CN101630003A - Automatic plotting system for navigation radar - Google Patents
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- CN101630003A CN101630003A CN200810166597A CN200810166597A CN101630003A CN 101630003 A CN101630003 A CN 101630003A CN 200810166597 A CN200810166597 A CN 200810166597A CN 200810166597 A CN200810166597 A CN 200810166597A CN 101630003 A CN101630003 A CN 101630003A
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Abstract
The invention provides an automatic plotting system for navigation radar. The system comprises a log, a compass, a GPS, an AIS, a radar data acquisition processing card, a transceiver unit, an industrial computer, and a control unit, wherein the log, the compass, the radar antenna transceiving unit, the AIS and the GPS are connected with the radar data acquisition processing card; the radar data acquisition processing card is inserted in a PCI slot of the industrial computer, and is in charge of receiving information transmitted by the log, the transceiver unit, the compass and the GPS, converts the information into digital information, and transmits the information to the industrial computer; the industrial computer marks a target for a radar digital signal which is transmitted by the radar according to the data acquisition processing card to acquire an accurate position of the target, and transmits the result to a display; and the control unit is connected with the industrial computer. The automatic plotting system has low cost, stable and reliable system performance and convenient maintenance.
Description
Technical field
The present invention relates to a kind of radar, specifically is a kind of automatic plotting system of navar.
Background technology
Traditional marine radar major function is exactly by radar image real-time monitored ambient conditions, does not possess any judgement to targetpath; Thereafter marine radar once adopted on paper chart by manually difference target constantly being connected, the artificial plotting mode of flight path is provided to the voyager, but it is big by the artificial mode workload of marking and drawing, the plotting precision is low, the multiple goal situation is difficult to finish the plotting task, and especially it does not possess the pre-judgement function to the motion of target.In recent years under the electronic technology of develop rapidly is supported, marine radar had automatic plotting, to the function of Automatic Target Tracking, but it is because mainly be to realize with electronic circuit, so cost height, difficult in maintenance, poor stability, especially systemic-function expand relatively difficulty.Now, be platform with the quite high computer technology of cost performance, the digitizing marine radar becomes the developing direction of marine radar.
Though radar has had nearly 70 years history so far from invention, it still is nearest 30 years thing that radar equipment is equipped in ship for civil use on a large scale.Last century the seventies, develop rapidly along with world's shipping industry, being doubled and redoubled of the shipping output value, the incidence of casualty is also high, more and more pay attention to so the navigation safety of boats and ships is subjected to people, the civil navigation radar just under this specific historical conditions large quantities of equipments be applied on the ship for civil use.External radar manufacturing enterprise before this is all based on military product, after implementing the function simplification, short run is thrown in the commercial market, can not form market scale at all, and these radar manufacturing enterprises produce military radar, to military's supply of material, product for civilian use market capacity is little, profit is low, so seldom there is company to develop commerical radar (the radar manufacturing enterprise of the U.S., Germany all seldom relates to the commerical radar field so far) specially.
Enter the eighties in last century, because the effect of commerical radar being familiar with progressively by people, the significantly increase of market capacity, so those military radar manufacturing enterprises originally also transfer the part of the production line of oneself to the product for civilian use gradually, some emerging radar manufacturing enterprises also declare its establishment one after another and seize market.Some external radar big producers mainly contain the D.K company of Japanese radar company (JRC), U.S. Raytheon, Britain and K.H company etc. in the meantime.These major companies dominate the market on a large scale by feat of on hand technical advantage and fund guarantee, except the demand that satisfies this country, and the also large batch of foreign market that exports to.
The radar production of China is a weak industry of our country always, founding of New in decades, we do not have an own real Radar Products really up to the mark always, from Shanghai Radio Factory No. 4 to Liaoning Radio Factory No.2, technically external product all there is such or such dependence, this has restricted the development of China's radar industry to a great extent, all is external brand more than 90% on the radar market of China at present.Captured most market by external product on the one hand, because external product has been full of market, made the radar manufacturing enterprise of China have difficulty in taking a step again on the other hand.
Summary of the invention
The present invention is directed to above-mentioned the deficiencies in the prior art, a kind of automatic plotting system of navar is provided, make it based on the radar data acquisition card, transfer radar signal to computing machine manageable digital signal, industrial control computer with high performance-price ratio is a platform, automatic plotting and following function have been realized with software, utilize ultrahigh frequency radiowave (microwave) when spatial transmission, to have constant speed, rectilinear propagation, and has a principle of good reflection phenomenon, utilization is to the collection of rotation radar antenna echoed signal, determines the boats and ships around this ship and the distance of other target, the orientation.And difference data are constantly carried out comprehensive analysis processing, next step movement tendency of target is judged in prediction, reaches the collision prevention purpose, realizes ship craft integrated management.
The present invention is achieved through the following technical solutions, and the present invention includes: log, compass, GPS, AIS, radar data acquisition transaction card, transceiver unit, industrial computer, control module, wherein:
Its signal output port of compass links to each other with radar data acquisition transaction card signaling interface 1, and compass is responsible for gathering bearing signal;
GPS links to each other with radar data acquisition transaction card signaling interface 2 by serial ports, and GPS is responsible for locating the longitude and latitude of ship;
The output port of AIS with link to each other with the signaling interface 3 of radar data acquisition transaction card;
Its signal output port of log links to each other with the signaling interface 4 of radar data acquisition transaction card, and log is responsible for gathering the speed of this ship;
Transceiver unit links to each other with the radar data acquisition transaction card;
The radar data acquisition transaction card is inserted on the PCI slot of industrial computer, is responsible for receiving the information of log, transceiver unit, compass, AIS, GPS transmission, is numerical information with these information translation, and gives the radar data processing module with these information transmission;
Industrial computer indicates target with the radar radar digital signal that transmission gets according to the data acquisition process card, and obtains the accurate orientation of target, and the result is delivered to display;
Control module links to each other with industrial computer, realizes operation and the control of user to system.
Described radar data acquisition transaction card, it is provided with GPS IO interface, Electromagnetic compass adapter, and the GPS IO interface links to each other with GPS, cooperates VDR to use; The Electromagnetic compass adapter links to each other with compass.
Described transceiver unit, wherein, radar antenna has very strong directivity, the exomonental energy that transmitter is sent here gathers into pencil and concentrates and launch towards a direction, receive only also simultaneously that this direction target reflection returns echo, send into radar receiver, because radar antenna is in the clockwise direction uniform rotation, the radar antenna Transmit-Receive Unit can obtain this ship target on every side in real time.
Described radar data acquisition transaction card, be up-to-date integrated-optic devices such as DSP, FPGA, the unification of signals such as ship type GPS, compass, log is imported or is integrated on the capture card, and use general-purpose chip outer signal to be converted to the rs 232 serial interface signal of standard, realization converts the picture signal of common marine radar to ordinary PC manageable digital signal, signal is stored into internal memory by serial ports, the wait industrial computer calls, thereby make radar image more clear, radar return is fuller, and the ARPA tracking target is more accurate.
Described radar data acquisition transaction card, it has gathers the function of multiple model radar signal commonly used both at home and abroad, realize standing with ancient open country, photoelectricity, peace, JRC, Lei Song (U.S.), Ah taking off Lars (moral), KH multiple radars such as (English) be connected, and the ARPA that realizes above-mentioned radar transforms and achieves intellectuality, this is the exclusive characteristics of native system, does not still have the like product with this function both at home and abroad.
Described industrial computer, mainly comprise the radar data processing module, the radar data processing module adopts small echo door tracking technique to solve closely multiobject identification problem, the ARPA target following technology that meets the IMO standard by employing, when using Kalman filtering algorithm, the computer graphical recognition technology is circulated in the target tracking algorism, become target (multiple spot) and be tracked as the particle tracking, realized small echo door tracking technique, improved the precision of target following greatly, this is that traditional ARPA track algorithm is not accomplished.According to the principle of computer graphics, the effect that the performance computer intelligence is judged to closely multiobject graphic feature extraction, and is carried out synthetic determination, and most of targets can correctly be differentiated.Substantially solved puzzlement radar circle closely multiobject identification problem for many years.
Described radar data processing module, utilize high-precision inhibition interference method, high-precision inhibition interference method realizes that wave and sleet inhibit feature keep little target image steady and audible, change traditional wave and sleet and suppress the CFAR method, according to user's navigation data for many years and long-time data of gathering wave and sleet inhibition interference, characteristic curve when calculating various waves in various degree of cover and sleet interference, and realize that in view of the above high-precision inhibition interference method realization wave and sleet inhibit feature keep little target image steady and audible.
Described radar data processing module, be responsible for radar image and electronic chart, AIS information are carried out integrated stack, can store other navigator fix information such as radar original image and longitude and latitude more than 1 month, course, speed continuously, it is convenient that the playback retrieval is printed, and big capacity hard disk can be stored more data information.
The course of work of apparatus of the present invention is specific as follows:
1. the radar data acquisition transaction card receives the vision signal (simulating signal) from the transceiver unit transmission, by analog to digital conversion the vision signal of simulation is calculated and is converted to digital signal, offers industrial computer and handles.
2. the radar data acquisition transaction card adopts the vision signal that the feasible vision signal wireless interface near-lying mode that quantizes of method of Fuzzy Calculation is intended in the converting analogue vision signal, makes radar target distortion can not occur when showing echo like this.Phenomenons such as fracture can also be strengthened the demonstration of little target simultaneously.
3. when the radar data processing module in the industrial computer is preserved vision signal, use the data of preserving to calculate, obtain the curve of a video intensity.
4. use this curve that vision signal is compared, the video that is higher than curve will directly show; The video data computing machine that is lower than curve will be accumulated contrast, and when the numerical value of radar surpasses curve values, radar shows; The accumulation contrast of radar data processing module can change (CFAR functions) according to the parameter difference that the user selects.Like this can be when radar uses the ARPA function to stable echo.
5. the probability that clutter is occurred in same point be the parameter on basis, join in the computing formula of accumulation contrast, like formula have the function of differentiation target and clutter; When video contrast accumulated value surpassed curve, radar can the target that some are little show, like this can be with clutter and little target area separately and obtain stable target echo.
6. industrial computer receives bearing signal and the bow signal that synchronous transmission is come when receiving analog video signal.
7. according to receiving compass, the gps signal that peripherals provides synchronously, industrial computer substitutes bearing signal with compass signal and obtains accurate, real-time orientation; According to the time coordinate computing machine of the echoed signal of different ranges by obtaining the distance value of standard.
8. Wai Wei gps signal provides the live signal of this ship that a dynamic ship's speed signal is provided simultaneously, industrial computer is by known orientation and distance, add dynamic ship's speed data, can calculate radar and show the circle upward azimuth-range and the longitude and latitude of real-time any point.
Obtaining under the situation of orientation, distance, longitude and latitude accurately, the ARPA data of radar will be more accurately and are stable.
Compared with prior art, the present invention has following beneficial effect: the industrial PC computer Platform Implementation marine navigation radar function that application price ratio of the present invention is very high, so it has very high price advantage, and system performance is reliable and stable, and is easy to maintenance.And adopt computer software to finish automatic plotting, following function fully, realize the intelligent collision prevention of boats and ships.The core technology of project realizes for making real-time computing machine radar data acquisition card, the method for marking and drawing and following the tracks of automatically and software.Its result will reduce the cost of marine radar greatly, increase substantially the comprehensive function of marine radar, and can realize the ARPA of a large amount of traditional radars of China is transformed, luxuriant and rich with fragrance normal China's ship-navigation radar market demand that is suitable for.
Description of drawings
Fig. 1 is a structured flowchart of the present invention;
Embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
The working environment of present embodiment is specific as follows:
Temperature :-20 ℃～55 ℃;
Vibration: vibration and impact that the boats and ships operation produces;
Environment: humidity, salt fog, mist of oil, mildew and dust environmental work in boats and ships;
Voltage and frequency jitter and electromagnetic compatible environment work;
Power supply: 220V20%; Power consumption: 500W.
As shown in Figure 1, present embodiment comprises: log, compass, GPS, radar data acquisition transaction card, transceiver unit, industrial computer, control module, wherein:
Its signal output port of compass links to each other with radar data acquisition transaction card signaling interface 1, and compass is responsible for gathering bearing signal;
GPS links to each other with radar data acquisition transaction card signaling interface 2 by serial ports, and GPS is responsible for locating the longitude and latitude of ship;
The output port of AIS with link to each other with the signaling interface 3 of radar data acquisition transaction card;
Its signal output port of log links to each other with the signaling interface 4 of radar data acquisition transaction card, and log is responsible for gathering the speed of this ship;
Transceiver unit links to each other with the radar data acquisition transaction card, is thunder pine (Raymarine) radar head of Britain in the present embodiment;
The radar data acquisition transaction card is inserted on the PCI slot of industrial computer, is responsible for receiving the information of log, transceiver unit, compass, AIS, GPS transmission, is numerical information with these information translation, and gives the radar data processing module with these information transmission;
Industrial computer indicates target with the radar radar digital signal that transmission gets according to the data acquisition process card, and obtains the accurate orientation of target, and the result is delivered to display;
Control module links to each other with industrial computer, realizes operation and the control of user to system, and control module comprises keyboard, mouse etc.
Described radar data acquisition transaction card, it is provided with GPS IO interface, Electromagnetic compass adapter, and the GPS IO interface links to each other with GPS, cooperates VDR to use; The Electromagnetic compass adapter links to each other with compass.
Described radar data acquisition card, its important technological parameters is specific as follows:
(1) radar video signal acquisition rate 80MHz-120MHz;
(2) the orientation quantifying unit several 4096;
(3) distance quantizes unit number (every radian) 1024;
(4) figure place of outputting video signal is 8;
(5) the target display gray scale is 256 grades;
(6) radar/ARPA partly meets A.477 (XII) standard of IMO; Meet A.823 (19) standard of IMO; Meet the IEC60954 standard.
Described transceiver unit, wherein, radar antenna has very strong directivity, the exomonental energy that transmitter is sent here gathers into pencil and concentrates and launch towards a direction, receive only also simultaneously that this direction target reflection returns echo, send into radar receiver, because radar antenna is in the clockwise direction uniform rotation, the radar antenna Transmit-Receive Unit can obtain this ship target on every side in real time.
Described radar data acquisition transaction card, be up-to-date integrated-optic devices such as DSP, FPGA, the unification of signals such as ship type GPS, compass, log is imported or is integrated on the capture card, and use general-purpose chip outer signal to be converted to the rs 232 serial interface signal of standard, realization converts the picture signal of common marine radar to ordinary PC manageable digital signal, signal is stored into internal memory by serial ports, the wait industrial computer calls, thereby make radar image more clear, radar return is fuller, and the ARPA tracking target is more accurate.
Described radar data acquisition transaction card, it has gathers the function of multiple model radar signal commonly used both at home and abroad, so multiple radar realizations such as it can be upright with ancient open country, photoelectricity, peace, JRC, Lei Song (U.S.), Ah taking off Lars (moral), KH (English) are connected, the ARPA that realizes above-mentioned radar transforms and achieves intellectuality, this is the exclusive characteristics of native system, does not still have the like product with this function both at home and abroad.
Described industrial computer, it mainly comprises the radar data processing module, the radar data processing module adopts small echo door tracking technique to solve closely multiobject identification problem, the ARPA target following technology that meets the IMO standard by employing, when using Kalman filtering algorithm, the computer graphical recognition technology is circulated in the target tracking algorism, become target (multiple spot) and be tracked as the particle tracking, realized small echo door tracking technique, improved the precision of target following greatly, this is that traditional ARPA track algorithm is not accomplished.According to the principle of computer graphics, the effect that the performance computer intelligence is judged to closely multiobject graphic feature extraction, and is carried out synthetic determination, and most of targets can correctly be differentiated.Substantially solved puzzlement radar circle closely multiobject identification problem for many years.
Described radar data processing module, utilize high-precision inhibition interference method, high-precision inhibition interference method realizes that wave and sleet inhibit feature keep little target image steady and audible, change traditional wave and sleet and suppress the CFAR method, according to user's navigation data for many years and long-time data of gathering wave and sleet inhibition interference, characteristic curve when calculating various waves in various degree of cover and sleet interference, and realize that in view of the above high-precision inhibition interference method realization wave and sleet inhibit feature keep little target image steady and audible.
Described radar data processing module, be responsible for radar image and electronic chart, AIS information are carried out integrated stack, can store other navigator fix information such as radar original image and longitude and latitude more than 1 month, course, speed continuously, it is convenient that the playback retrieval is printed, and big capacity hard disk can be stored more data information.
Described radar data processing module, adopt small echo door tracking technique to solve closely multiobject identification problem, the ARPA target following technology that meets the IMO standard by employing, when using Kalman filtering algorithm, the computer graphical recognition technology is circulated in the target tracking algorism, become target (multiple spot) and be tracked as the particle tracking, realized small echo door tracking technique, improved the precision of target following greatly, this is that traditional ARPA track algorithm is not accomplished.According to the principle of computer graphics, the effect that the performance computer intelligence is judged to closely multiobject graphic feature extraction, and is carried out synthetic determination, and most of targets can correctly be differentiated.Substantially solved puzzlement radar circle closely multiobject identification problem for many years.
Described radar data processing module, utilize high-precision inhibition algorithm of interference, high-precision inhibition algorithm of interference realizes that wave and sleet inhibit feature keep little target image steady and audible, change traditional wave and sleet and suppress the CFAR algorithm, according to user's navigation data for many years and long-time data of gathering wave and sleet inhibition interference, characteristic curve when calculating various waves in various degree of cover and sleet interference, and realize that in view of the above high-precision inhibition algorithm of interference realizes that wave and sleet inhibit feature keep little target image steady and audible.
Described radar data processing module, be responsible for radar image and electronic chart, AIS information are carried out integrated stack, can store other navigator fix information such as radar original image and longitude and latitude more than 1 month, course, speed continuously, it is convenient that the playback retrieval is printed, and big capacity hard disk can be stored more data information.
Described radar antenna Transmit-Receive Unit, its technical parameter is specific as follows:
(1) operating frequency of antenna: 941030MHZ; Antenna length: 4,6,9 feet (contain waveguide bend aft antenna outside dimension be 1.2,1.9 and 2.8m); 3 centimeter waves, the X frequency range.
(2) antenna gain: greater than 30dB;
(3) return loss:＞15dB;
(4) the rotary joint part is strengthened by the radar antenna requirement in the middle of the antenna, guaranteeing when the wind speed 100kn, well starts and turns round;
(5) feeding classification: end fed is connected to rotary joint with waveguide;
(6) standing-wave ratio (SWR): less than 1.2.
In the present embodiment, the parameter of display effect is specific as follows:
(1) video picture screen effective diameter: 250mm (17 "), 265mm (19 "), 280mm (22 "), 340mm (28 ");
(2) range: 0.25,0.5,0.75,1.5,3,6,12,24,48,72 nautical mile;
(3) fixed range rings scale: 0.5,1,2,4,8,12 nautical mile, every grade have 6 apart from mark circle (3 nautical miles with interior be 5 apart from the mark circle); Precision 0.03 Where or service range are from 1% of shelves;
(4) synchronous rotation mode: scanning resolver system;
(5) minimum range: less than 23 meters;
(6) range resolution: closely less than 23 meters, at a distance less than 200m;
(7) bow line: automatically;
(8) vernier: 0-360 is manual;
(9) azimuth scale: 0-360 is manual; Bearing accuracy is less than 1;
(10) tuning: hand, hands-off tuning;
(11) look amplification gain: greater than 25dB
(12) variable range marker indication: 0.08-72 in the sea
The ARPA performance is specific as follows in the present embodiment:
(1) catches: manually catch, manually remove and catch automatic numbering;
(2) follow the tracks of: a. track target: 20 (from motion tracking); Catch and tracking range: 0.5～48 nautical mile;
(3) radar image:
A. image pattern: true motion (can move automatically);
B. direction mode: the geographical north to, first to, course;
C. vector: true motion, relative motion vectors, vector length 0～60 minute; Target variable motion vector and dbjective state numeral show simultaneously.
D. show the vector time: in 1 minute; Time vector was stablized in 3 minutes;
E. speed indication: indication (log) automatically;
(4) report to the police:
A. report to the police and enclose: the movable circle of reporting to the police;
B. be provided with: be 48 nautical miles to the maximum;
C. report to the police and indicate distance: minor increment (MIN, CPA) is 0～9.9 nautical mile; The minimum time, (MIN, CPA) was 0～99 minute
D. report to the police, see Table 1:
Wherein: risk object (CPA/TCPA); D is this ship range-to-go
Table 1 warning function lists
| Security Target | ??CPA＞MINCPA ??D≤MINCPA，TCPA＜0 ??D＞MINCPA，TCPA＜0 |
| Dangerous | target | ??CPA≤MINCPA，TCPA＞MINTCPA ??D≤MINCPA，TCPA＜0 |
| The murther target | ??CPA≤MINCPA，0＜MINTCPA |
E. alarm indication sees Table 2:
Table 2 alarm indication lists
F. lose objects: sound and light alarm when lose objects and vector
In the present embodiment, data presentation is specific as follows:
A. target data: show the true vector of 20 targets, relative vector, parameters such as course, speed, orientation, CPA, TCPA;
B. this ship data: course, speed etc.
Examination behaviour ship function: manually be provided with, automatically reset
A. shake down to: 0～360;
B. trial speed: 0～50 joint;
C. time delay: 0～60 minute.
Display precision: symbol IMO technical requirement.
The system failure: sound and light alarm.
In the present embodiment, antenna horizontal directivity pattern and antenna vertical direction graph parameter are specific as follows:
(1) horizontal beam width: 0.9 (4 feet), 0.6 (6 feet), 0.4 (9 feet) major requirement secondary lobe is low); During the peaked power of main lobe-3dB; Sidelobe level :-25dB (4 feet) ,-27dB (6 feet) in-29dB (9 feet) the main lobe maximum value position 10, is-30dB in addition;
(2) vertical beam is wide: 221;
(3) relative level decline 3dB in 10 on horizontal line.
The present embodiment radar is compared with external like product, has more advantage, shown in table 3,4:
Table 3 the present invention and limejuicer compare with the radar correlated performance of company
Table 4 the present invention compares with Japanese (JRC) radar correlated performance
| JRC (Japan) | This product | |
| Screen | ??19” | ??19” |
| Color | Gray scale | Colored |
| Tracking target | ??20 | ??20 |
| Operation interface | Literary composition all over Britain | English+Chinese |
| Safeguard | Difficult | Easily |
| Maintenance period | 60-90 days | In real time |
| Extendability | Do not have | Fully-integrated with AIS, VDR, ECDIS, GPS |
| Price | About 150,000 | ??50％ |
Claims (8)
1, a kind of automatic plotting system of navar comprises: log, compass, GPS, radar data acquisition transaction card, transceiver unit, industrial computer, control module, wherein:
Its signal output port of compass links to each other with radar data acquisition transaction card signaling interface 1, and compass is responsible for gathering bearing signal;
GPS links to each other with radar data acquisition transaction card signaling interface 2 by serial ports, and GPS is responsible for locating the longitude and latitude of ship;
The output port of AIS with link to each other with the signaling interface 3 of radar data acquisition transaction card;
Its signal output port of log links to each other with the signaling interface 4 of radar data acquisition transaction card, and log is responsible for gathering the speed of this ship;
Transceiver unit links to each other with the radar data acquisition transaction card;
The radar data acquisition transaction card is inserted on the PCI slot of industrial computer, is responsible for receiving the information of log, transceiver unit, compass, AIS, GPS transmission, is numerical information with these information translation, and gives the radar data processing module with these information transmission;
Industrial computer indicates target with the radar radar digital signal that transmission gets according to the data acquisition process card, and obtains the accurate orientation of target, and the result is delivered to display;
Control module links to each other with industrial computer, realizes operation and the control of user to system.
2, the automatic plotting system of navar according to claim 1, it is characterized in that, described radar data acquisition transaction card, be DSP or FPGA integrated-optic device, the unification of signals such as ship type GPS, compass, log is imported or is integrated on the capture card, and use general-purpose chip outer signal to be converted to the rs 232 serial interface signal of standard, realization converts the picture signal of common marine radar to ordinary PC manageable digital signal, signal is stored into internal memory by serial ports, waits for that industrial computer calls.
3, the automatic plotting system of navar according to claim 1 and 2 is characterized in that, described radar data acquisition transaction card, and it is provided with GPS IO interface, Electromagnetic compass adapter, and the GPS IO interface links to each other with GPS, cooperates VDR to use; The Electromagnetic compass adapter links to each other with compass.
4, the automatic plotting system of navar according to claim 1 and 2, it is characterized in that, described radar data acquisition transaction card, it can have gathers multiple model radar signal commonly used both at home and abroad, and, JRC, Lei Song upright with ancient open country, photoelectricity, peace, Ah taking off Lars, the realization of KH radar are connected.
5, the automatic plotting system of navar according to claim 1, it is characterized in that, described transceiver unit, wherein, radar antenna has very strong directivity, and the exomonental energy that transmitter is sent here gathers into pencil and concentrates and launch towards a direction, receive only also simultaneously that this direction target reflection returns echo, send into radar receiver, because radar antenna is in the clockwise direction uniform rotation, the radar antenna Transmit-Receive Unit can obtain this ship target on every side in real time.
6, the automatic plotting system of navar according to claim 1, it is characterized in that, described industrial computer, mainly comprise the radar data processing module, be responsible for radar image and electronic chart, AIS information are carried out integrated stack, store other navigator fix information such as radar original image and longitude and latitude more than 1 month, course, speed continuously.
7, the automatic plotting system of navar according to claim 6, it is characterized in that, described radar data processing module, the ARPA target following technology that meets the IMO standard by employing, when using Kalman filtering algorithm, the computer graphical recognition technology is circulated in the target tracking algorism, becoming target following follows the tracks of into particle, realized the tracking of small echo door, while is according to the principle of computer graphics, the effect that the performance computer intelligence is judged, to closely multiobject graphic feature extraction, and carry out synthetic determination, correctly resolution target.
8, the automatic plotting system of navar according to claim 6, it is characterized in that, described radar data processing module, utilize high-precision inhibition interference method, high-precision inhibition interference method realizes that wave and sleet inhibit feature keep little target image steady and audible, change traditional wave and sleet and suppress the CFAR method, reach long-time data of gathering wave and sleet inhibition interference according to user's navigation data for many years, realize that high-precision inhibition interference method realization wave and sleet inhibit feature keep little target image steady and audible.
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| CN102253378A (en) * | 2011-06-17 | 2011-11-23 | 电子科技大学 | Bow interference restraining method for ship radar |
| CN102269807A (en) * | 2011-04-27 | 2011-12-07 | 浙江国际海运职业技术学院 | Realization method of radar anti-jamming technology based on AIS (automatic identification system) information |
| CN102621547A (en) * | 2012-04-01 | 2012-08-01 | 上海圆舟电子科技有限公司 | Intelligent marine radar capable of adaptively adjusting multi-dimensional information fusion parameters and method for adaptively adjusting information fusion parameters |
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| CN104777480A (en) * | 2014-01-15 | 2015-07-15 | 杭州一帆船舶设备技术有限公司 | Active anti-collision radar warning system for marine fishery vessel |
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| CN108241147A (en) * | 2018-02-06 | 2018-07-03 | 上海圆舟电子科技有限公司 | A kind of palm intelligent maritime affairs radar and its surface surveillance method |
| CN108761443A (en) * | 2018-04-03 | 2018-11-06 | 北京环境特性研究所 | A kind of method of the longitude and latitude of determining target being observed and a kind of observation platform |
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| CN109597088A (en) * | 2018-11-15 | 2019-04-09 | 深圳市速腾聚创科技有限公司 | Laser radar emerging system |
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