CN111308457B - Method, system and storage medium for north finding of pulse Doppler radar - Google Patents
Method, system and storage medium for north finding of pulse Doppler radar Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/581—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of interrupted pulse modulated waves and based upon the Doppler effect resulting from movement of targets
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/66—Radar-tracking systems; Analogous systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/883—Radar or analogous systems specially adapted for specific applications for missile homing, autodirectors
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/418—Theoretical aspects
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- Radar Systems Or Details Thereof (AREA)
Abstract
The invention provides a method for north-seeking by a pulse Doppler radar, which comprises the following steps: acquiring a radar echo track of a radar upper computer, and determining a radar coarse azimuth angle; setting an aircraft to pass through a radar beam along a radar coarse azimuth tangentially, and obtaining a radar track under a radar coordinate system and an aircraft GPS track and radar latitude, longitude and altitude information under a geodetic coordinate system; calculating the distance, the pitch angle and the azimuth angle of the GPS track of the aircraft taking the radar as the origin under the station center coordinate system according to the GPS track of the aircraft under the geodetic coordinate system; aligning the UTC time of the radar track and the UTC time of the GPS track according to the calculated result, and calculating the average value of the difference values of the radar azimuth and the GPS azimuth of the aircraft at the same time; and executing the steps for multiple times to obtain the average value of the difference values of the plurality of azimuth angles, and solving the average value of the difference values of the plurality of azimuth angles to obtain the included angle between the radar and the due north direction. The invention realizes the north-seeking function of the radar.
Description
Technical Field
The invention belongs to the technical field of radar, and particularly relates to a method, a system and a storage medium for north finding of a pulse Doppler radar.
Background
With the continuous development of high-tech technologies, China is becoming one of the fastest growing markets of the Global Positioning System (GPS) industry. The GPS is used as a medium-distance circular orbit satellite navigation system, can provide accurate positioning, speed measurement and high-longitude time standards for most regions (98%) of the earth surface, and can meet the requirements of military users located anywhere or in near-earth space on continuously and accurately determining three-dimensional positions, three-dimensional motions and time. Meanwhile, with the development of large-scale integrated circuits and digital processing technologies, the pulse doppler radar is widely applied to the aspects of airborne early warning, navigation, missile guidance, satellite tracking, battlefield monitoring, target range measurement, weapon fire control, meteorological detection and the like, and becomes more and more important military equipment and precision systems.
The information output by the existing pulse doppler radar system generally includes information such as target distance, azimuth angle, pitch angle, velocity, echo amplitude, and the like. To better complete the interface with the system laser weapon system or weapon control system, the azimuth of the radar is usually converted from the radar coordinate system to the station center coordinate system, i.e. the northeast coordinate system, and the radar azimuth is the angle to the true north. Therefore, a set of equipment with a north-seeking function, such as an inertial navigation system or a north-seeking instrument, is generally equipped in a radar system, and in the absence of the equipment, the radar cannot correctly output an included angle between a radar detection target and a due north direction, so that subsequent detection, tracking and striking operations of the target are influenced.
At present, how to realize the north-seeking function of the radar under the condition of no north-seeking equipment is a technical problem which is urgently solved by the technical personnel in the field.
Disclosure of Invention
The embodiment of the application aims to provide a method for north-seeking of a pulse Doppler radar, and aims to solve the problem that an included angle between a radar turntable angle and a north-seeking direction is obtained by solving based on radar echo track and GPS return data under the condition that no north-seeking equipment is provided, so that the north-seeking function of the radar is realized.
In order to solve the above technical problem, the embodiment of the present application is implemented as follows:
according to a first aspect of the embodiments of the present application, a method for north-seeking by a pulse doppler radar is provided, the method comprising the following steps:
s1, acquiring a radar echo track of the radar upper computer, and determining a radar coarse azimuth angle;
s2, setting the aircraft to pass through a radar beam tangentially along a radar coarse azimuth angle, and obtaining radar tracks under a radar coordinate system and GPS tracks of the aircraft under a geodetic coordinate system and radar latitude, longitude and altitude information;
s3, calculating the distance, the pitch angle and the azimuth angle of the GPS track of the aircraft in a station center coordinate system with the radar as the origin according to the GPS track of the aircraft in the geodetic coordinate system;
s4, aligning the UTC time of the radar track and the UTC time of the GPS track according to the calculated result, and calculating the average value of the difference values of the radar azimuth and the GPS azimuth of the aircraft at the same time;
and S5, executing the steps S2, S3 and S4 for multiple times, obtaining the average value of the difference values of the multiple azimuth angles, and calculating the average value of the difference values of the multiple azimuth angles to obtain the included angle between the radar and the true north direction.
In some embodiments of the present application, the obtaining of the radar echo track of the radar upper computer and the determining of the radar coarse azimuth angle include the following substeps:
setting the aircraft to radially fly along a certain direction relative to the radar, and setting the azimuth angle of the radar rotary table as 0 degree of a radar coordinate system;
detecting whether a radar upper computer has a radar echo track: if yes, acquiring a radar rough azimuth angle; if not, setting the azimuth angle of the radar turntable as 180 degrees of a radar coordinate system;
and carrying out data search on the detected echo track to determine the radar rough azimuth angle.
In some embodiments of the present application, the data lookup comprises: one or more of a sequential lookup method, a binary lookup method, and a fast lookup method.
In some embodiments of the application, for scanning radar, the data lookup method comprises a fan scan method.
In some embodiments of the present application, the radar track in the radar coordinate system includes range, pitch angle, azimuth angle, and UTC time.
In some embodiments of the present application, the aircraft GPS track in the geodetic coordinate system includes longitude, latitude, altitude, and UTC time.
In some embodiments of the present application, in the obtaining of the radar track in the radar coordinate system and the GPS track of the aircraft in the geodetic coordinate system and the latitude, longitude, and altitude information of the radar coordinate origin is obtained by placing a GPS device at the center of the radar front.
According to a second aspect of embodiments of the present application, there is provided a system for north-seeking by a pulsed doppler radar, the system comprising:
the determining module is used for acquiring a radar echo track of the radar upper computer and determining a radar rough azimuth angle;
the processing module is used for setting the aircraft to pass through radar beams tangentially along a radar coarse azimuth angle to obtain radar tracks under a radar coordinate system and GPS tracks of the aircraft and radar latitude, longitude and altitude information under a geodetic coordinate system;
the computing module is used for computing the distance, the pitch angle and the azimuth angle of the GPS track of the aircraft taking the radar as the origin under the station center coordinate system according to the GPS track of the aircraft under the geodetic coordinate system;
the evaluation module aligns the UTC time of the radar track and the UTC time of the GPS track according to the calculated result, and calculates the average value of the difference values of the radar azimuth and the GPS azimuth of the aircraft at the same time;
the acquisition module runs the processing module, the calculation module and the evaluation module for multiple times to acquire an average value of the azimuth angle difference values, and the average value of the azimuth angle difference values is calculated to acquire an included angle between the radar and the due north direction.
In some embodiments of the present application, the determining module comprises:
the setting submodule is used for setting the aircraft to radially fly along a certain direction relative to the radar and setting the azimuth angle of the radar rotary table as 0 degree of a radar coordinate system;
the detection submodule is used for detecting whether the radar upper computer has a radar echo track: if yes, acquiring a radar rough azimuth angle; if not, setting the azimuth angle of the radar turntable as 180 degrees of a radar coordinate system;
and the determining submodule is used for carrying out data search on the detected echo track and determining the radar rough azimuth angle.
According to a third aspect of embodiments of the present application, there is provided a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the steps of the method for north-seeking by a pulsed doppler radar according to any one of the above-mentioned first aspect.
By the technical scheme in the embodiment of the application, the problem that the included angle between the zero degree of the radar turntable and the due north direction is obtained by solving based on radar echo track and GPS return data under the condition that no north-seeking equipment such as a north-seeking instrument exists is effectively solved, and therefore the conversion of the target azimuth angle from a radar coordinate system to a station center coordinate system is achieved.
Drawings
FIG. 1 illustrates a flow diagram of a method of pulsed Doppler radar north-seeking provided in accordance with some embodiments of the present application;
FIG. 2 illustrates a flow chart for implementing a method for north-seeking by a pulsed Doppler radar according to some embodiments of the present application;
FIG. 3 illustrates a block schematic diagram of a system for north-seeking with pulsed Doppler radar provided in accordance with some embodiments of the present application.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings.
Fig. 1 is a schematic diagram illustrating a method for north-seeking of a pulsed doppler radar according to some embodiments of the present application, and the method for north-seeking of a pulsed doppler radar in an exemplary embodiment is described in detail below with reference to fig. 1.
In step S1, radar echo track of the radar upper computer is obtained, and a radar coarse azimuth angle is determined;
specifically, firstly, setting the aircraft to radially fly along a certain direction relative to the radar, setting the azimuth angle of a radar turntable as a radar coordinate system 0 degree, and detecting whether the radar upper computer has a radar echo track: if yes, acquiring a radar rough azimuth angle; if not, setting the azimuth angle of the radar turntable as 180 degrees of a radar coordinate system; and carrying out data search on the detected echo track to determine the radar rough azimuth angle.
It should be noted that, in the example embodiment of fig. 1, the implementation method of data search includes a sequential search method, a binary search method, a fast search method, and the like. In practical application, the scanning radar can directly obtain a radar coarse azimuth angle through fan scanning, and the tracking radar can obtain the radar coarse azimuth angle through the steps.
The following description specifically refers to a binary search method as an example. FIG. 2 illustrates a flow diagram of a method of pulsed Doppler radar north-seeking provided in accordance with some embodiments of the present application. Referring to fig. 2, setting the aircraft to radially fly relative to the radar in a certain direction, setting the azimuth angle of the radar turntable as 0 degree of a radar coordinate system, observing whether the radar upper computer has a radar echo track, and if so, obtaining a radar coarse angle of 0 degree; if not, setting the azimuth angle of the radar rotary table as 180 degrees of a radar coordinate system, observing whether the radar upper computer has an echo track, and determining the rough azimuth angle A of the radar by combining a data searching method and an observation method in the same way0。
In step S2, the aircraft is set to pass through a radar beam along the coarse radar azimuth tangentially, and a radar track under a radar coordinate system and an aircraft GPS track and radar latitude, longitude and altitude information under a geodetic coordinate system are obtained;
it should be noted that the radar track in the radar coordinate system includes distance, pitch angle, azimuth angle and UTC time, and the aircraft GPS track in the geodetic coordinate system includes longitude, latitude, altitude and UTC time.
In a specific implementation, the radar coarse azimuth angle A obtained according to the step S10Setting the azimuth angle of the radar rotary table to be constant, and setting the coarse azimuth angle A of the aircraft along the radar0Tangentially across the radar beam. Suppose the radar beam width is BwThen, the flying direction of the aircraft is ensured to be [ A ] within the range of the radar azimuth angle0-2Bw,A0+2Bw]. Simultaneously obtaining the radar track (including the distance R) under the radar coordinate systemtAngle of pitch EtAzimuth angle AtUTC time Tt) GPS track (including longitude L) under geodetic coordinate systemgLatitude BgHeight HgUTC time Tg) The latitude L of the origin of the radar coordinate can be obtained by placing the GPS equipment at the center of the radar array surface0Longitude B0Height information H0。
Specifically, latitude, longitude, and altitude information of the radar coordinate origin are obtained by placing the GPS device at the center of the radar front.
In step S3, calculating a distance, a pitch angle, and an azimuth of the aircraft GPS track in the station center coordinate system using the radar as an origin according to the aircraft GPS track in the geodetic coordinate system;
further, the longitude L of the aircraft in the geodetic coordinate system obtained in step S2 is usedgLatitude BgHeight HgUTC time TgThe latitude L of the origin of the radar coordinate in the geodetic coordinate system can be obtained by placing the GPS equipment at the center of the radar array surface0Longitude B0Height information H0Calculating the azimuth A of the GPS track under the station center coordinate system with the radar as the origing。
In step S4, aligning the radar track UTC time and the GPS track UTC time according to the result calculated in step S3, and calculating an average value of the difference between the radar azimuth and the aircraft GPS azimuth at the same time;
in specific implementation, according to the distance, the pitch angle, the azimuth angle and the UTC time information of the target in the radar coordinate system and the station center coordinate system obtained in the steps S2 and S3, aligning the radar track UTC time and the GPS track UTC time, and calculating the azimuth angle difference value Δ a ═ a of the target in the radar coordinate system and the station center coordinate system at the same timet-Ag。
In step S5, steps S2, S3, and S4 are performed multiple times to obtain an average value of the azimuth difference values, and the average value of the azimuth difference values is averaged to obtain an angle between the radar and the true north.
In practical application, the steps S2, S3 and S4 are repeated for multiple times to obtain an average value { Δ a) of the difference values of the azimuth angles of the aircraft in the radar coordinate system and the station center coordinate system in multiple different directions respectively1,ΔA2，...,ΔAnGet the mean of the azimuth angle differences
Namely, the included angle between the radar and the due north direction is obtained, and finally the azimuth angle of the radar in the station center coordinate system is obtained
In an example embodiment of the present application, a system for north finding of a pulsed doppler radar is also provided. Referring to fig. 3, the system 300 for north-seeking by using the pulse doppler radar comprises:
the determining module 301 is used for acquiring a radar echo track of the radar upper computer and determining a radar rough azimuth angle;
the processing module 302 is configured to set that the aircraft tangentially passes through a radar beam along a radar coarse azimuth, and obtain a radar track in a radar coordinate system and an aircraft GPS track and radar latitude, longitude, and altitude information in a geodetic coordinate system;
the calculation module 303 is used for calculating the distance, the pitch angle and the azimuth angle of the GPS track of the aircraft taking the radar as the origin under the station center coordinate system according to the GPS track of the aircraft under the geodetic coordinate system;
the evaluation module 304 aligns the radar track UTC time and the GPS track UTC time according to the calculated result, and calculates the average value of the difference values of the radar azimuth and the aircraft GPS azimuth at the same time;
the obtaining module 305, which runs the processing module, the calculating module and the evaluating module for multiple times, obtains an average value of the plurality of azimuth angle difference values, and obtains an included angle between the radar and the due north direction by averaging the average value of the plurality of azimuth angle difference values.
In some embodiments of the present application, based on the above scheme, the determining module includes: the setting submodule is used for setting the aircraft to radially fly along a certain direction relative to the radar and setting the azimuth angle of the radar rotary table as 0 degree of a radar coordinate system; the detection submodule is used for detecting whether the radar upper computer has a radar echo track: if yes, acquiring a radar rough azimuth angle; if not, setting the azimuth angle of the radar turntable as 180 degrees of a radar coordinate system; and the determining submodule is used for carrying out data search on the detected echo track and determining the radar rough azimuth angle.
The system for searching north by using the pulse doppler radar provided by the embodiment of the application can realize the processes in the method embodiments and achieve the same functions and effects, and the processes are not repeated here.
In addition, the present application also provides a computer-readable storage medium, on which a computer program is stored, and in a specific embodiment, the storage medium may be a usb disk, an optical disk, a hard disk, or the like, and the computer program stored in the storage medium, when being executed by a processor, may implement the steps in the method embodiment of the present application.
It will be evident to those skilled in the art that the embodiments of the present invention are not limited to the details of the foregoing illustrative embodiments, and that the embodiments of the present invention are capable of being embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the embodiments being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. Several units, modules or means recited in the system, apparatus or terminal claims may also be implemented by one and the same unit, module or means in software or hardware. The terms first, second, etc. are used to denote names, but not any particular order.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the embodiments of the present invention and not for limiting, and although the embodiments of the present invention are described in detail with reference to the above preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the embodiments of the present invention without departing from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A method for north-seeking by using a pulse doppler radar, the method comprising the steps of:
s1, acquiring a radar echo track of the radar upper computer, and determining a radar coarse azimuth angle;
s2, setting the aircraft to pass through a radar beam tangentially along a radar coarse azimuth angle, and obtaining radar tracks under a radar coordinate system and GPS tracks of the aircraft under a geodetic coordinate system and radar latitude, longitude and altitude information; the above information includes: radar tracks under a radar coordinate system; the radar track includes: distance, pitch angle, azimuth angle, UTC time; and an aircraft GPS track under a geodetic coordinate system, the aircraft GPS track comprising: longitude, latitude, altitude, UTC time; placing GPS equipment in the center of a radar array surface to obtain latitude, longitude and altitude information of a radar coordinate origin;
s3, calculating the distance, the pitch angle and the azimuth angle of the GPS track of the aircraft in a station center coordinate system with the radar as the origin according to the GPS track of the aircraft in the geodetic coordinate system;
s4, aligning the UTC time of the radar track and the UTC time of the GPS track according to the calculated result, and calculating the average value of the difference values of the radar azimuth and the GPS azimuth of the aircraft at the same time;
and S5, executing the steps S2, S3 and S4 for multiple times, obtaining the average value of the difference values of the multiple azimuth angles, and calculating the average value of the difference values of the multiple azimuth angles to obtain the included angle between the radar and the true north direction.
2. The method of claim 1, wherein the step of acquiring radar echo tracks of the radar upper computer and the step of determining the radar coarse azimuth angle comprise the following sub-steps:
setting the aircraft to radially fly along a certain direction relative to the radar, and setting the azimuth angle of the radar rotary table as 0 degree of a radar coordinate system;
detecting whether a radar upper computer has a radar echo track: if yes, acquiring a radar rough azimuth angle; if not, setting the azimuth angle of the radar turntable as 180 degrees of a radar coordinate system;
and carrying out data search on the detected echo track to determine the radar rough azimuth angle.
3. The method of claim 2, wherein the data lookup comprises: one or more of a sequential lookup method, a binary lookup method, and a fast lookup method.
4. The method of claim 2, wherein for scanning radar, the data lookup method comprises a fan scan method.
5. The method of claim 1, wherein the radar track in the radar coordinate system comprises range, pitch, azimuth, and UTC time.
6. The method of claim 1 or 5, wherein the aircraft GPS track in geodetic coordinate system comprises longitude, latitude, altitude, and UTC time.
7. The method of claim 1, wherein obtaining the radar track in the radar coordinate system and the aircraft GPS track and radar latitude, longitude, and altitude information in the geodetic coordinate system is accomplished by placing a GPS device at the center of the radar front to obtain the latitude, longitude, and altitude information for the origin of the radar coordinates.
8. A system for north-seeking by pulsed doppler radar, the system comprising:
the determining module is used for acquiring a radar echo track of the radar upper computer and determining a radar rough azimuth angle;
the processing module is used for setting the aircraft to pass through radar beams tangentially along a radar coarse azimuth angle to obtain radar tracks under a radar coordinate system and GPS tracks of the aircraft and radar latitude, longitude and altitude information under a geodetic coordinate system; the above information includes: radar tracks under a radar coordinate system; the radar track includes: distance, pitch angle, azimuth angle, UTC time; and an aircraft GPS track under a geodetic coordinate system, the aircraft GPS track comprising: longitude, latitude, altitude, UTC time; placing GPS equipment in the center of a radar array surface to obtain latitude, longitude and altitude information of a radar coordinate origin;
the computing module is used for computing the distance, the pitch angle and the azimuth angle of the GPS track of the aircraft taking the radar as the origin under the station center coordinate system according to the GPS track of the aircraft under the geodetic coordinate system;
the evaluation module aligns the UTC time of the radar track and the UTC time of the GPS track according to the calculated result, and calculates the average value of the difference values of the radar azimuth and the GPS azimuth of the aircraft at the same time;
the acquisition module runs the processing module, the calculation module and the evaluation module for multiple times to acquire an average value of the azimuth angle difference values, and the average value of the azimuth angle difference values is calculated to acquire an included angle between the radar and the due north direction.
9. The system of claim 8, wherein the determining module comprises:
the setting submodule is used for setting the aircraft to radially fly along a certain direction relative to the radar and setting the azimuth angle of the radar rotary table as 0 degree of a radar coordinate system;
the detection submodule is used for detecting whether the radar upper computer has a radar echo track: if yes, acquiring a radar rough azimuth angle; if not, setting the azimuth angle of the radar turntable as 180 degrees of a radar coordinate system;
and the determining submodule is used for carrying out data search on the detected echo track and determining the radar rough azimuth angle.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method for north-seeking for a pulse-doppler radar according to any one of claims 1 to 7.
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| CN112578362B (en) * | 2020-12-30 | 2023-08-29 | 成都圭目机器人有限公司 | Three-dimensional ground penetrating radar data positioning method |
| CN113640755A (en) * | 2021-05-24 | 2021-11-12 | 中国南方电网有限责任公司超高压输电公司广州局 | Target pitch angle acquisition method and device based on radar photoelectric linkage system |
| CN113611112B (en) * | 2021-07-29 | 2022-11-08 | 中国第一汽车股份有限公司 | Target association method, device, equipment and storage medium |
| CN114217278B (en) * | 2021-12-14 | 2023-03-24 | 齐鲁空天信息研究院 | Dynamic target-based amplitude and phase calibration method and system for phased array radar |
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