.

2. The phased array radar tracking method adapted to complex sea conditions according to claim 1, characterized in that, The method further includes: Based on the current acceleration and the number of times each first candidate target in the target list falls back into the tracking gate, calculate the stability parameter of each first candidate target in the target list; Based on the stability parameters and the preset parameter threshold range, the mobility analysis results of each first candidate target in the target list are determined; The beam scanning range of the TAS mode is updated based on the mobility analysis results.

3. The phased array radar tracking method adapted to complex sea conditions according to claim 2, characterized in that, The method further includes: if the first candidate target is a TWS target, then Kalman filtering is used for track processing; If the first candidate target is a TAS target, then determine whether the maneuverability analysis result of the first candidate target is a high maneuverability target. If so, then use interactive multi-model filtering for track processing; otherwise, use Kalman filtering for track processing. If the first candidate target is an STT target, then interactive multi-model filtering is used for track processing.

4. The phased array radar tracking method adapted to complex sea conditions according to claim 1, characterized in that, The method further includes: The phased array radar scans and tracks each first candidate target in the target list according to a second scanning cycle; wherein, the second scanning cycle is the scanning cycle of TAS mode; During the gap between adjacent second scan cycles, the TWS mode is activated for scanning and tracking until all regions are scanned within the gap of the TAS mode. The third scan cycle required for the TWS mode after all regions are scanned is recorded. If the third scan cycle is less than or equal to the upper limit of the scan cycle set by the TWS mode, and the maximum number of targets to be tracked in the target list has not been reached, then some targets are selected from the candidate targets obtained by the TWS mode in the third scan cycle and added to the target list.

5. The phased array radar tracking method adapted to complex sea conditions according to claim 4, characterized in that, If the third scan cycle is greater than the upper limit of the scan cycle set by the TWS mode, and the maximum number of targets in the target list is reached, then the target list remains unchanged, and the next TWS mode scan and tracking is performed according to the target list.

6. The phased array radar tracking method adapted to complex sea conditions according to claim 1, characterized in that, The trajectory value of each candidate target is calculated based on its displacement change value, average target amplitude, and the target velocity standard deviation, heading change standard deviation, and target correlation value over n frames, including: Determine a first ratio between the absolute value of the displacement change of each candidate target and a set maximum displacement threshold value; Determine a second ratio between the average target amplitude of each candidate target and a set amplitude threshold value; Determine the target association value and the third ratio of n frames for each candidate target; The track value of each candidate target is obtained by weighted summing of the first ratio, the target speed standard deviation, the second ratio, the heading change standard deviation, and the third ratio.

7. The phased array radar tracking method adapted to complex sea conditions according to claim 1, characterized in that, The method further includes: switching the phased array radar's tracking mode to STT mode, and performing scanning and tracking of multiple candidate targets in the STT mode.

8. A phased array radar tracking system adapted to complex sea conditions, characterized in that, The system includes: The candidate target scanning module is used to activate the phased array radar's TWS mode and scan the sea area multiple times in the first scanning cycle to obtain multiple candidate targets; The track value calculation module is used to switch the phased array radar's tracking mode to TAS mode, and calculates the track value of each candidate target based on the displacement change value, the average target amplitude, and the target velocity standard deviation, heading change standard deviation, and target correlation value within n frames; where n is a positive integer; The target determination module is used to set a threshold value for the track value, combine the target maneuver value and confidence level to determine a priority list of first candidate targets whose track value is greater than the threshold value, and select the top A first candidate targets in the priority list to be included in the target list of the TAS mode; where A is the maximum number of targets to track in the TAS mode. The tracking module is used to perform the TAS mode scanning and tracking on the target list.

9. An electronic device, characterized in that, Including memory and processor; A memory for storing computer programs, the computer programs including program instructions; A processor is configured to execute the program instructions to cause the electronic device to perform the steps of a phased array radar tracking implementation method adapted to complex sea conditions as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a computer program that, when executed by one or more processors, implements a phased array radar tracking method adapted to complex sea conditions as described in any one of claims 1 to 7.

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