CN107390204B - A kind of moving target detection method, detecting devices and mobile detection system - Google Patents

A kind of moving target detection method, detecting devices and mobile detection system Download PDF

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Publication number
CN107390204B
CN107390204B CN201710527098.XA CN201710527098A CN107390204B CN 107390204 B CN107390204 B CN 107390204B CN 201710527098 A CN201710527098 A CN 201710527098A CN 107390204 B CN107390204 B CN 107390204B
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information
detecting devices
target
moving target
mobile carrier
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CN107390204A (en
Inventor
李春林
范健华
毛谨
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Sichuan Jiuzhou prevention and control science and Technology Co., Ltd.
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Sichuan Jiuzhou Prevention And Control Science And Technology Co Ltd
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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
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
    • G01S11/10—Systems for determining distance or velocity not using reflection or reradiation using radio waves using Doppler effect
    • 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
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
    • G01S3/14—Systems for determining direction or deviation from predetermined direction
    • G01S3/16—Systems for determining direction or deviation from predetermined direction using amplitude comparison of signals derived sequentially from receiving antennas or antenna systems having differently-oriented directivity characteristics or from an antenna system having periodically-varied orientation of directivity characteristic

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

It includes fixed echo signal so that generating a large amount of false-alarm targets that the embodiment of the present invention, which provides a kind of moving target detection method, detecting devices and mobile detection system, the target echo signal detected when solving the problems, such as that mobile detection system carries out moving target detection in traveling in the prior art,.This method comprises: receiving the attitude measurement of ancillary equipment and travel speed compensated information that navigation system is obtained and transmitted during mobile carrier is advanced；Based on travel speed compensated information, the Doppler shift value of corresponding mobile carrier relative target movement is obtained；Doppler shift value based on the movement of mobile carrier relative target, the target echo signal detected is compensated, inhibit the fixed echo signal in target echo signal, the Doppler frequency shift amount for obtaining moving target, to obtain accurate moving target detection range information and radial velocity information.

Description

A kind of moving target detection method, detecting devices and mobile detection system
Technical field
The present embodiments relate to Radio Measurement technical field more particularly to a kind of moving target detection methods, detection Equipment and mobile detection system.
Background technique
The existing detection system based on radio is irradiated to target using electromagnetic wave and receives its echo-signal, Thus to obtain information such as the distance of target to electromagnetic emission point, range rate, orientation, height.
But existing detection system, such as radar system mostly use fixed position to set up, in investment moving target detection Before, it needs to erect a television antenna, radar platform is leveled by a set of dedicated leveling support system, after completing moving target detection, It need to carry out antenna and leveling support system removes receipts.So, on the one hand, before removing receipts shipment, radar system is easy by enemy's force Device locking and attack, wartime survival ability are weaker；On the other hand, radar platform is leveled using leveling support system, using seeking Northern instrument realizes air situation information reporting, can substantially radar system cost.
In order to hide counter radar systems scan and counter radar weapon attacking, it is necessary to radar is arranged onto mobile carrier, Such as be arranged on carrier loader, mobile detection system is obtained, which can advance in the state of not removing and receiving antenna, Moving target is detected in the case where not leveling, executes warning guidance task, to promote the wartime existence energy of radar Power.
However, inventor has found during realizing the technical solution in the embodiment of the present invention, existing moveable spy Examining system at least has the following technical problems:
Existing mobile detection system, when detecting during traveling to moving target, the target detected is returned Wave signal includes fixed echo signal, so that generating a large amount of false-alarm targets, influences the movement of mobile detection system The accuracy of target acquisition.
Summary of the invention
In view of this, the embodiment of the present invention is designed to provide a kind of moving target detection method, detecting devices and shifting Dynamic detection system, to the mesh for solving to detect when mobile detection system carries out moving target detection in traveling in the prior art Marking echo-signal includes fixed echo signal so that generating the defect of a large amount of false-alarm targets, realizes and is at least obtained based on acquisition The mobile carrier travel speed information obtained, compensates the target echo signal detected, inhibits in target echo signal Fixed echo signal, to obtain accurate moving target detection range information and radial velocity information.
To achieve the goals above, in the embodiment of the present invention the technical solution adopted is as follows:
In a first aspect, providing a kind of moving target detection method in the embodiment of the present invention, it is applied in mobile detection system A detecting devices, the detecting devices is arranged on mobile carrier, and the mobile detection system further includes setting with the detection The ancillary equipment of standby connection；The described method includes:
During the mobile carrier is advanced, the attitude measurement and navigation system for receiving the ancillary equipment are obtained simultaneously The travel speed compensated information transmitted；
Based on the travel speed compensated information, Doppler's frequency of the corresponding mobile carrier relative target movement is obtained Rate deviant；
Based on the Doppler shift value of mobile carrier relative target movement, to the target echo signal detected It compensates, inhibits the fixed echo signal in the target echo signal, obtain in the target echo signal The Doppler frequency shift amount of moving target.
In possible embodiment, the travel speed compensated information include the mobile carrier translational speed information and The present orientation angle information of the antenna rotating platform of the detecting devices；
It is described to be based on the travel speed compensated information, obtain the how general of the corresponding mobile carrier relative target movement Strangle frequency offseting value, comprising:
Present orientation angle information based on the translational speed information and the antenna rotating platform obtains the movement speed letter Cease the projection velocity information in the antenna beam direction of the launch of the detecting devices；
The projection velocity information is converted to the Doppler shift value of the mobile carrier relative target movement.
It is described to be believed based on the present orientation angle of the translational speed information and the antenna rotating platform in possible embodiment Breath, obtains projection velocity information of the translational speed information in the antenna beam direction of the launch of the detecting devices, comprising:
Present orientation angle information based on the translational speed information and the antenna rotating platform obtains the movement speed letter Cease the projection velocity information on the present orientation angle of the antenna rotating platform；
Projection velocity information based on the translational speed information on the present orientation angle of the antenna rotating platform obtains institute State projection velocity information of the translational speed information in the antenna beam direction of the launch of the detecting devices.
It is described that the projection velocity information is converted into the mobile carrier relative target movement in possible embodiment Doppler shift value, comprising:
Obtain the operation wavelength of the detecting devices；
The projection velocity information is converted into the mobile carrier with respect to mesh by the operation wavelength of the detecting devices Mark the Doppler shift value of movement.
In possible embodiment, the Doppler shift value based on mobile carrier relative target movement, The target echo signal detected is compensated, inhibits the fixed echo signal in the target echo signal, obtains The Doppler frequency shift amount of the moving target in the target echo signal is obtained, specifically:
When carrying out dissection process to the target echo signal detected, mobile carrier relative target is moved more General Le frequency offseting value is added in the target echo signal, inhibits the fixed target in the target echo signal Echo-signal obtains the echo-signal of the moving target, and the echo-signal based on the moving target obtains the movement mesh Target Doppler frequency shift amount.
Second aspect provides a kind of detecting devices in the embodiment of the present invention, is applied in mobile detection system, the detection Equipment is arranged on mobile carrier, and the mobile detection system further includes the ancillary equipment connecting with the detecting devices；
The detecting devices, for during the mobile carrier is advanced, the posture for receiving the ancillary equipment to be surveyed The travel speed compensated information that amount is obtained and transmitted with navigation system；And
For being based on the travel speed compensated information, the how general of the corresponding mobile carrier relative target movement is obtained Strangle frequency offseting value；And
Doppler shift value for being moved based on the mobile carrier relative target, to the target echo detected Signal compensates, and inhibits the fixed echo signal in the target echo signal, obtains the target echo signal In moving target Doppler frequency shift amount.
In possible embodiment, the travel speed compensated information include the mobile carrier translational speed information and The present orientation angle information of the antenna rotating platform of the detecting devices；
The detecting devices, is specifically used for:
Present orientation angle information based on the translational speed information and the antenna rotating platform obtains the movement speed letter Cease the projection velocity information in the antenna beam direction of the launch of the detecting devices；And
The projection velocity information is converted to the Doppler shift value of the mobile carrier relative target movement.
In possible embodiment, the detecting devices is specifically used for:
Present orientation angle information based on the translational speed information and the antenna rotating platform obtains the movement speed letter Cease the projection velocity information on the present orientation angle of the antenna rotating platform；And based on the translational speed information in the day Projection velocity information on the present orientation angle of line turntable obtains the translational speed information in the antenna wave of the detecting devices Projection velocity information in the beam direction of the launch.
In possible embodiment, the detecting devices is specifically used for:
Obtain the operation wavelength of the detecting devices；And
The projection velocity information is converted into the mobile carrier with respect to mesh by the operation wavelength of the detecting devices Mark the Doppler shift value of movement.
In possible embodiment, the detecting devices is specifically used for:
When carrying out dissection process to the target echo signal detected, mobile carrier relative target is moved more General Le frequency offseting value is added in the target echo signal, inhibits the fixed target in the target echo signal Echo-signal obtains the echo-signal of the moving target, and the echo-signal based on the moving target obtains the movement mesh Target Doppler frequency shift amount.
The third aspect provides a kind of mobile detection system in the embodiment of the present invention, comprising:
Detecting devices on mobile carrier is set；
The ancillary equipment connecting with the detecting devices, the ancillary equipment include attitude measurement and navigation system；
Wherein:
The attitude measurement and navigation system, for obtaining a traveling velocity compensation information by acquisition；
The detecting devices, for during the mobile carrier is advanced, the posture for receiving the ancillary equipment to be surveyed The travel speed compensated information that amount is obtained and transmitted with navigation system；And
For being based on the travel speed compensated information, the how general of the corresponding mobile carrier relative target movement is obtained Strangle frequency offseting value；And
Doppler shift value for being moved based on the mobile carrier relative target, to the target echo detected Signal compensates, and inhibits the fixed echo signal in the target echo signal, obtains the target echo signal In moving target Doppler frequency shift amount.
In possible embodiment, the travel speed compensated information of the attitude measurement and navigation system acquisition acquisition The present orientation angle information of the antenna rotating platform of translational speed information and the detecting devices including the mobile carrier；
During obtaining the Doppler shift value of the corresponding mobile carrier relative target movement, the spy Measurement equipment is specifically used for:
Present orientation angle information based on the translational speed information and the antenna rotating platform obtains the movement speed letter Cease the projection velocity information in the antenna beam direction of the launch of the detecting devices；And
The projection velocity information is converted to the Doppler shift value of the mobile carrier relative target movement.
In possible embodiment, the translational speed information is being obtained in the antenna beam launch party of the detecting devices During upward projection velocity information, the detecting devices is specifically used for:
Present orientation angle information based on the translational speed information and the antenna rotating platform obtains the movement speed letter Cease the projection velocity information on the present orientation angle of the antenna rotating platform；And based on the translational speed information in the day Projection velocity information on the present orientation angle of line turntable obtains the translational speed information in the antenna wave of the detecting devices Projection velocity information in the beam direction of the launch.
In possible embodiment, the projection velocity information is being converted into the mobile carrier relative target movement During Doppler shift value, the detecting devices is specifically used for:
Obtain the operation wavelength of the detecting devices；And
The projection velocity information is converted into the mobile carrier with respect to mesh by the operation wavelength of the detecting devices Mark the Doppler shift value of movement.
In possible embodiment, in the mistake for the Doppler frequency shift amount for obtaining the moving target in the target echo signal Cheng Zhong, the detecting devices are specifically used for:
When carrying out dissection process to the target echo signal detected, mobile carrier relative target is moved more General Le frequency offseting value is added in the target echo signal, inhibits the fixed target in the target echo signal Echo-signal obtains the echo-signal of the moving target, and the echo-signal based on the moving target obtains the movement mesh Target Doppler frequency shift amount.
Fourth aspect provides a kind of moving target detection method in the embodiment of the present invention, is applied in mobile detection system A detecting devices, the detecting devices is arranged on mobile carrier, and the mobile detection system further includes setting with the detection The ancillary equipment of standby connection；The described method includes:
During the mobile carrier is advanced, the attitude measurement and navigation system for receiving the ancillary equipment are obtained simultaneously The antenna beam compensated information transmitted；
Based on the antenna beam compensated information, the current offset angle of antenna beam is obtained；
It is corrected based on current initial angle of the current offset angle to antenna beam, so that the detecting devices Antenna beam can cover default airspace.
In possible embodiment, the antenna beam compensated information includes the antenna reference face of the detecting devices on the right side The present orientation angle of current course angle information, current pitch angle information, current roll angle information, antenna rotating platform under hand coordinate system Information；
It is described to be based on the antenna beam compensated information, obtain the current offset angle of antenna beam, comprising:
By coordinate transform, by current course angle information of the antenna reference face under right-handed coordinate system, current pitching Angle information, current roll angle information, antenna rotating platform present orientation angle information corresponding conversion at the antenna reference face in level Believe at the present orientation angle of current course angle information, current pitch angle information, current roll angle information, antenna rotating platform under coordinate system Breath；
Based on current course angle information of the antenna reference face under horizontal coordinates, current pitch angle information, current The present orientation angle information of roll angle information, antenna rotating platform obtains the current offset angle of antenna beam.
In terms of 5th, a kind of detecting devices is provided in the embodiment of the present invention, is applied in mobile detection system, the detection Equipment is arranged on mobile carrier, and the mobile detection system further includes the ancillary equipment connecting with the detecting devices；
The detecting devices, for during the mobile carrier is advanced, the posture for receiving the ancillary equipment to be surveyed The antenna beam compensated information that amount is obtained and transmitted with navigation system；And
For being based on the antenna beam compensated information, the current offset angle of antenna beam is obtained；And
For being corrected based on current initial angle of the current offset angle to antenna beam, so that the detection is set Standby antenna beam can cover default airspace.
In possible embodiment, the antenna beam compensated information includes the antenna reference face of the detecting devices on the right side The present orientation angle of current course angle information, current pitch angle information, current roll angle information, antenna rotating platform under hand coordinate system Information；
During obtaining the current offset angle of antenna beam, the detecting devices is specifically used for:
By coordinate transform, by current course angle information of the antenna reference face under right-handed coordinate system, current pitching Angle information, current roll angle information, antenna rotating platform present orientation angle information corresponding conversion at the antenna reference face in level Believe at the present orientation angle of current course angle information, current pitch angle information, current roll angle information, antenna rotating platform under coordinate system Breath；And
Based on current course angle information of the antenna reference face under horizontal coordinates, current pitch angle information, current The present orientation angle information of roll angle information, antenna rotating platform obtains the current offset angle of antenna beam.
In terms of 6th, a kind of mobile detection system is provided in the embodiment of the present invention, comprising:
Detecting devices on mobile carrier is set；
The ancillary equipment connecting with the detecting devices, the ancillary equipment include attitude measurement and navigation system；
Wherein:
The attitude measurement and navigation system, for obtaining an antenna beam compensated information by acquisition；
The detecting devices, for during the mobile carrier is advanced, the posture for receiving the ancillary equipment to be surveyed The antenna beam compensated information that amount is obtained and transmitted with navigation system；And
For being based on the antenna beam compensated information, the current offset angle of antenna beam is obtained；And
For being corrected based on current initial angle of the current offset angle to antenna beam, so that the detection is set Standby antenna beam can cover default airspace.
In possible embodiment, the antenna beam compensated information includes the antenna reference face of the detecting devices on the right side The present orientation angle of current course angle information, current pitch angle information, current roll angle information, antenna rotating platform under hand coordinate system Information；
During obtaining the current offset angle of antenna beam, the detecting devices is specifically used for:
By coordinate transform, by current course angle information of the antenna reference face under right-handed coordinate system, current pitching Angle information, current roll angle information, antenna rotating platform present orientation angle information corresponding conversion at the antenna reference face in level Believe at the present orientation angle of current course angle information, current pitch angle information, current roll angle information, antenna rotating platform under coordinate system Breath；And
Based on current course angle information of the antenna reference face under horizontal coordinates, current pitch angle information, current The present orientation angle information of roll angle information, antenna rotating platform obtains the current offset angle of antenna beam.
7th aspect, provides a kind of moving target detection method in the embodiment of the present invention, a kind of moving target detection method, Applied to the detecting devices in mobile detection system, the detecting devices is arranged on mobile carrier, the mobile detection system System further includes the ancillary equipment connecting with the detecting devices；The described method includes:
During the mobile carrier is advanced, the attitude measurement and navigation system for receiving the ancillary equipment are first The first distance information of the first navigation information of first sensing point and the moving target that sensing point is obtained and transmitted；
Receive the ancillary equipment attitude measurement and navigation system the second sensing point obtains and transmit described second Second navigation information of sensing point and the second distance information of the moving target；
The second navigation letter of first navigation information, second sensing point based on first sensing point Breath, by geographic coordinate system, the first distance information of the moving target of first sensing point is converted in institute State the third range information of the moving target corresponding with the first distance information of the second sensing point；
The third based on the second distance information and the moving target corresponding with the first distance information Range information generates the track information of the moving target.
Eighth aspect provides a kind of detecting devices in the embodiment of the present invention, is applied in mobile detection system, the detection Equipment is arranged on mobile carrier, and the mobile detection system further includes the ancillary equipment connecting with the detecting devices；
The detecting devices, for during the mobile carrier is advanced, the posture for receiving the ancillary equipment to be surveyed Amount and navigation system first sensing point that the first sensing point obtains and transmits the first navigation information and the movement mesh Target first distance information；And
Attitude measurement and navigation system for receiving the ancillary equipment are obtained in the second sensing point and described in transmitting Second navigation information of the second sensing point and the second distance information of the moving target；And
Second navigation for first navigation information, second sensing point based on first sensing point Information is converted to the first distance information of the moving target of first sensing point by geographic coordinate system The third range information of the moving target corresponding with the first distance information of second sensing point；And
For based on described in the second distance information and the moving target corresponding with the first distance information Third range information generates the track information of the moving target.
In terms of 9th, a kind of mobile detection system is provided in the embodiment of the present invention, comprising:
Detecting devices on mobile carrier is set；
The ancillary equipment connecting with the detecting devices, the ancillary equipment include attitude measurement and navigation system；
Wherein:
The attitude measurement and navigation system, for being obtained in the first sensing point during the mobile carrier is advanced The first distance information of the first navigation information of first sensing point and the moving target for obtaining and transmitting；And
In the second navigation information and the moving target of the second sensing point obtains and transmits second sensing point Second distance information；
The detecting devices, for during the mobile carrier is advanced, the posture for receiving the ancillary equipment to be surveyed Amount and navigation system first sensing point that the first sensing point obtains and transmits the first navigation information and the movement mesh Target first distance information；And
Attitude measurement and navigation system for receiving the ancillary equipment are obtained in the second sensing point and described in transmitting Second navigation information of the second sensing point and the second distance information of the moving target；And
Second navigation for first navigation information, second sensing point based on first sensing point Information is converted to the first distance information of the moving target of first sensing point by geographic coordinate system The third range information of the moving target corresponding with the first distance information of second sensing point；And
For based on described in the second distance information and the moving target corresponding with the first distance information Third range information generates the track information of the moving target.
Based on the above-mentioned technical proposal, the moving target detection method in the embodiment of the present invention, detecting devices and mobile detection System, during mobile detection system is advanced, travel speed of the detecting devices based on attitude measurement and navigation system acquisition The translational speed information of mobile carrier in compensated information and the present orientation angle information of antenna rotating platform obtain mobile carrier movement Doppler frequency signal, and the target echo signal detected is compensated, is eliminated in target echo signal by compensation Permanent echo signal influence, obtain the Doppler frequency shift amount of moving target；So, on the one hand, removed by compensation The Doppler frequency of fixation target in the target detected avoids detecting devices from accidentally generating fixed target as moving target False-alarm targets promote the accuracy and validity of detecting devices early warning；On the other hand, it is transported based on the mobile carrier relative target Dynamic Doppler shift value, compensates the target echo signal detected, what some or all of removal detected Fixed echo signal in target obtains the echo-signal of moving target, therefore can obtain accurate moving target Doppler frequency shift amount obtains the accurate distance and radial velocity of moving target during being conducive to succeeding target detection processing Information promotes the moving target detectivity of detecting devices.
During mobile detection system is advanced, antenna wave of the detecting devices based on attitude measurement and navigation system acquisition Beam compensated information obtains the current offset angle of antenna beam, is risen based on the current offset angle to the current of antenna beam Beginning angle is corrected, so that the antenna beam of the detecting devices can cover default airspace, so that detection airspace is avoided to omit, Promote the moving target detectivity and pre-alerting ability of detecting devices.
During mobile detection system is advanced, first sensing point of the detecting devices by the time before the second sensing point Target range, dress change the target range in the geographic coordinate system that continually changing second sensing point is origin into, realize same The moving target distance of first sensing point and the moving target of second sensing point are characterized in the geographic coordinate system of origin Distance continuously generates the track information of the moving target in this way in the continually changing situation of the second sensing point, realizes real-time Generate and export the track information of the moving target.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair Bright some embodiments for those of ordinary skill in the art without creative efforts, can be with root Other attached drawings are obtained according to these attached drawings.
Fig. 1 shows a kind of moving target for compensating offer to mobile carrier travel speed in the embodiment of the present invention and visits The flow diagram of survey method；
The knot that detecting devices moving target detects in the case where Fig. 2 shows not compensating to mobile carrier travel speed Fruit figure；
Fig. 3 is shown mobile carrier travel speed is compensated in the case where detecting devices moving target detect result Figure；
Fig. 4 shows in the embodiment of the present invention and compensates a kind of detecting devices of offer to mobile carrier travel speed Structural schematic diagram；
Fig. 5 shows a kind of mobile detection system for compensating offer in the embodiment of the present invention to mobile carrier travel speed The structural schematic diagram of system；
Fig. 6 shows in the embodiment of the present invention and compensates a kind of moving target detection method of offer to antenna beam Flow diagram；
Fig. 7 shows mobile carrier on having acclive road, and antenna reference face is current under horizontal coordinates When the value of roll angle is 0, the schematic diagram of the antenna beam of mobile detection system；
Fig. 8 shows the structural representation for compensating a kind of detecting devices of offer in the embodiment of the present invention to antenna beam Figure；
Fig. 9 shows the structure for compensating a kind of mobile detection system of offer in the embodiment of the present invention to antenna beam Schematic diagram；
Figure 10 shows a kind of moving target detection method for compensating offer in the embodiment of the present invention to target range Flow diagram；
Figure 11 shows mobile carrier and moving target while mobile moving target detection schematic diagram；
Figure 12 shows the structure for compensating a kind of detecting devices of offer to target range in the embodiment of the present invention and shows It is intended to；
Figure 13 shows the knot for compensating a kind of mobile detection system of offer in the embodiment of the present invention to target range Structure schematic diagram.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
For the ease of clearly and completely understanding the technical solution of the embodiment of the present invention, below to institute in the embodiment of the present invention The term being related to is illustrated.
Term " geographic coordinate system " (Geographic Coordinate System, GCS), is determined using three-dimensional sphere Free burial ground for the destitute ball surface position, to realize the coordinate system quoted by longitude and latitude to earth surface point.It include angle measurement unit, The first meridian and reference ellipsoid three parts.
Term " Doppler frequency shift " (Doppler Shift, DS) works as mobile station, for example, trailer-mounted radar at a predetermined rate to When a direction is mobile, due to propagation difference, causes Doppler effect to cause tranmitting frequency and receive the difference of frequency. When the frequency of Doppler frequency shift generates drift, Doppler frequency shift offset just has occurred, it adds a phase to echo-signal, should Phase can generate error code in coherent demodulation.
Term " inertial coodinate system " refers to Newton's laws of motion effective referential wherein.
Course angle, pitch angle and the roll angle in antenna reference face refer in right, preceding, upper three directions in antenna reference face In the right-handed coordinate system of composition, antenna reference face is roll angle around the angle that the rotation of forward axis generates, and antenna reference face is around forward Axis rotation roll about for the transformation of roll angle；Antenna reference face is pitch angle, antenna reference around the angle that axis rotation to the right generates It turns a somersault around axis rotation to the right as the transformation of pitch angle in face；Antenna reference face is course around the angle that upward axis rotation generates Angle, antenna reference face are turned left or are turned right around upward axis as the transformation of course angle.
Existing mobile detection system, when detecting during traveling to moving target, the target detected is returned Wave signal includes fixed echo signal, so that generating a large amount of false-alarm targets, influences the movement of mobile detection system The accuracy of target acquisition.
Inventor has found that existing mobile detection system exists during realizing the technical solution in the embodiment of the present invention Why the target echo signal detected in traveling process includes fixed echo signal, not due to fixed target It is the detection target of mobile detection system, real causes is, when mobile detection system is advanced, fixed target is detected relative to mobile System can also generate movement, cause mobile detection system that will fix target and carry out target acquisition as moving target, and carry out mesh Mark parsing, so that generating a large amount of false-alarm targets.
Inventor also found under study for action, if the movement velocity of mobile carrier can be obtained, due to the movement of mobile carrier Speed is identical as the movement velocity of the detecting devices of mobile detection system, can be based on as the movement velocity of detecting devices The movement velocity of mobile carrier obtains the Doppler shift value of corresponding mobile carrier relative target movement, and is superimposed Into the target echo signal detected, it can suppress the fixed echo signal in target echo signal, moved The accurate Doppler frequency shift amount of target.
Inventor is based on above-mentioned cognition and mentions in the embodiment of the present invention for compensating to mobile carrier travel speed For a kind of moving target detection method, detecting devices and mobile detection system.
Fig. 1 shows a kind of moving target for compensating offer to mobile carrier travel speed in the embodiment of the present invention and visits The flow diagram of survey method.The moving target detection method specifically can be applied to the detection in mobile detection system Equipment, the detecting devices are arranged on mobile carrier, and the mobile detection system further includes connecting with the detecting devices Ancillary equipment, the ancillary equipment include attitude measurement and navigation system.The mobile carrier can specifically be but not limited to fly Machine, naval vessel, delivery train, transporting cars, does not make specific limit to the form of mobile carrier in embodiments of the present invention；The spy Measurement equipment specifically can be radar, and detecting devices similar with radar；The detecting devices includes signal processing subsystem, The signal processing subsystem, for carrying out the compensation of mobile carrier travel speed to the target echo signal detected；It is described auxiliary Equipment is helped, specifically can be can cooperate with the equipment used with the detecting devices, for example, power-supply device, data record apparatus, anti- Jamming equipment, attitude measurement and navigation system, wherein attitude measurement and navigation system specifically can be inertial navigation system, example Such as gyroscope, it is also possible to the attitude measurement being made of multiple GPS receiver and navigation system.
Referring now to shown in Fig. 1, the moving target that mobile carrier travel speed compensates is detected in the embodiment of the present invention Process is as follows:
S110 receives the attitude measurement and navigation system of the ancillary equipment during mobile carrier is advanced The travel speed compensated information for obtaining and transmitting；
Wherein, the travel speed compensated information include the mobile carrier translational speed information and the detecting devices Antenna rotating platform present orientation angle information；
Specific implementation process can be, and during the mobile carrier is advanced, detecting devices receives the auxiliary and sets The travel speed compensated information that standby attitude measurement and navigation system is obtained and transmitted；Wherein, the travel speed compensates letter Breath is attitude measurement and navigation system, such as gyroscope, and the row of the mobile carrier of carrying detecting devices is obtained by measurement It nourishes and repays velocity information；The traveling compensation speed information, can specifically include the mobile carrier translational speed information and The present orientation angle information of the antenna rotating platform of the detecting devices；Certainly, the information that attitude measurement and navigation system measurement obtain, The longitude and latitude of sensing point and the parameter of elevation information and other mobile detection system needs of work where may also include mobile carrier Information, the information not obtained to attitude measurement and navigation system measurement in the embodiment of the present invention are defined.
S120 is based on the travel speed compensated information, obtains the more of the corresponding mobile carrier relative target movement General Le frequency offseting value；
In possible embodiment, if the travel speed compensated information includes the movement speed letter of the mobile carrier The present orientation angle information of the antenna rotating platform of breath and the detecting devices, step S120 are based on the travel speed compensated information, Obtain the Doppler shift value of the corresponding mobile carrier relative target movement, comprising:
Present orientation angle information based on the translational speed information and the antenna rotating platform obtains the movement speed letter Cease the projection velocity information in the antenna beam direction of the launch of the detecting devices；
The projection velocity information is converted to the Doppler shift value of the mobile carrier relative target movement.
It is described to be believed based on the present orientation angle of the translational speed information and the antenna rotating platform in possible embodiment Breath, obtains projection velocity information of the translational speed information in the antenna beam direction of the launch of the detecting devices, specifically May include:
Present orientation angle information based on the translational speed information and the antenna rotating platform obtains the movement speed letter Cease the projection velocity information on the present orientation angle of the antenna rotating platform；
Projection velocity information based on the translational speed information on the present orientation angle of the antenna rotating platform obtains institute State projection velocity information of the translational speed information in the antenna beam direction of the launch of the detecting devices.
It is described that the projection velocity information is converted into the mobile carrier relative target movement in possible embodiment Doppler shift value, can specifically include:
Obtain the operation wavelength of the detecting devices；
The projection velocity information is converted into the mobile carrier with respect to mesh by the operation wavelength of the detecting devices Mark the Doppler shift value of movement.
Specific implementation process can be, and the detecting devices described in step S110 receives the travel speed compensated information Afterwards, the detecting devices, first can be based on the translational speed information that the travel speed compensated information includes and described The present orientation angle information of antenna rotating platform obtains throwing of the translational speed information on the present orientation angle of the antenna rotating platform Shadow velocity information, the projection velocity information based on the translational speed information on the present orientation angle of the antenna rotating platform, is obtained Obtain projection velocity information of the translational speed information in the antenna beam direction of the launch of the detecting devices；Again by described The projection velocity information is converted to the mobile carrier relative target and moved by the operation wavelength of itself that detecting devices obtains Doppler shift value.
Wherein, the Doppler shift value of the mobile carrier relative target movement, obtains especially by following formula:
fd=2v/ λ
Wherein, fdFor the Doppler shift value of mobile carrier relative target movement, v is the mobile carrier Projection velocity information of the translational speed information in the antenna beam direction of the launch, λ are the detection of mobile detection system The operation wavelength of equipment.
S130 returns the target detected based on the Doppler shift value of mobile carrier relative target movement Wave signal compensates, and inhibits the fixed echo signal in the target echo signal, obtains the target echo letter The Doppler frequency shift amount of moving target in number.
After the Doppler shift value that step S120 obtains the mobile carrier relative target movement, the detection is set It is standby specifically to move mobile carrier relative target when carrying out dissection process to the target echo signal detected Doppler shift value is added in the target echo signal, inhibits the fixed target in the target echo signal Echo-signal, obtain the echo-signal of the moving target, echo-signal based on the moving target obtains the movement The Doppler frequency shift amount of target.
Specific implementation process can be, and obtain the Doppler frequency of the mobile carrier relative target movement in step S120 After deviant, the Doppler shift value that the mobile carrier relative target moves is added to the mesh by the detecting devices It marks in echo-signal, to the corresponding fixed echo of Doppler shift value of mobile carrier relative target movement Signal is inhibited, and some or all of can be removed the fixed echo signal by inhibiting, be obtained the movement The echo-signal of target, the echo-signal based on the moving target obtain the Doppler frequency shift amount of the moving target.It is based on The accurate distance and radial velocity information of moving target can be obtained in the Doppler frequency shift amount of the moving target, executes warning and draws Lead task.
In embodiments of the present invention, step S120 and step S130 can specifically pass through the signal processing of the detecting devices Subsystem is realized.
Now in conjunction with detecting devices moving target detection result figure, in the embodiment of the present invention to mobile carrier travel speed The effect for compensating a kind of moving target detection method of offer is illustrated.
The knot that detecting devices moving target detects in the case where Fig. 2 shows not compensating to mobile carrier travel speed Fruit figure.
Referring now to shown in Fig. 2, not only there is moving target in moving target detection result figure in Fig. 2, there are also more fixations There are more false-alarm targets, the accuracy and validity of detecting devices early warning are lower in target namely target acquisition result.
Fig. 3 is shown mobile carrier travel speed is compensated in the case where detecting devices moving target detect result Figure.
Referring now to shown in Fig. 3, there was only moving target in Fig. 3 in the result of moving target detection, namely remove by compensation The Doppler frequency of fixation target in the target detected, target will be fixed as moving target, suppression by avoiding detecting devices accidentally Made the generation of false-alarm targets, in this way, detecting devices subsequent motion target acquisition handle during, readily available movement mesh Target distance and radial velocity information.
A kind of any of aforementioned moving target detection method embodiment that offer is provided to mobile carrier travel speed The process that embodiment discloses, can function achieved by one or more step and specific implementation application environment in Kernel-based methods It carries out logical function partition correspondence and obtains multiple functional modules；Wherein, a functional module can be corresponding with the same step, Can be corresponding with two or more steps, each functional module can physically exist alone, two or two with Upper functional module can common physical presence.The functional module can both be realized by program code obtains corresponding program, It can be realized by logic circuit and obtain corresponding logic circuit device.When any implementation of moving target detection method embodiment The corresponding multiple functional modules of process that example discloses are applied to detecting devices, just obtain compensating mobile carrier travel speed There is provided a kind of detecting devices embodiment any embodiment, further, when the detecting devices be applied to mobile detection system, With regard to a kind of any embodiment of the corresponding mobile detection system embodiment for obtaining compensating mobile carrier travel speed offer.
The moving target detection method, detecting devices, mobile detection system of offer are provided to mobile carrier travel speed System, in technical problem to be solved, the course of work of realizing function, to can be obtained technical effect same or similar, belongs to In identical inventive concept.Those skilled in the art can refer to detecting devices embodiment, understand that moving target of the present invention is visited The specific implementation form for surveying embodiment of the method can refer to mobile detection system embodiment, understand moving target detection side of the present invention The application environment of method embodiment and whole way of realization；Correspondingly, it can refer to the correlation in moving target detection method embodiment Description, understands the course of work of detecting devices and mobile detection system.
For convenience and simplicity of description, in the mistake being illustrated to detecting devices embodiment and mobile detection system embodiment Cheng Zhong, just no longer specifically repeat one by one can refer to the associated description in moving target detection method embodiment it will be appreciated that it is interior Hold, for example, it is can solve the technical issues of, achieved function, realization function process experienced, can be obtained technology Effect, the description to related executing subject.
Realization based on a kind of moving target detection method embodiment for compensating offer to mobile carrier travel speed And application, it can correspond to obtain a kind of detecting devices embodiment for compensating mobile carrier travel speed offer.
Fig. 4 shows in the embodiment of the present invention and compensates a kind of detecting devices of offer to mobile carrier travel speed Structural schematic diagram.
Referring now to shown in Fig. 4, the detecting devices 110 is applied in mobile detection system, and the detecting devices 110 is set It sets on mobile carrier, the mobile detection system further includes the ancillary equipment connecting with the detecting devices；The detection is set Standby 110 include the signal processing subsystem for carrying out the compensation of mobile carrier travel speed to the target echo signal detected 111；
The detecting devices 110, for receiving the posture of the ancillary equipment during mobile carrier is advanced The travel speed compensated information that measurement is obtained and transmitted with navigation system；And
For being based on the travel speed compensated information, the how general of the corresponding mobile carrier relative target movement is obtained Strangle frequency offseting value；And
Doppler shift value for being moved based on the mobile carrier relative target, to the target echo detected Signal compensates, and inhibits the fixed echo signal in the target echo signal, obtains the target echo signal In moving target Doppler frequency shift amount.
In possible embodiment, the travel speed compensated information include the mobile carrier translational speed information and The present orientation angle information of the antenna rotating platform of the detecting devices；
The detecting devices 110, is specifically used for:
Present orientation angle information based on the translational speed information and the antenna rotating platform obtains the movement speed letter Cease the projection velocity information in the antenna beam direction of the launch of the detecting devices；And
The projection velocity information is converted to the Doppler shift value of the mobile carrier relative target movement.
In possible embodiment, the detecting devices 110 is specifically used for:
Present orientation angle information based on the translational speed information and the antenna rotating platform obtains the movement speed letter Cease the projection velocity information on the present orientation angle of the antenna rotating platform；And based on the translational speed information in the day Projection velocity information on the present orientation angle of line turntable obtains the translational speed information in the antenna wave of the detecting devices Projection velocity information in the beam direction of the launch.
In possible embodiment, the detecting devices 110 is specifically used for:
Obtain the operation wavelength of the detecting devices 110；And
It is opposite that the projection velocity information is converted into the mobile carrier by the operation wavelength of the detecting devices 110 The Doppler shift value of target movement.
In possible embodiment, the detecting devices 110 is specifically used for:
When carrying out dissection process to the target echo signal detected, mobile carrier relative target is moved more General Le frequency offseting value is added in the target echo signal, inhibits the fixed target in the target echo signal Echo-signal obtains the echo-signal of the moving target, and the echo-signal based on the moving target obtains the movement mesh Target Doppler frequency shift amount.
Specifically, the detecting devices 110 includes signal processing subsystem 111, and the detecting devices 110 is based on the letter Number processing subsystem 111 executes function possessed by foregoing detection equipment 110.
Realization based on a kind of moving target detection method embodiment for compensating offer to mobile carrier travel speed And application, it can correspond to obtain a kind of mobile detection system embodiment for compensating mobile carrier travel speed offer.
Fig. 5 shows a kind of mobile detection system for compensating offer in the embodiment of the present invention to mobile carrier travel speed The structural schematic diagram of system.
Referring now to shown in Fig. 5, the mobile detection system 100 includes:
Detecting devices 110 on mobile carrier is set；
The ancillary equipment 120 connecting with the detecting devices 110, the ancillary equipment 120 include attitude measurement and navigation System 121；
The detecting devices 110 includes for carrying out the compensation of mobile carrier travel speed to the target echo signal detected Signal processing subsystem 111；
Wherein:
The attitude measurement and navigation system 121, for obtaining a traveling velocity compensation information by acquisition；
The detecting devices 110, for receiving the posture of the ancillary equipment during mobile carrier is advanced The travel speed compensated information that measurement is obtained and transmitted with navigation system；And
For being based on the travel speed compensated information, the how general of the corresponding mobile carrier relative target movement is obtained Strangle frequency offseting value；And
Doppler shift value for being moved based on the mobile carrier relative target, to the target echo detected Signal compensates, and inhibits the fixed echo signal in the target echo signal, obtains the target echo signal In moving target Doppler frequency shift amount.
In possible embodiment, the travel speed of the attitude measurement and the acquisition acquisition of navigation system 121 is compensated Information includes the present orientation angle letter of the translational speed information of the mobile carrier and the antenna rotating platform of the detecting devices 110 Breath；
During obtaining the Doppler shift value of the corresponding mobile carrier relative target movement, the spy Measurement equipment 110 is specifically used for:
Present orientation angle information based on the translational speed information and the antenna rotating platform obtains the movement speed letter Cease the projection velocity information in the antenna beam direction of the launch of the detecting devices；And
The projection velocity information is converted to the Doppler shift value of the mobile carrier relative target movement.
In possible embodiment, sent out obtaining antenna beam of the translational speed information in the detecting devices 110 During penetrating the projection velocity information on direction, the detecting devices 110 is specifically used for:
Present orientation angle information based on the translational speed information and the antenna rotating platform obtains the movement speed letter Cease the projection velocity information on the present orientation angle of the antenna rotating platform；And based on the translational speed information in the day Projection velocity information on the present orientation angle of line turntable obtains the translational speed information in the antenna wave of the detecting devices Projection velocity information in the beam direction of the launch.
In possible embodiment, the projection velocity information is being converted into the mobile carrier relative target movement During Doppler shift value, the detecting devices 110 is specifically used for:
Obtain the operation wavelength of the detecting devices 110；And
It is opposite that the projection velocity information is converted into the mobile carrier by the operation wavelength of the detecting devices 110 The Doppler shift value of target movement.
In possible embodiment, in the mistake for the Doppler frequency shift amount for obtaining the moving target in the target echo signal Cheng Zhong, the detecting devices 110 are specifically used for:
When carrying out dissection process to the target echo signal detected, mobile carrier relative target is moved more General Le frequency offseting value is added in the target echo signal, inhibits the fixed target in the target echo signal Echo-signal obtains the echo-signal of the moving target, and the echo-signal based on the moving target obtains the movement mesh Target Doppler frequency shift amount.
Specifically, the detecting devices 110 includes signal processing subsystem 111, and the detecting devices 110 is based on the letter Number processing subsystem 111 executes function possessed by foregoing detection equipment 110.
It can be seen that a kind of moving target for compensating offer to mobile carrier travel speed in the embodiment of the present invention is visited Survey method, detecting devices, mobile detection system, detecting devices are compensated based on the travel speed that attitude measurement and navigation system obtain The translational speed information of mobile carrier in information and the present orientation angle information of antenna rotating platform obtain the more of mobile carrier movement General Le frequency signal, and the target echo signal detected is compensated, by compensating consolidating in the target that removal detects The Doppler frequency to set the goal, target will be fixed as moving target generation false-alarm targets by avoiding detecting devices accidentally, promote detection The accuracy and validity of equipment early warning；On the other hand, the Doppler frequency based on mobile carrier relative target movement is inclined Shifting value compensates the target echo signal detected, some or all of fixation target removed in the target detected Echo-signal, obtain the echo-signal of moving target, therefore the Doppler frequency shift amount of accurate moving target can be obtained, favorably During succeeding target detection processing, the accurate distance and radial velocity information of moving target are obtained, promotes detecting devices Moving target detectivity.
Inventor has found during realizing the technical solution in the embodiment of the present invention, when mobile carrier is in skewed When state, for example, mobile carrier is when in horizontal road or when mobile carrier main body is in heeling condition, the day of detecting devices The antenna beam that the scanning of line mechanical circumferential generates can upwarp or sink, so that antenna beam cannot cover the airspace of setting, cause It omits in the detection airspace of detecting devices.
At least based on mobile carrier be in heeling condition will cause detecting devices antenna beam can upwarp or sink so that The airspace that antenna beam cannot cover setting considers, for compensating to antenna beam, one is provided in the embodiment of the present invention Kind moving target detection method, detecting devices and mobile detection system.
Fig. 6 shows in the embodiment of the present invention and compensates a kind of moving target detection method of offer to antenna beam Flow diagram.The moving target detection method specifically can be applied to the detecting devices in mobile detection system, described Detecting devices is arranged on mobile carrier, and the mobile detection system further includes the ancillary equipment connecting with the detecting devices, The ancillary equipment includes attitude measurement and navigation system.The mobile carrier, can specifically be but not limited to aircraft, naval vessel, Train, transporting cars are delivered, specific limit is not made to the form of mobile carrier in embodiments of the present invention；The detecting devices, It specifically can be radar, and detecting devices similar with radar；The detecting devices includes antenna beam control subsystem, described Antenna beam control subsystem is corrected for the current initial angle to antenna beam；The ancillary equipment, specifically can be The equipment used can be cooperateed with the detecting devices, for example, power-supply device, data record apparatus, anti-interference equipment, attitude measurement With navigation system, wherein attitude measurement and navigation system specifically can be inertial navigation system, such as gyroscope, be also possible to The attitude measurement and navigation system be made of multiple GPS receiver.
Referring now to shown in Fig. 6, the moving target detection process compensated in the embodiment of the present invention to antenna beam is as follows:
S210 receives the attitude measurement and navigation system of the ancillary equipment during mobile carrier is advanced The antenna beam compensated information for obtaining and transmitting；
Specific implementation process can be, and during the mobile carrier is advanced, detecting devices receives the auxiliary and sets The antenna beam compensated information that standby attitude measurement and navigation system is obtained and transmitted；The antenna beam compensated information, specifically Can be current course angle information of the antenna reference face of the detecting devices under right-handed coordinate system, current pitch angle information, The present orientation angle information of current roll angle information, antenna rotating platform；, certainly, the letter that attitude measurement is obtained with navigation system measurement Breath, may also include the parameter information of other mobile detection system needs of work in antenna reference face, not right in the embodiment of the present invention The information that attitude measurement is obtained with navigation system measurement is defined.
S220 is based on the antenna beam compensated information, obtains the current offset angle of antenna beam；
In possible embodiment, if the antenna beam compensated information includes the antenna reference face of the detecting devices Current course angle information, current pitch angle information, current roll angle information, antenna rotating platform under right-handed coordinate system work as front Azimuth angle information, step S220 are based on the antenna beam compensated information, obtain the current offset angle of antenna beam, comprising:
By coordinate transform, by current course angle information of the antenna reference face under right-handed coordinate system, current pitching Angle information, current roll angle information, antenna rotating platform present orientation angle information corresponding conversion at the antenna reference face in level Believe at the present orientation angle of current course angle information, current pitch angle information, current roll angle information, antenna rotating platform under coordinate system Breath；
Based on current course angle information of the antenna reference face under horizontal coordinates, current pitch angle information, current The present orientation angle information of roll angle information, antenna rotating platform obtains the current offset angle of antenna beam.
Specific implementation process can be, and the detecting devices described in step S210 receives the attitude measurement of the ancillary equipment After the antenna beam compensated information for obtaining and transmitting with navigation system, the detecting devices first can be by coordinate transform, will Current course angle information, current pitch angle information, current roll angle information, day of the antenna reference face under right-handed coordinate system The present orientation angle information corresponding conversion of line turntable at current course angle information of the antenna reference face under horizontal coordinates, Current pitch angle information, current roll angle information, antenna rotating platform present orientation angle information；Antenna beam is obtained by calculating again Current offset angle.
S230 is corrected, so that the detection based on current initial angle of the current offset angle to antenna beam The antenna beam of equipment can cover default airspace.
Specific implementation process can be, and after the current offset angle that step S220 obtains antenna beam, the detection is set It is standby, it is corrected, is specifically can be first to the shifting based on current initial angle of the current offset angle to antenna beam Dynamic load has the current initial angle of the antenna beam of cephalad direction and the current of the antenna beam of the mobile carrier caudal directions rises Beginning angle is corrected, then is corrected to the current initial angle of the antenna beam in other directions of the mobile carrier, so that institute The antenna beam for stating detecting devices can cover default airspace.
In embodiments of the present invention, step S220 and step S230 can specifically pass through the antenna beam of the detecting devices Control subsystem is realized.
It is corrected based on current initial angle of the current offset angle to antenna beam, is lifted below in order to facilitate understanding Specific example is illustrated:
Fig. 7 shows mobile carrier on having acclive road, and antenna reference face is current under horizontal coordinates When the value of roll angle is 0, the schematic diagram of the antenna beam of mobile detection system；
Referring now to shown in Fig. 7, when the value of current roll angle of the antenna reference face under horizontal coordinates is 0, base The corrected step of angle is controlled in the current command of the current offset angle to antenna beam, specifically:
It is the antenna base under horizontal coordinates by the order control angle of the mobile carrier antenna beam pitch angle The pitch angle of the current mobile carrier in quasi- face.After the antenna beam pitch angle correction of cephalad direction the order that provides should, by institute Order after stating the correction of mobile carrier caudal directions controls angle, wherein for the antenna base under horizontal coordinates The current pitch angle in quasi- face.
A kind of any embodiment of aforementioned moving target detection method embodiment that offer is compensated to antenna beam is taken off The process shown function achieved by one or more step and specific implementation application environment can carry out logic in Kernel-based methods Function division correspondence obtains multiple functional modules；Wherein, a functional module can be corresponding with the same step, can also be with two A or more than two steps are corresponding, and each functional module can physically exist alone, two or more function moulds Block can common physical presence.The functional module can both be realized by program code obtains corresponding program, can also pass through Logic circuit, which is realized, obtains corresponding logic circuit device.It is disclosed when any embodiment of moving target detection method embodiment The corresponding multiple functional modules of process are applied to detecting devices, and a kind of detection for just obtaining compensating antenna beam offer is set Any embodiment of standby embodiment further when the detecting devices is applied to mobile detection system, is obtained with regard to correspondence to antenna Wave beam compensates a kind of any embodiment of mobile detection system embodiment of offer.
Moving target detection method, detecting devices, the mobile detection system that offer is compensated to antenna beam, The technical issues of solution, the course of work for realizing function, to can be obtained technical effect same or similar, belongs to identical hair Bright design.Those skilled in the art can refer to detecting devices embodiment, understand that moving target detection method of the present invention is implemented The specific implementation form of example can refer to mobile detection system embodiment, understand moving target detection method embodiment of the present invention Application environment and whole way of realization；Correspondingly, it can refer to the associated description in moving target detection method embodiment, understand and visit The course of work of measurement equipment and mobile detection system.
For convenience and simplicity of description, in the mistake being illustrated to detecting devices embodiment and mobile detection system embodiment Cheng Zhong, just no longer specifically repeat one by one can refer to the associated description in moving target detection method embodiment it will be appreciated that it is interior Hold, for example, it is can solve the technical issues of, achieved function, realization function process experienced, can be obtained technology Effect, the description to related executing subject.
It, can based on a kind of implementation and application for the moving target detection method embodiment for compensating offer to antenna beam A kind of corresponding detecting devices embodiment for obtaining compensating antenna beam offer.
Fig. 8 shows the structural representation for compensating a kind of detecting devices of offer in the embodiment of the present invention to antenna beam Figure.
Referring now to shown in Fig. 8, the detecting devices 210 is applied in mobile detection system, and the detecting devices 210 is set It sets on mobile carrier, the mobile detection system further includes the ancillary equipment connecting with the detecting devices；The detection is set Standby includes for the corrected antenna beam control subsystem 213 of current initial angle to antenna beam；
The detecting devices 210, for receiving the posture of the ancillary equipment during mobile carrier is advanced The antenna beam compensated information that measurement is obtained and transmitted with navigation system；And
For being based on the antenna beam compensated information, the current offset angle of antenna beam is obtained；And
For being corrected based on current initial angle of the current offset angle to antenna beam, so that the detection is set Standby antenna beam can cover default airspace.
In possible embodiment, the antenna beam compensated information includes the antenna reference face of the detecting devices 210 Current course angle information, current pitch angle information, current roll angle information, antenna rotating platform under right-handed coordinate system work as front Azimuth angle information；
During obtaining the current offset angle of antenna beam, the detecting devices is specifically used for:
By coordinate transform, by current course angle information of the antenna reference face under right-handed coordinate system, current pitching Angle information, current roll angle information, antenna rotating platform present orientation angle information corresponding conversion at the antenna reference face in level Believe at the present orientation angle of current course angle information, current pitch angle information, current roll angle information, antenna rotating platform under coordinate system Breath；And
Based on current course angle information of the antenna reference face under horizontal coordinates, current pitch angle information, current The present orientation angle information of roll angle information, antenna rotating platform obtains the current offset angle of antenna beam.
Specifically, the detecting devices 210 includes antenna beam control subsystem 213, and the detecting devices 210 is based on institute It states antenna beam control subsystem 213 and executes function possessed by foregoing detection equipment.
It, can based on a kind of implementation and application for the moving target detection method embodiment for compensating offer to antenna beam A kind of corresponding mobile detection system embodiment for obtaining compensating antenna beam offer.
Fig. 9 shows the structure for compensating a kind of mobile detection system of offer in the embodiment of the present invention to antenna beam Schematic diagram.
Referring now to shown in Fig. 9, the mobile detection system 200 includes:
Detecting devices 210 on mobile carrier is set；
The ancillary equipment 220 connecting with the detecting devices 210, the ancillary equipment 220 include attitude measurement and navigation System 221；
The detecting devices 210 includes for corrected antenna beam control of current initial angle to antenna beam System 213；
Wherein:
The attitude measurement and navigation system 221, for obtaining an antenna beam compensated information by acquisition；
The detecting devices 210, for receiving the ancillary equipment 220 during the mobile carrier is advanced The antenna beam compensated information that attitude measurement and navigation system 221 are obtained and transmitted；And
For being based on the antenna beam compensated information, the current offset angle of antenna beam is obtained；And
For being corrected based on current initial angle of the current offset angle to antenna beam, so that the detection is set Standby antenna beam can cover default airspace.
In possible embodiment, the antenna beam compensated information includes the antenna reference face of the detecting devices 210 Current course angle information, current pitch angle information, current roll angle information, antenna rotating platform under right-handed coordinate system work as front Azimuth angle information；
During obtaining the current offset angle of antenna beam, the detecting devices 210 is specifically used for:
By coordinate transform, by current course angle information of the antenna reference face under right-handed coordinate system, current pitching Angle information, current roll angle information, antenna rotating platform present orientation angle information corresponding conversion at the antenna reference face in level Believe at the present orientation angle of current course angle information, current pitch angle information, current roll angle information, antenna rotating platform under coordinate system Breath；And
Based on current course angle information of the antenna reference face under horizontal coordinates, current pitch angle information, current The present orientation angle information of roll angle information, antenna rotating platform obtains the current offset angle of antenna beam.
Specifically, the detecting devices 210 includes antenna beam control subsystem 213, and the detecting devices 210 is based on institute It states antenna beam control subsystem 213 and executes function possessed by foregoing detection equipment 210.
It can be seen that in the embodiment of the present invention to antenna beam compensate offer a kind of moving target detection method, Detecting devices, mobile detection system, the antenna beam compensated information that detecting devices is obtained based on attitude measurement and navigation system, are obtained The current offset angle for obtaining antenna beam, is corrected based on current initial angle of the current offset angle to antenna beam, So that the antenna beam of the detecting devices can cover default airspace, so that detection airspace be avoided to omit, detecting devices is promoted Moving target detectivity and pre-alerting ability.
Inventor has found during realizing the technical solution in the embodiment of the present invention, due to mobile carrier and movement mesh Mark while mobile, the characteristic of the distance presentation nonlinear change for the moving target that detecting devices detects, can not be by simple Model generates the track information of moving target.
At least based on the mobile consideration simultaneously of mobile carrier and moving target, for being compensated to target range, this hair A kind of moving target detection method, detecting devices and mobile detection system are provided in bright embodiment.
Figure 10 shows a kind of moving target detection method for compensating offer in the embodiment of the present invention to target range Flow diagram.The moving target detection method specifically can be applied to the detecting devices in mobile detection system, institute It states detecting devices to be arranged on mobile carrier, the mobile detection system further includes that the auxiliary connecting with the detecting devices is set Standby, the ancillary equipment includes attitude measurement and navigation system.The mobile carrier can specifically be but not limited to aircraft, warship Ship, delivery train, transporting cars, do not make specific limit to the form of mobile carrier in embodiments of the present invention；The detection is set It is standby, it specifically can be radar, and detecting devices similar with radar；The detecting devices includes data process subsystem, described Data process subsystem, for generating the track letter of moving target based on the geographic coordinate system that continually changing sensing point is origin Breath；The ancillary equipment, specifically can be can cooperate with the equipment used with the detecting devices, for example, power-supply device, data are recorded Take equipment, anti-interference equipment, attitude measurement and navigation system, wherein attitude measurement and navigation system specifically can be inertia and lead Boat system, such as gyroscope are also possible to the attitude measurement being made of multiple GPS receiver and navigation system.
Referring now to shown in Figure 10, the moving target detection process compensated in the embodiment of the present invention to target range is such as Under:
S310 receives the attitude measurement and navigation system of the ancillary equipment during mobile carrier is advanced In the first navigation information of first sensing point that the first sensing point obtains and transmits and the first distance of the moving target Information；
Specific implementation process can be, and in the first sensing point, detecting devices receives the auxiliary and sets the mobile carrier First navigation information of first sensing point that standby attitude measurement is obtained and transmitted with navigation system, such as the first sensing point Longitude, latitude, elevation information and the moving target first distance information.The attitude measurement and navigation system, specifically It can be inertial navigation system, or the attitude measurement and navigation system that are made of multiple GPS receiver.
S320, the attitude measurement and navigation system for receiving the ancillary equipment are obtained in the second sensing point and described in transmitting Second navigation information of the second sensing point and the second distance information of the moving target；
Specific implementation process can be, the mobile carrier of the first sensing point carry the detecting devices continue into Row, the second sensing point detecting devices receives the attitude measurement of the ancillary equipment and navigation system is obtained and transmitted described the Second navigation information of two sensing points, for example, the longitude of the second sensing point, latitude, elevation information and the moving target Two range informations.
S330, described second of first navigation information, second sensing point based on first sensing point are led Boat information is converted to the first distance information of the moving target of first sensing point by geographic coordinate system In the third range information of the moving target corresponding with the first distance information of second sensing point；
Specific implementation process can be, first navigation information of the detecting devices based on first sensing point, Second navigation information of second sensing point, by geographic coordinate system, by the movement mesh of first sensing point First distance information described in target is converted to using the second sensing point as the third range information in the geographic coordinate system of origin, such as This, can realize moving target distance and second detection to first sensing point in the geographic coordinate system of same origin The moving target distance of point is indicated.
S340, based on described in the second distance information and the moving target corresponding with the first distance information Third range information generates the track information of the moving target.
Specific implementation process can be, the detecting devices, based on the second distance information and with the first distance The third range information of the corresponding moving target of information, under the geographic coordinate system using the second sensing point as origin, Generate the track information of the moving target；Since the second sensing point on the time after first sensing point is constantly to change , the process of the mobile variation of the second sensing point is also the process of the real-time continuous generation of track information, to constantly be become by origin The geographic coordinate system of change obtains the track information of the moving target.
In embodiments of the present invention, step S320, step S330, step S340 especially by the detecting devices data Processing subsystem is realized.
A kind of moving target detection side of offer is provided in embodiment to target range to facilitate the understanding of the present invention Method is lifted specific example below and is illustrated:
Figure 11 shows mobile carrier and moving target while mobile moving target detection schematic diagram.
Referring now to shown in Figure 11, moving target is aircraft, and mobile detection system is the radar system that mobile carrier is automobile. When the mobile carrier advances to the second sensing point from the first sensing point, correspondingly, moving target flies to B point from A point.First Sensing point, the attitude measurement and navigation system obtain the first navigation information of first sensing point, such as the first sensing point Latitude information, longitude information, the first distance information of elevation information and the moving target；In the second sensing point, the appearance State measurement and navigation system obtain the second navigation information of second sensing point, such as latitude information, the warp of the second sensing point Spend information, the second distance information of elevation information and the moving target；The detecting devices is based on first sensing point Second navigation information of first navigation information, second sensing point, by geographic coordinate system, by the movement mesh It is marked on the first distance information of the first sensing point, is converted into the third distance for the geographic coordinate system that the second sensing point is origin Information, in this way, can be in the geographic coordinate system using the second sensing point of continuous mobile variation as origin, while indicating the first detection The moving target distance of point and the moving target distance of second sensing point.In being formed with the second sensing point on the move and being The track of the heart, in the continually changing situation of the second sensing point, the track information of the aircraft is also just generated and is shown in real time.
A kind of any embodiment of aforementioned moving target detection method embodiment that offer is compensated to target range is taken off The process shown function achieved by one or more step and specific implementation application environment can carry out logic in Kernel-based methods Function division correspondence obtains multiple functional modules；Wherein, a functional module can be corresponding with the same step, can also be with two A or more than two steps are corresponding, and each functional module can physically exist alone, two or more function moulds Block can common physical presence.The functional module can both be realized by program code obtains corresponding program, can also pass through Logic circuit, which is realized, obtains corresponding logic circuit device.It is disclosed when any embodiment of moving target detection method embodiment The corresponding multiple functional modules of process are applied to detecting devices, and a kind of detection for just obtaining compensating target range offer is set Any embodiment of standby embodiment further when the detecting devices is applied to mobile detection system, is obtained with regard to correspondence to target Distance compensates a kind of any embodiment of mobile detection system embodiment of offer.
Moving target detection method, detecting devices, the mobile detection system that offer is compensated to target range, The technical issues of solution, the course of work for realizing function, to can be obtained technical effect same or similar, belongs to identical hair Bright design.Those skilled in the art can refer to detecting devices embodiment, understand that moving target detection method of the present invention is implemented The specific implementation form of example can refer to mobile detection system embodiment, understand moving target detection method embodiment of the present invention Application environment and whole way of realization；Correspondingly, it can refer to the associated description in moving target detection method embodiment, understand and visit The course of work of measurement equipment and mobile detection system.
For convenience and simplicity of description, in the mistake being illustrated to detecting devices embodiment and mobile detection system embodiment Cheng Zhong, just no longer specifically repeat one by one can refer to the associated description in moving target detection method embodiment it will be appreciated that it is interior Hold, for example, it is can solve the technical issues of, achieved function, realization function process experienced, can be obtained technology Effect, the description to related executing subject.
It, can based on a kind of implementation and application for the moving target detection method embodiment for compensating offer to target range A kind of corresponding detecting devices embodiment for obtaining compensating target range offer.
Figure 12 shows the structure for compensating a kind of detecting devices of offer to target range in the embodiment of the present invention and shows It is intended to.
Referring now to shown in Figure 12, the detecting devices 310 is applied in mobile detection system, and the detecting devices 310 is set It sets on mobile carrier, the mobile detection system further includes the ancillary equipment connecting with the detecting devices；The detection is set Standby includes the data for generating the track information of moving target based on the geographic coordinate system that continually changing sensing point is origin Processing subsystem 312；
The detecting devices 310, for receiving the posture of the ancillary equipment during mobile carrier is advanced The first navigation information and the movement of measurement and navigation system in first sensing point that the first sensing point obtains and transmits The first distance information of target；And
Attitude measurement and navigation system for receiving the ancillary equipment are obtained in the second sensing point and described in transmitting Second navigation information of the second sensing point and the second distance information of the moving target；And
Second navigation for first navigation information, second sensing point based on first sensing point Information is converted to the first distance information of the moving target of first sensing point by geographic coordinate system The third range information of the moving target corresponding with the first distance information of second sensing point；And
For based on described in the second distance information and the moving target corresponding with the first distance information Third range information generates the track information of the moving target.
Specifically, the detecting devices 310 includes data process subsystem 312, and the detecting devices 310 is based on the number Function possessed by foregoing detection equipment 310 is executed according to processing subsystem 312.
It, can based on a kind of implementation and application for the moving target detection method embodiment for compensating offer to target range A kind of corresponding mobile detection system embodiment for obtaining compensating target range offer.
Figure 13 shows the knot for compensating a kind of mobile detection system of offer in the embodiment of the present invention to target range Structure schematic diagram.
Referring now to shown in Figure 13, the mobile detection system 300 includes:
Detecting devices 310 on mobile carrier is set；
The ancillary equipment 320 connecting with the detecting devices 310, the ancillary equipment 320 include attitude measurement and navigation System 321；
The detecting devices includes for generating movement mesh based on the geographic coordinate system that continually changing sensing point is origin The data process subsystem 312 of target track information；
Wherein:
The attitude measurement and navigation system 321 are used for during the mobile carrier is advanced, in the first sensing point The first distance information of the first navigation information of first sensing point and the moving target for obtaining and transmitting；And
In the second navigation information and the moving target of the second sensing point obtains and transmits second sensing point Second distance information；
The detecting devices 310, for receiving the posture of the ancillary equipment during mobile carrier is advanced The first navigation information and the movement of measurement and navigation system in first sensing point that the first sensing point obtains and transmits The first distance information of target；And
Attitude measurement and navigation system for receiving the ancillary equipment are obtained in the second sensing point and described in transmitting Second navigation information of the second sensing point and the second distance information of the moving target；And
Second navigation for first navigation information, second sensing point based on first sensing point Information is converted to the first distance information of the moving target of first sensing point by geographic coordinate system The third range information of the moving target corresponding with the first distance information of second sensing point；And
For based on described in the second distance information and the moving target corresponding with the first distance information Third range information generates the track information of the moving target.
Specifically, the detecting devices 312 includes data process subsystem, and the detecting devices 310 is based on the data Processing subsystem 312 executes function possessed by foregoing detection equipment 310.
It can be seen that in the embodiment of the present invention to target range compensate offer a kind of moving target detection method, Detecting devices, mobile detection system, the target range of first sensing point of the detecting devices by the time before the second sensing point, dress change It is the target range in the geographic coordinate system of origin at continually changing second sensing point, realizes the geographical coordinate in same origin The moving target distance of first sensing point and the moving target distance of second sensing point are characterized in system, in this way second In the continually changing situation of sensing point, the track information of the moving target is continuously generated, is realized described in generating and exporting in real time The track information of moving target.
It, can movement to being compensated to mobile carrier travel speed it should be noted that in embodiments of the present invention Object detection method embodiment, the moving target detection method embodiment compensated to antenna beam carry out target range At least two in the moving target detection method embodiment of compensation are combined, and it is real to obtain corresponding moving target detection method Example, and the implementation and application based on the moving target detection method embodiment are applied, correspondence obtains corresponding detecting devices embodiment With mobile detection system embodiment.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can It realizes by means of software and necessary general hardware platform, naturally it is also possible to pass through hardware.Based on this understanding, on Stating technical solution, substantially the part that contributes to existing technology can be embodied in the form of software products in other words, should Computer software product may be stored in a computer readable storage medium, such as ROM/RAM, magnetic disk, CD, including several fingers It enables and using so that a computer equipment (can be personal computer, server or the network equipment etc.) executes each implementation Method described in certain parts of example or embodiment.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features； And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and Range.

Claims (11)

1. a kind of moving target detection method, applied to the detecting devices in mobile detection system, which is characterized in that the spy Measurement equipment is arranged on mobile carrier, and the mobile detection system further includes the ancillary equipment connecting with the detecting devices；Institute The method of stating includes:
During the mobile carrier is advanced, the attitude measurement for receiving the ancillary equipment is obtained and is transmitted with navigation system Travel speed compensated information；
Based on the travel speed compensated information, the Doppler frequency for obtaining the corresponding mobile carrier relative target movement is inclined Shifting value；
Based on the Doppler shift value of mobile carrier relative target movement, the target echo signal detected is carried out Compensation, inhibits the fixed echo signal in the target echo signal, obtains the movement in the target echo signal The Doppler frequency shift amount of target.
2. the method according to claim 1, wherein the travel speed compensated information includes the mobile carrier Translational speed information and the detecting devices antenna rotating platform present orientation angle information；
It is described to be based on the travel speed compensated information, obtain Doppler's frequency of the corresponding mobile carrier relative target movement Rate deviant, comprising:
Present orientation angle information based on the translational speed information and the antenna rotating platform obtains the translational speed information and exists Projection velocity information in the antenna beam direction of the launch of the detecting devices；
The projection velocity information is converted to the Doppler shift value of the mobile carrier relative target movement.
3. according to the method described in claim 2, it is characterized in that, described turned based on the translational speed information and the antenna The present orientation angle information of platform obtains throwing of the translational speed information in the antenna beam direction of the launch of the detecting devices Shadow velocity information, comprising:
Present orientation angle information based on the translational speed information and the antenna rotating platform obtains the translational speed information and exists Projection velocity information on the present orientation angle of the antenna rotating platform；
Projection velocity information based on the translational speed information on the present orientation angle of the antenna rotating platform, obtains the shifting Dynamic projection velocity information of the velocity information in the antenna beam direction of the launch of the detecting devices.
4. according to the method described in claim 2, it is characterized in that, described be converted to the movement for the projection velocity information The Doppler shift value of carrier relative target movement, comprising:
Obtain the operation wavelength of the detecting devices；
The projection velocity information mobile carrier relative target is converted to by the operation wavelength of the detecting devices to transport Dynamic Doppler shift value.
5. method according to any of claims 1-4, which is characterized in that
The Doppler shift value based on mobile carrier relative target movement, to the target echo signal detected It compensates, inhibits the fixed echo signal in the target echo signal, obtain in the target echo signal The Doppler frequency shift amount of moving target, specifically:
When carrying out dissection process to the target echo signal that detects, Doppler that mobile carrier relative target is moved Frequency offseting value is added in the target echo signal, inhibits the fixed echo in the target echo signal Signal obtains the echo-signal of the moving target, and the echo-signal based on the moving target obtains the moving target Doppler frequency shift amount.
6. a kind of detecting devices is applied in mobile detection system, which is characterized in that the detecting devices is arranged in mobile carrier On, the mobile detection system further includes the ancillary equipment connecting with the detecting devices；
The detecting devices, for during the mobile carrier is advanced, receive the attitude measurement of the ancillary equipment with The travel speed compensated information that navigation system is obtained and transmitted；And
For being based on the travel speed compensated information, Doppler's frequency of the corresponding mobile carrier relative target movement is obtained Rate deviant；And
Doppler shift value for being moved based on the mobile carrier relative target, to the target echo signal detected It compensates, inhibits the fixed echo signal in the target echo signal, obtain in the target echo signal The Doppler frequency shift amount of moving target.
7. a kind of moving target detection method, applied to the detecting devices in mobile detection system, which is characterized in that the spy Measurement equipment is arranged on mobile carrier, and the mobile detection system further includes the ancillary equipment connecting with the detecting devices；Institute The method of stating includes:
During the mobile carrier is advanced, the attitude measurement for receiving the ancillary equipment is obtained and is transmitted with navigation system Antenna beam compensated information；
Based on the antenna beam compensated information, the current offset angle of antenna beam is obtained；
It is corrected based on current initial angle of the current offset angle to antenna beam, so that the antenna of the detecting devices Wave beam can cover default airspace.
8. the method according to the description of claim 7 is characterized in that the antenna beam compensated information includes the detecting devices Current course angle information, current pitch angle information, current roll angle information, antenna of the antenna reference face under right-handed coordinate system The present orientation angle information of turntable；
It is described to be based on the antenna beam compensated information, obtain the current offset angle of antenna beam, comprising:
By coordinate transform, current course angle information of the antenna reference face under right-handed coordinate system, current pitch angle are believed Breath, current roll angle information, antenna rotating platform present orientation angle information corresponding conversion at the antenna reference face in horizontal coordinate The present orientation angle information of current course angle information, current pitch angle information, current roll angle information, antenna rotating platform under system；
Current course angle information, current pitch angle information, current roll based on the antenna reference face under horizontal coordinates The present orientation angle information of angle information, antenna rotating platform obtains the current offset angle of antenna beam.
9. a kind of detecting devices is applied in mobile detection system, which is characterized in that the detecting devices is arranged in mobile carrier On, the mobile detection system further includes the ancillary equipment connecting with the detecting devices；
The detecting devices, for during the mobile carrier is advanced, receive the attitude measurement of the ancillary equipment with The antenna beam compensated information that navigation system is obtained and transmitted；And
For being based on the antenna beam compensated information, the current offset angle of antenna beam is obtained；And
For being corrected based on current initial angle of the current offset angle to antenna beam, so that the detecting devices Antenna beam can cover default airspace.
10. a kind of moving target detection method, applied to the detecting devices in mobile detection system, which is characterized in that described Detecting devices is arranged on mobile carrier, and the mobile detection system further includes the ancillary equipment connecting with the detecting devices； The described method includes:
During the mobile carrier is advanced, the attitude measurement and navigation system for receiving the ancillary equipment are in the first detection The first distance information of the first navigation information and the moving target of point acquisition and first sensing point transmitted；
The attitude measurement and navigation system for receiving the ancillary equipment are in second detection that the second sensing point obtains and transmits Second navigation information of point and the second distance information of the moving target；
Second navigation information of first navigation information, second sensing point based on first sensing point leads to Geographic coordinate system is crossed, the first distance information of the moving target of first sensing point is converted to described second The third range information of the moving target corresponding with the first distance information of sensing point；
The third distance based on the second distance information and the moving target corresponding with the first distance information Information generates the track information of the moving target.
11. a kind of detecting devices is applied in mobile detection system, which is characterized in that the detecting devices setting is carried mobile On tool, the mobile detection system further includes the ancillary equipment connecting with the detecting devices；
The detecting devices, for during the mobile carrier is advanced, receive the attitude measurement of the ancillary equipment with Navigation system first sensing point that the first sensing point obtains and transmits the first navigation information and moving target first Range information；And
For receive the ancillary equipment attitude measurement and navigation system the second sensing point obtains and transmit described second Second navigation information of sensing point and the second distance information of the moving target；And
The second navigation letter for first navigation information, second sensing point based on first sensing point Breath, by geographic coordinate system, the first distance information of the moving target of first sensing point is converted in institute State the third range information of the moving target corresponding with the first distance information of the second sensing point；And
For the third based on the second distance information and the moving target corresponding with the first distance information Range information generates the track information of the moving target.
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CN109597061B (en) * 2018-12-28 2021-05-18 北京润科通用技术有限公司 Method and system for judging motion state of target
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