42 results about "Active Phased Array Radar" patented technology

The invention relates to the technical field of airport scene monitoring, and provides an airport scene monitoring data fusion method and device, the airport scene monitoring data fusion device comprises an active phased array radar, a photoelectric detection system, an edge computing gateway, a network switch, a distribution box, a data processing server, a data link receiving station and a monitoring maintenance terminal. The method can be used for blind compensation for a traditional scene monitoring radar, can be independently deployed and used, is suitable for low-cost application scenes with insufficient construction budget, and can realize scene monitoring and guiding of small and medium-sized airports or navigable airports.

The invention discloses a TR assembly based on SIP, and belongs to the technical field of active phased array radars. Wherein the component circuit comprises a radio frequency unit, a power management unit and a logic management unit, the radio frequency unit comprises a transceiving branch and a power division network, the transceiving branch is provided with four independent transceiving channels, one end of the power division network is connected with an external radio frequency interface, the other end of the power division network is connected with the four transceiving branches, and each transceiving branch is connected with an antenna port; the input ends of the power management unit and the logic management unit are connected with the low-frequency interface, the output end of the power management unit is connected with each electric component of the assembly circuit, and the output end of the logic management unit is connected with and controls the power management unit and the radio frequency unit; components arranged on different layers of the substrate are connected through the vertical interconnection structures of the electrical connecting pieces, and different layers of the substrate are connected through the vertical interconnection structures. The multifunctional four-channel miniaturized TR assembly provided by the invention has the advantages of ultra wide band, low port standing wave and selectable dual power.

The invention relates to the field of active phased array radar array signal processing, in particular to an azimuth super-resolution technology based on beam space transformation. The method comprises the following steps: step 1, establishing an array response matrix; step 2, wave beam space conversion: converting the received signal matrix into a small-dimension wave beam space; and step 3, carrying out azimuth super-resolution estimation on the signal after the beam space transformation by using a deterministic maximum likelihood algorithm, and the like. According to the method, the bandwidth of data transmission is greatly reduced, implementation of a system communication system is facilitated, and meanwhile the calculation complexity is reduced.

The invention relates to the field of phased radars, and discloses an active phased array radar calibration method, which is used for improving the accuracy of actually measured phase data. Comprising the following steps: calculating theoretical excitation phases of radiation units according to an antenna array physical geometric structure and a target beam directional angle; enabling the antenna to sequentially excite the radiation units and collect coupling signals in a single-channel mode, and performing analysis to obtain an actually measured amplitude, a phase and a phase deviation; synthesizing the theoretical excitation phase and the phase deviation to generate an actual emission phase, and constructing a phase compensation lookup table; and after compensation by using the lookup table, measuring the actual directional diagram, and if not, performing fine adjustment. The calibration precision and reliability are improved, and the high-precision detection requirement of the active phased array radar can be met.

The invention belongs to the technical field of radar data processing, and particularly relates to a multi-subarray radar anti-interference azimuth super-resolution method and device. The method comprises the following steps: S1, obtaining a sub-array level target echo signal S with interference after radar preprocessing, and filtering interference in echo through an adaptive interference suppression matrix to obtain a filtered echo signal y; s2, uniformly dispersing an airspace steering vector of the echo signal y into L angles in a main lobe range to obtain an observation matrix A formed by a group of base vectors; s3, constructing an underdetermined equation set y = Ax, and solving a vector x by using a complex homotopy algorithm; and S4, determining the orientation of the target according to the relationship between the value of the element in the vector x and the threshold value. According to the invention, the target detection and resolution capability of the multi-subarray active phased array radar in an interference environment is improved.

The invention belongs to the technical field of detection, and particularly relates to an airborne active phased array radar and IFF equipment integrated test system. Comprising a comprehensive detection device, and the comprehensive detection device comprises a microwave link unit, a mass storage unit, a baseband signal processing unit, a signal interface unit, an IFF system unit, a comprehensive detection unit and a main control unit. And the man-machine interaction display and control computer is used for generating a control command, sending the control command to the main control unit, and analyzing and evaluating the received test result. According to the invention, automatic detection of external field radar and IFF equipment task functions and important task indexes can be realized, the method has the advantages of good versatility, portability, comprehensiveness, maintainability and economical efficiency, reduction of guarantee period, cost saving and the like, and the method accords with the integrated development trend of modern informatization electronic systems.

The invention relates to the field of radar detection equipment, in particular to an air tightness detection device of a TR assembly for an S-band active phased array radar, which comprises a test box, a test cavity is arranged in the test box, a drawing frame is slidably mounted on the test cavity, a storage net rack is arranged on the inner side of the drawing frame, and the test cavity comprises an upper cavity body and a lower cavity body. The upper cavity is located above the storage net rack, the lower cavity is located below the storage net rack, the upper cavity and the lower cavity are each provided with an air inlet pipe and an air outlet pipe, through the design of the upper cavity and the lower cavity, air pressure in the test cavity can be evenly distributed on the outer side of the TR assembly, and therefore the accuracy of air tightness detection is improved, and the test efficiency is improved. The AI deep learning tree system is introduced, the pressure change is analyzed by using a machine learning method, the accuracy and efficiency of detection are further improved, the to-be-detected TR assembly is more convenient and rapid to put in and take out due to the design of the drawing frame, and the detection efficiency is improved.

The invention belongs to the technical field of radars, and discloses a Ku-band integrated wide-angle scanning active phased array radar module which comprises a plurality of dielectric substrates and a plurality of copper-clad printing layers which are stacked at intervals, a TR chip and various circuit elements are arranged on the outermost layer, and the Ku-band integrated wide-angle scanning active phased array radar module integrates the functions of radiation, control, power supply and radio frequency feed. According to the function of the copper-clad printing layer, the antenna is divided into an antenna radiation layer, a digital control layer, a power supply layer, a control power supply multiplexing layer, a feed network layer and a ground layer. The three layers are respectively used for forming a high-gain wide-angle scanning array wave beam, modulating amplitude, modulating phase, controlling transceiving channel switching, supplying power, transmitting and distributing equal-power radio-frequency signals and shielding electromagnetic influence between adjacent copper-clad printing layers; the radar module provided by the invention is realized in a compact array space in which the array unit spacing is less than 0.5 wavelength, the 3dB scanning range of a pitching plane can at least reach + / -63 degrees, the 3dB scanning range of an azimuth plane can at least reach 55 degrees, and each unit has good performance.

The utility model discloses a switching debugging device for an active phased array radar antenna, which comprises a support, the top of the support is fixedly connected with a mounting rack, the interior of the mounting rack is rotatably connected with an antenna main body through a pin shaft, two sides of the antenna main body are fixedly connected with sliding columns, and the outer sides of the sliding columns are fixedly connected with mounting boxes. Friction plates are arranged at the top and the bottom of the inner side of the mounting box. The push rod is pushed to move towards the inner side, the push rod drives the linkage plate to move towards the side close to the mounting plate, the linkage plate compresses the spring and drives the second inclined block to the side away from the first inclined block, the first inclined block loses support, the friction plate and the transmission column lose support force, the friction plate and the mounting frame cannot be tightly attached, and the sliding column loses positioning. The antenna main body can be rotationally debugged in the mounting frame, the antenna has the advantage of stable debugging, debugging locking is performed in a pressing mode, a user can easily apply force, and the antenna debugging stability is improved.

The application discloses a radar subarray testing device, a frame assembly and a use method. The radar subarray testing device comprises a bottom beam frame, a testing rack capable of being adjusted forward and backward and left and right is arranged on the bottom beam frame, a frame assembly capable of carrying a subarray is arranged on the testing rack, the frame assembly comprises a group plate displacement member capable of being correspondingly adjusted and a demarcated testing frame assembly arranged on the group plate displacement member, the radar subarray testing device use method comprises leveling, loading a subarray to be detected, moving and adjusting a position, connecting line testing and fine adjustment recording. The application can detect the power and phase frequency performances of single or multiple groups of subarray components of a large active phased array radar in a short time, and after the position of the subarray is adjusted on the testing device, the actual fine adjustment requirement can be met through the matched frame assembly, and the application is suitable for popularization and use in radar subarray performance testing.

The present application discloses a system transmission power test system for an active phased array radar, which relates to the field of active phased array radar. The system uses a test host to control all transceiver channels in the transceiver component that have completed phase balancing to simultaneously generate pulse transmission signals according to the same period and parameters. The calibration network synthesizes the pulse transmission signals of all transceiver channels into a system transmission power signal and outputs it to the test host. The system transmission power test can be completed by using the transmission signal of the reference transceiver channel in single-channel mode and the system transmission power signal. The system innovatively uses an internal calibration network to solve the power testing problem after the transmission signals of multiple transceiver channels are spatially synthesized, and can realize automated system transmission power testing and avoid the influence of cables between the transceiver component calibration networks. The system transmission power test can be completed quickly and efficiently, and accurate and reliable test results can be obtained.

This application provides an active phased array radar detection method and system based on SDR. By acquiring historical spectrum data, it uses HMM / particle filtering to predict the next-hop frequency band and generate a pre-interference template. The fast channel transmits directionally in the predicted sub-band according to the template, while the slow channel performs system identification, protocol analysis, DOA and micro-Doppler analysis, and backfills waveforms and beams. For multiple targets, a three-dimensional joint scheduling system of "time slot-frequency band-beam" is constructed, allocating frequencies according to threat level and inherently constraining frequency bands / sectors, power, sidelobes, etc. The system includes an antenna array, SDR, prediction, parallel processing, scheduling, threat assessment, compliance management, and an industrial control computer, achieving low-latency, accurate, and compliant suppression of fast frequency hopping and concurrent targets.

The present invention discloses a method and system for testing multiple transceiver beams of an active phased array radar. The intermediate frequency transmitting module of the active phased array radar is connected to a near-field probe, which is arranged on a motion mechanism and controlled by a first controller. The first controller is connected to the active phased array radar and a second controller, and the second controller is connected to a signal processing module of the active phased array radar. The active phased array radar and the motion mechanism are located in a microwave darkroom. The first controller + motion mechanism is used to control the near-field probe to move to different sampling points, and at each sampling point, the active phased array radar is used to radiate signals externally and the near-field probe is used to collect data to perform a transmitting multi-beam test. At each sampling point, the active phased array radar is used to generate electromagnetic wave signals, which are radiated externally by the near-field probe, and the active phased array radar is used to collect data to perform a receiving multi-beam test. The present invention solves the problems of time-consuming and cumbersome operation of the traditional beam testing method.

The invention provides an SDR-based active phased array radar detection method and system, and the method comprises the steps: collecting a historical frequency spectrum, predicting a next-hop frequency band through HMM / particle filtering, and generating a pre-interference template; the fast channel performs directional emission in a prediction sub-band according to a template, and the slow channel completes system identification, protocol analysis, DOA and micro Doppler and backfills waveforms and wave beams; time slot-frequency band-wave beam three-dimensional joint scheduling is constructed in a multi-target mode, and constraints such as protection frequency bands / sectors, power and sidelobes are distributed and generated according to threat levels. The system comprises an antenna array, an SDR, prediction, parallel processing, scheduling, threat assessment, compliance management and an industrial personal computer, and realizes low-delay, accurate and compliance suppression of fast frequency hopping and a concurrent target.

The invention discloses a novel efficient complementing method for performance parameters of an active phased array radar transceiving component. The method comprises the following steps: performing parameter acquisition on a T / R component and constructing a third-order tensor; setting a weighted tensor # imgabs0 # and a core tensor rank number; performing high-order singular value decomposition on the tensor # imgabs1 # to obtain an initial value of a factor matrix, initializing a core tensor # imgabs2 #, constructing an optimization objective function according to a weighted tensor # imgabs3 #, and constraining the optimization direction of the whole tensor compensation process; setting iteration parameters, performing iterative calculation based on a gradient optimization algorithm, synchronously updating # imgabs4 # after each iteration to set an iteration termination condition, adding 1 to the number of iterations when the iteration condition is not met, and returning to the above step, otherwise, stopping iteration; reconstructing a tensor based on the factor matrixes Ak, Bk and Ck obtained through final optimization and a core tensor # imgabs5 #; and S8, evaluating whether a reconstruction result meets a threshold value requirement or not through a normalization ratio. According to the invention, high-precision performance parameter completion is realized, good consistency with a sample evaluation result is maintained, and the test cost is remarkably reduced.

The invention discloses an active phased array radar system for a low-altitude unmanned aerial vehicle, particularly relates to the field of unmanned aerial vehicles, and comprises a system initialization module, a beam forming calibration module, a received signal noise reduction module, a signal separation and extraction module, a target accurate positioning module, a system parameter optimization module, a data encryption transmission module and a fault monitoring and early warning module. The system initialization module is used for starting an active phased array radar system for initialization, configuring core parameters and establishing a three-dimensional target detection coordinate system; a receiving antenna receives a target reflection signal and amplifies the target reflection signal through a low noise amplifier, an ADC acquisition module executes adaptive noise cancellation and noise reduction processing, and analog-to-digital conversion is carried out on the noise reduction signal to obtain a digital signal sequence; according to the method, the beam pointing precision and gain are remarkably improved, accurate coverage of a low-altitude unmanned aerial vehicle target is ensured, and the azimuth precision of target detection is improved.

The invention belongs to the field of electronic equipment structure design simulation and artificial intelligence, and particularly relates to a physical field stability prediction method based on PINN-WL, and the method comprises the steps: 1, constructing a neural network model; 2, fusing the physical mechanism as a regularization item into a loss function of the neural network model to form a mechanism model part of the loss function, and enabling the loss function to comprise the mechanism model part and a data driving model part of the device; 3, training the neural network model, and minimizing the loss function by using a gradient descent optimization algorithm so as to search and obtain an optimal parameter; according to the method, the physical field stability prediction model based on PINN-WL is established, so that the problem of poor stability of physical field simulation in the structural design of the active phased array radar is solved, and the simulation precision and efficiency can be ensured.

This invention discloses an active phased array radar system, relating to the field of radar technology. The system includes an antenna element, a transceiver module (TR), a transceiver processing unit, and a wave control unit. The TR element integrates a feed network and a sum / difference network. The sum / difference network includes a broadband sum / difference device composed of four 180° stripline bridges: the sum and difference ports of the first bridge serve as the sum and elevation difference ports of the sum / difference device, respectively; the two equally spaced arm ports of the first bridge are connected to the sum ports of the second and third bridges, respectively; the equally spaced arm ports of the second and third bridges serve as the four quadrant ports; the difference ports of the second and third bridges are connected to the two equally spaced arm ports of the fourth bridge; and the sum port of the fourth bridge serves as the azimuth difference port of the sum / difference device. This invention completely solves the problem of integrating metal waveguide sum / difference devices with tile-type radar antennas.

The application discloses an active phased array system radar cognitive jamming signal generation method, medium and equipment, relates to the field of radar electronic countermeasure technology, and mainly comprises the following steps: constructing a radar electronic countermeasure simulation model, obtaining a signal pattern state conversion table by using a TOPSIS sorting algorithm and a minimum jamming signal ratio data table; obtaining an interference pattern selection model by using the signal pattern state conversion table and a DDQN network according to the radar electronic countermeasure simulation model; and performing optimal interference pattern decision by using the interference pattern selection model. The active phased array system radar cognitive jamming signal generation method, medium and equipment can improve the precision and applicability of radar jamming decision.

The application discloses a kind of high-efficiency circuit and control strategy for controlling input current constant when pulse power output, the circuit includes DC power supply, staggered parallel Boost circuit and LLC resonant circuit in phase series;The driving signal of the parallel two branches of staggered parallel Boost circuit is 180 ° complementary and inductance current works in critical continuous mode with partial negative current;The primary side of LLC resonant circuit is half-bridge structure, and the secondary side is full-wave rectification, and the driving of upper and lower switch tubes on the primary side half-bridge is fixed operating frequency.The circuit of the application can be applied to output pulse power occasions such as active phased array radar, pulse electrochemical wastewater, etc., the output load is constant amplitude pulse power, the output voltage of energy storage capacitor decreases in the time with pulse power, the output voltage of energy storage capacitor rises in the time without load, the input current of circuit is kept constant in the whole cycle time, which is conducive to the reliability improvement of power supply DC power supply and the improvement of overall conversion efficiency.

The invention discloses a reflected signal multi-channel synchronous processing system suitable for an active phased array radar, relates to the technical field of radar signal detection, and solves the technical problem that in the prior art, a radar system cannot perform synchronous analysis and synchronous processing on time, phase and amplitude multi-dimensional data when performing signal transmission. The time synchronization processing unit is used for collecting hardware synchronization embodying data and software synchronization embodying data, carrying out time synchronization analysis according to data comparison and carrying out synchronization processing; the phase synchronization processing unit is used for acquiring phase difference information and phase difference control information, and performing phase synchronization processing analysis and regulation according to information comparison; the amplitude synchronous processing unit is used for performing amplitude synchronous analysis processing on each channel, acquiring amplitude deviation data and amplitude continuous data, and performing amplitude synchronous processing analysis according to data analysis; the signal transmission interference detection unit carries out signal transmission interference detection on the radar reflection signal transmission process.

The invention discloses an active phased array radar system, and relates to the technical field of radars. The system comprises an antenna unit, a TR assembly, a transmit-receive processing unit and a wave control unit. A feed network and a sum-difference network are integrated in the TR assembly. The sum-difference network comprises a broadband sum-difference device formed by arraying four 180-degree strip line bridges, a sum port and a difference port of a first bridge are respectively used as a sum port and a pitch difference port of the sum-difference device, and two equally divided arm ports of the first bridge are respectively connected to sum ports of a second bridge and a third bridge. Equally-divided arm ports of the second bridge and the third bridge are respectively used as four quadrant ports, difference ports of the second bridge and the third bridge are respectively connected to two equally-divided arm ports of the fourth bridge, and a sum port of the fourth bridge is used as an azimuth difference port of the sum-difference device. According to the invention, the problem that the metal waveguide sum-difference device is difficult to integrate with the tile-type radar antenna is thoroughly solved.

The application relates to the technical field of radar signal processing, and discloses a multi-channel anti-interference angle super-resolution method based on a blocking matrix, which comprises the following steps: interference covariance matrices in radar echo data are extracted, eigenvalue decomposition is carried out, interference spatial feature vectors are extracted, and interference suppression blocking matrices are calculated; then, target echoes after interference suppression based on the blocking matrices are calculated; finally, an angle super-resolution steering vector set reconstructed by the interference suppression blocking matrix is calculated, and an IAA algorithm is used to solve and realize angle super-resolution in an interference environment. In the application, the blocking matrix is used to suppress interference while retaining spatial degrees of freedom, and on this basis, the IAA algorithm is used to realize angle super-resolution of main lobe echoes, so that the angle super-resolution problem in an interference environment can be effectively solved, and the sea target detection capability of a multi-channel active phased array radar in a complex interference and dense target environment can be greatly improved.

The invention discloses a broadband analog active phased array receiving system and a received signal processing method thereof, the receiving system can eliminate ISI (International Standard Interference) among complex digital signals output by each downlink by accurately controlling the occurrence time difference of ADC (Analog to Digital Converter) sampling clocks of each downlink, and the processing precision of incoming wave signals is higher than that of the prior art; according to the received signal processing method, the phase of a radio frequency analog signal received by each antenna unit is controlled through a numerical control phase shifter, and the occurrence time difference of an intermediate frequency digital signal output by each ADC is controlled through a sampling clock, so that complex digital signals from a specified direction and output by each downlink can be subjected to equal-phase superposition; the calculation precision of the proposed algorithm is higher than that of an existing algorithm. The method is suitable for broadband wireless communication and broadband simulation active phased array radar receiving systems, and is also suitable for narrowband wireless communication and narrowband simulation active phased array radar receiving systems, the signal processing precision is higher, and the calculation precision of the algorithm is also higher.

The present invention relates to the design field of transceiver modules in active phased array radars, and proposes a miniaturized surface-mounted transceiver module based on SIP, which includes a transmitting channel and a receiving channel. Modules with various functions are integrated on an HTCC multi-layer dielectric substrate to jointly form a miniaturized microwave three-dimensional structure. Multiple microwave integrated circuit chips, a feeding network, and peripheral circuits are integrated in a small housing based on HTCC packaging, and each component is interconnected by gold wires or soldering. The control circuit is drawn on an alumina ceramic substrate, and the cover plate is encapsulated by parallel seam welding. The module of the present invention has the advantages of high performance, low cost, high integration, miniaturization, and easy unified installation.

The application belongs to the technical field of outfield detection of aircraft airborne active phased array radars, and particularly relates to an outfield detection device for an aircraft airborne active phased array radar, which is convenient to carry, can be flexibly applied in an outfield, and can independently call and intercommunicate data when each function module executes a test task, so as to cooperatively complete radar data unloading, analysis, and antenna and power supply fault diagnosis and positioning functions. The outfield detection device can realize in-situ function detection, performance detection, radar data unloading and analysis, and antenna and power supply fault diagnosis and positioning functions of the airborne active phased array radar by using fewer external resources, is fast and efficient, can accurately position faults of an antenna assembly and a power supply unit of the airborne active phased array radar, and provides strong technical support for outfield antenna and power supply maintenance support.

The utility model relates to the technical field of phased array radars, in particular to an active phased array radar radio frequency front end, which mainly comprises a mounting box; the cover plate is arranged at the top end of the mounting box; the mounting groove is formed in the top of the cover plate; the connecting plates are arranged on the front and rear surfaces of the mounting box; and the radio frequency front end assembly is arranged at the bottom end of the inner cavity of the mounting box, is used for the radio frequency clamping assembly, is arranged in the inner cavity of the mounting groove and is used for fixing the cover plate. According to the active phased array radar radio frequency front end, the microelectronic technology and the three-dimensional integrated circuit technology are adopted, radio frequency front end assemblies are creatively and horizontally integrated, integration and microminiaturization are achieved, high-temperature superconducting materials are adopted, energy loss is effectively reduced, the overall performance of the assemblies is improved, and in addition, the active phased array radar radio frequency front end is suitable for popularization and application. An electromagnetic field coupling mechanism is adopted, traditional electrical connection is replaced by magnetic coupling and optical coupling technologies, efficient energy and signal transmission between components in the radio frequency front end is achieved, and signal attenuation and energy loss are reduced.

The invention belongs to the technical field of building external thermal insulation quality detection, and discloses a building external thermal insulation quality detection method and system based on an active phased array radar, and the method comprises the steps: generating a three-dimensional scanning image, and carrying out the feature extraction of the three-dimensional scanning image, and obtaining quality feature data; key factors influencing the external thermal insulation quality of the building are identified; and predicting the change trend of the building external thermal insulation quality under different environmental conditions by using the defect prediction model, and adjusting a production process and a maintenance strategy based on the change trend so as to optimize the construction quality. According to the method, the key factors influencing the external thermal insulation quality of the building can be efficiently and accurately identified, so that the quality of the thermal insulation layer can be comprehensively evaluated, potential defects can be identified, and suggestions for optimizing construction and maintenance strategies are provided.

The invention provides a fully-polarized active phased array radar and a signal processing method, and belongs to the technical field of radar signal processing, and the radar comprises a cross dual-polarized antenna array, a dual-polarized transmitting channel, a dual-polarized receiving channel, a beam forming and synthesizing module and a signal processing control module. The dual-polarization transmitting channel is used for generating and outputting two paths of radio-frequency transmitting signals with orthogonal polarization modes and adjustable phase difference between the two paths of radio-frequency transmitting signals; the dual-polarization receiving channel is used for receiving and processing dual-polarization echo signals from the cross dual-polarization antenna array; the beam forming and synthesizing module is used for performing spatial domain beam forming and polarization synthesizing processing on the dual-polarization echo signal; and the signal processing control module is used for sending a control instruction to the dual-polarization transmitting channel, receiving a polarization synthesis signal from the beam forming and synthesis module and carrying out target detection and identification. According to the invention, the overall detection performance, the anti-interference capability and the target identification accuracy of the radar in a complex electromagnetic environment are improved.

The invention discloses an air traffic police aircraft, and relates to the technical field of unmanned aerial vehicles, the air traffic police aircraft comprises a main body structure, the main body structure comprises a cabin, one side of the bottom of the cabin is fixedly connected with a phased array radar, the bottom of the cabin is provided with a storage bin, the bottom of the storage bin is provided with a panoramic camera, and the top of the panoramic camera is provided with a protection part; one side of the panoramic camera is provided with a frequency spectrum monitoring device and is fixedly connected with the cabin, one side of the frequency spectrum monitoring device is provided with an ADS-B receiver and is fixedly connected with the cabin, and the top of the cabin is fixedly connected with a multi-band relay radio station; and a folding assembly; an active phased array radar, a panoramic camera, frequency spectrum monitoring equipment and an ADS-B / 1090ES receiver are integrated through a main body structure, target legality is cooperatively captured and discriminated, electromagnetic interference is avoided through intelligent skin, an emergency air base station is built through a multi-band relay radio station, and therefore monitoring precision and scene adaptability are improved.