CN109188380A - A kind of key index test macro and method for low slow small detection radar - Google Patents

A kind of key index test macro and method for low slow small detection radar Download PDF

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Publication number
CN109188380A
CN109188380A CN201811066590.2A CN201811066590A CN109188380A CN 109188380 A CN109188380 A CN 109188380A CN 201811066590 A CN201811066590 A CN 201811066590A CN 109188380 A CN109188380 A CN 109188380A
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China
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radar
module
data
antenna
earth station
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CN109188380B (en
Inventor
周军
李骁骅
王锐
马力超
王涛
白磊
张啸宇
李贺军
郭延磊
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Beijing Machinery Equipment Research Institute
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Beijing Machinery Equipment Research Institute
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40Means for monitoring or calibrating

Abstract

The present invention relates to a kind of key index test macros and method for low slow small detection radar, and system includes object element and earth station;Object element, detected target when as radar test, reflects the detectable signal of radar;And wireless data sending link is established with earth station, by own location information, link is passed by number and is sent to earth station;Earth station and radar netting establish connection, obtain radar to the detection result of object element by radar netting;It is compared with the object element own location information that link obtains is passed by number, the range accuracy and angle measurement accuracy of radar is tested.For the present invention under the test case under the time-consuming same case tested with conventional radar, testing cost is reduced to 1~20,000 magnitudes by 20~600,000 magnitudes;And support automatic test;It can satisfy millimeter wave continuous wave low-speed unmanned aerial vehicle detection radar requirement.

Description

A kind of key index test macro and method for low slow small detection radar
Technical field
The present invention relates to radar test technical field more particularly to a kind of key index surveys for low slow small detection radar Test system and method.
Background technique
The index in detail such as distance by radar precision, angle precision is all made of special radar set test equipment (radar signal simulator) It realizes, when test, radar need to be placed in the microwave dark room met the requirements, target range, velocity vector, pitch angle, horizontal angle It is generated by radar signal simulator, contrast signal simulator parameter and radar test are as a result, assessment range accuracy, angle precision Index.
Currently, most of Radar Measurement Systems are the exploitation of 18GHz or less pulse radar.Continuous wave radar can be used for reference open Hair component is less, and signal simulator development cost is higher, and millimere-wave band darkroom cost is also higher;And it is only capable of providing darkroom test As a result, Competitive effects can not quantitative test.
And it is of less demanding for low slow its index accuracy of small radar, generally require range accuracy 10m, 1 ° of angle precision, More concerned be testing cost;Therefore, it is necessary to a kind of low costs, the test method suitable for low slow small radar.
Summary of the invention
In view of above-mentioned analysis, the present invention is intended to provide a kind of key index test macro for low slow small detection radar And method, the short slab of conventional radar means of testing is solved, the test of the key index for low slow small detection radar.
The purpose of the present invention is mainly achieved through the following technical solutions:
A kind of test macro for low slow small detection radar key index, including, object element and earth station;
The object element, detected target when as radar test, reflects the detectable signal of the radar;And with institute It states earth station and establishes wireless data sending link, by own location information, link is passed by number and is sent to the earth station;
The earth station and radar netting establish connection, obtain detection of the radar to object element by radar netting As a result;Be compared with the object element own location informations that links obtain are passed by number, to the range accuracy of the radar and Angle measurement accuracy is tested.
Further, the object element includes unmanned aerial vehicle platform, navigation satellite receiving module, barometertic altimeter, MCU mould Block, number pass sending module;
The unmanned aerial vehicle platform reflects the continuous wave detection signal of the radar as aerial target;As carrying platform It carries navigation satellite receiving module, barometertic altimeter, number and passes sending module and MCU module;
The navigation satellite receiving module carries out satellite positioning, obtains the longitude and latitude of the object element;
The barometertic altimeter measures the pressure altitude of the object element;
The MCU module is connect with navigation satellite receiving module and barometertic altimeter, will include navigation satellite receiving module The longitude and latitude of measurement, the pressure altitude of barometertic altimeter measurement and the location information including timestamp, carry out uniform protocol volume Code;
The MCU module passes sending module with number and connect, and will be sent to several biographies by the location information of uniform protocol coding Module;
The number passes sending module and location information is carried out anti-interference coding for establishing data chain link with earth station Afterwards, it is sent to earth station.
Further, it is to bend flexible PCB printed antenna that the number that the object element includes, which passes antenna, size 43mm × 9mm。
Further, the earth station include number transmitting/receiving modules, receiving antenna, turntable, Radar interface, observing and controlling component and North Finding Module;
Several transmitting/receiving modules are electrically connected with receiving antenna, pass sending module by the number of receiving antenna and object element Establish data link;It receives number and passes location information after the anti-interference coding that sending module issues, obtained after carrying out anti-interference decoding The location information of uniform protocol coding;
The turntable is fixedly connected with receiving antenna, and 360 ° of rotations in the horizontal direction under rotation instruction control make to receive The data transmission blocks antenna of the main beam moment alignment target unit of antenna, it is ensured that data link is unimpeded, makes data transmission tool There is continuity;
The Radar interface is electrically connected with radar fence communication interface, is surveyed for receiving the radar to the radar of object element Measure data and radar position data;
Shown North Finding Module, is used to indicate direct north;
Observing and controlling component is connect with number transmitting/receiving module, receives the positioning letter for the uniform protocol coding that number transmitting/receiving module transmits Breath, is decoded to obtain the longitude and latitude of object element, height and timestamp information;It is connect with North Finding Module, receives the positive north Parallactic angle θ0;It is connect with turntable module, receives the angle, θ that turntable drives receiving antenna to be directed toward object element1;It is connect with Radar interface, Receive radar position data;And according to above- mentioned information calculate include timestamp information T, object element true altitude H, projection away from From D, the number including level angle θ, pitch angle α passes measurement data;
Observing and controlling component will be received including timestamp information T ', projector distance D ' from Radar interface, and true altitude H ' is horizontal Angle, θ ', the radar measured data including pitch angle α ' passes measurement data with number and is compared, and obtains the survey of radar measured data Measure error.
Further, the turntable includes antenna fixed platform, needle bearing double freedom rotating mechanism, motor and motor Controller;
The antenna fixed platform fixed reception antenna;
The needle bearing double freedom rotating mechanism connection motor and antenna fixed platform;Motor is double by needle bearing Freedom degree rotating mechanism drives the rotation of antenna fixed platform;
The electric machine controller is electrically connected with motor, and output rotation instruction control motor rotation makes number pass receiving antenna master Wave beam is always towards the data transmission blocks antenna of object element.
Further, the receiving antenna is three unit yagi aerials, centre frequency 5.8GHz, bandwidth 150MHz, gain 8 ~10dBi, 10 °~15 ° of main beam width.
Further, the calculation method of number biography measurement data includes:
True altitude H=h-h0;H is the elevation information of barometertic altimeter measurement, h0Air pressure when taking off for unmanned plane is high Degree, take off requirement for height and radar of unmanned plane is sustained height;
Level angle θ=θ10, θ1The angle of receiving antenna direction object element is driven for turntable;θ0For North Finding Module Refer to northern result;
Pitch angle(x0,y0) be radar initial position, (x1,y1) satellite navigation module transmission Unmanned plane position;
The projector distance of object element
Further, when test, the earth station and the radar are arranged in same radar site.
Further, the wireless data sending link spreads anti-interference several arq modes using LoRa.
A kind of key index test method for low slow small detection radar, includes the following steps:
Step S1, object element and earth station's power-up work normally;
Step S2, ensure that the pressure altitude when unmanned plane of object element takes off is identical as the pressure altitude of radar;Ground Controllers of standing are after confirmation height is identical, and just sending unmanned plane takes off instruction;
Step S3, during unmanned plane during flying, earth station receives the longitude and latitude of object element, air pressure height by data link Degree and time stamp data calculate number and pass measurement data in conjunction with by the received radar site of Radar interface;It is connect by Radar interface Radar is received to the radar measured data of object element;
Step S4, compare the identical number of timestamp and pass measurement data and radar measured data, obtain radar measured data Measurement error.
The present invention has the beneficial effect that:
Test method of the invention, under the test case under the time-consuming same case tested with conventional radar, test at This is reduced to 1~20,000 magnitudes by 20~600,000 magnitudes;And support automatic test;Within 10 meters of range accuracy error, angle Measurement error can satisfy millimeter wave continuous wave low-speed unmanned aerial vehicle detection radar requirement under the required precision within 1 degree.
Other features and advantages of the present invention will illustrate in the following description, also, partial become from specification It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention can be by written explanation Specifically noted structure is achieved and obtained in book, claims and attached drawing.
Detailed description of the invention
Attached drawing is only used for showing the purpose of specific embodiment, and is not to be construed as limiting the invention, in entire attached drawing In, identical reference symbol indicates identical component.
Fig. 1 is the index testing system composite structural diagram of the embodiment of the present invention;
Fig. 2 is that the object element of the embodiment of the present invention forms connection schematic diagram;
Fig. 3 is the index testing system arrangement schematic diagram of the embodiment of the present invention;
Fig. 4 is that the earth station of the embodiment of the present invention forms connection schematic diagram.
Specific embodiment
Specifically describing the preferred embodiment of the present invention with reference to the accompanying drawing, wherein attached drawing constitutes the application a part, and Together with embodiments of the present invention for illustrating the principle of the present invention.
A specific embodiment of the invention discloses a kind of key index test system for low slow small detection radar System, as shown in Figure 1, including object element and earth station;
Wherein, object element, the detectable signal as low slow Small object, for low slow small detection reflection radar;Also, mesh Mark unit and earth station establish wireless data sending link, by own location information, are sent to earth station by the road Shuo Chuan;
Earth station and radar netting establish connection, obtain low slow small detection radar to object element by radar netting interface Radar fix result;The location information of itself sent with object element is compared, test low slow small detection radar away from From precision and angle precision.
As shown in Fig. 2, object element include unmanned aerial vehicle platform, navigation satellite receiving module, barometertic altimeter, MCU module, Number passes sending module sum number and passes antenna;
Unmanned aerial vehicle platform simulates the main body of low slow Small object as object element, flies in the sky, reflects low slow small detection The continuous wave radar signal of radar;Navigation satellite receiving module, barometertic altimeter, number, which are carried, as carrying platform passes sending module And MCU module, and be above-mentioned carrying module for power supply;
Navigation satellite receiving module receives navigation satellite signal and carries out satellite positioning, obtains the longitude and latitude of unmanned aerial vehicle platform;
Preferably, navigation satellite receiving module is the UBLOX NEO-7N for receiving GPS signal;Design parameter is TTL serial ports Output, 9600 baud rates, NMEA agreement, 2.5 meters of positioning accuracy, position refreshing frequency is supported to 10Hz, power consumption 5V, 45mA;
Barometertic altimeter measures the pressure altitude h of unmanned aerial vehicle platform;
Preferably, barometertic altimeter chip is BMP280 chip, and design parameter is SPI output, 3.3V, 2.7uA, precision 0.2Pa, by calibration, altitude location precision can reach 0.1m;
MCU module is connect with navigation satellite receiving module and barometertic altimeter, will include that navigation satellite receiving module measures Longitude and latitude, barometertic altimeter measurement elevation information and timestamp location information, carry out uniform protocol coding;
MCU module passes sending module with number and connect, and will be sent to digital transmission module by the location information of uniform protocol coding Carry out data transmission;
Special, uniform protocol coding such as table 1
1 coding protocol structure of table
The preferred STM32F013C8T6 of MCU module.
Number passes sending module, for establishing data chain link with earth station, after location information is carried out anti-interference coding, and hair It is sent to earth station;
Preferably, number passes sending module and selects SX1278 wireless module, and design parameter is transmission power 100mW, and LoRa expands Frequently anti-interference, TTL serial ports, aerial rate 2.4K bps;
Number passes antenna, preferably bent flexible PCB printed antenna, size 43mm × 9mm.
Specifically, as shown in figure 3, earth station and low slow small detection radar are arranged in same position when testing;
As shown in figure 4, earth station includes number transmitting/receiving module, receiving antenna, turntable, Radar interface, observing and controlling component, refers to north Module;
Number transmitting/receiving module is connect with receiving antenna, is passed sending module for the number with object element and is established data link; It receives number and passes location information after the anti-interference coding that sending module issues, obtain uniform protocol coding after carrying out anti-interference decoding Location information;
Preferably, number transmitting/receiving module uses SX1276 wireless module, and sensitivity -113dBm, LoRa spread spectrum is anti-interference, TTL serial ports, aerial rate 2.4K bps;
Receiving antenna is high-gain aerial, preferably three unit yagi aerials, centre frequency 5.8GHz, bandwidth 150MHz, is increased 8~10dBi of benefit, 10 °~15 ° of main beam width.
Turntable is connect with receiving antenna, and 360 ° of rotations in the horizontal direction under rotation instruction control make the master of receiving antenna The data transmission blocks antenna of wave beam moment alignment target unit, it is ensured that data link is unimpeded, and data transmission is made to have continuity;
Preferably, turntable includes antenna fixed platform, needle bearing double freedom rotating mechanism, motor and motor control Device;
Antenna fixed platform fixed data receiving antenna, is made of aluminum alloy materials;
Needle bearing double freedom rotating mechanism connects motor and antenna fixed platform;Motor is double freely by needle bearing It spends rotating mechanism and drives the rotation of antenna fixed platform;
Preferably, electro-mechanical parts use serial bus digital rudder controller assembly, torsion 15KG, 0.25 ° of turning error;
Electric machine controller is connected to motor, and output rotation instruction control motor rotation makes receiving antenna main beam court always To the data transmission blocks antenna of object element.
Radar interface is connect with radar fence communication interface, for receiving low slow measurement of the small detection radar to object element Data and radar position data;
North Finding Module is used to indicate direct north, to obtain Radar IF simulation zero-bit towards (Radar IF simulation passes through positive true north orientation Determine the zero-bit direction at radar horizon angle);
Preferably, the pointing accuracy of North Finding Module is better than 0.5 degree, and carries diamagnetic interference performance.
Observing and controlling component is connect with number transmitting/receiving module, receives the positioning letter for the uniform protocol coding that number transmitting/receiving module transmits Breath, is decoded to obtain the longitude and latitude of object element, height and timestamp information;It is connect with North Finding Module, receives the positive north Position θ0;It is connect with turntable module, receives the angle, θ that turntable drives receiving antenna to be directed toward object element1;It connect, connects with Radar interface Receive radar position data;And the true altitude H including timestamp information, object element, projector distance are calculated according to above- mentioned information Number including D, level angle θ, pitch angle α passes measurement data;
Observing and controlling component will be received including timestamp information, projector distance D ', true altitude H ', horizontal angle from Radar interface θ ' is spent, the radar measured data including pitch angle α ' passes measurement data with number and is compared, and obtains the measurement of radar measured data Error.
Specifically, the calculation method that number passes measurement data includes:
True altitude H=h-h0;H is the elevation information of barometertic altimeter measurement, h0Air pressure when taking off for unmanned plane is high Degree, take off requirement for height and radar of unmanned plane is sustained height;
Level angle θ=θ10, θ1The angle of receiving antenna direction object element is driven for turntable;θ0For North Finding Module Refer to northern result;
Pitch angle(x0,y0) be radar initial position, (x1,y1) satellite navigation module transmission Unmanned plane position;
The projector distance of object element
The present embodiment also discloses a kind of key index test method for low slow small detection radar, and this method is based on upper State the realization of system disclosed in embodiment;Include the following steps:
Step S1, object element and earth station's power-up work normally;
The unmanned aerial vehicle platform power-up of object element is specifically included, control signal connection is intact, can take off at any time;Navigation satellite Initial alignment is completed in receiving module and barometertic altimeter power-up;Number passes sending module and number transmitting/receiving module establishes data chain Road;
The Radar interface of earth station is connect normally with radar fence, and reception will test number of the radar including radar site According to.
Step S2, before unmanned plane takes off, it is ensured that the pressure altitude h identical as the pressure altitude of radar when unmanned plane takes off0; Ground station control personnel are after confirmation height is identical, and just sending unmanned plane takes off instruction.
Step S3, during unmanned plane during flying, earth station receives the longitude and latitude of object element, air pressure height by data link Degree and time stamp data calculate number and pass measurement data in conjunction with by the received radar site of Radar interface;It is connect by Radar interface Radar is received to the radar measured data of object element;
Number pass measurement data include timestamp information, the true altitude H of object element, projector distance D, level angle θ and Pitch angle α, circular include:
True altitude H=h-h0;H is the elevation information of barometertic altimeter measurement, h0Air pressure when taking off for unmanned plane is high Degree, take off requirement for height and radar of unmanned plane is sustained height;
Level angle θ=θ10, θ1The angle of receiving antenna direction object element is driven for turntable;θ0For North Finding Module Refer to northern result;
Pitch angle(x0,y0) be radar initial position, (x1,y1) satellite navigation module transmission Unmanned plane position;
The projector distance of object element
Corresponding radar measured data includes timestamp information, projector distance D ', true altitude H ', level angle θ ', bows Angle of elevation alpha '.
Step S4, compare the identical number of timestamp information and pass measurement data and radar measured data, obtain radar surveying number According to measurement error.
Projector distance error delta D=D'-D;True altitude error: Δ H=H'-H;Level angle error delta θ=θ '-θ;It bows Elevation angle degree error delta α=α '-α.
In conclusion the disclosed key index test macro and method for low slow small detection radar of the present embodiment, Under test case under the time-consuming same case of conventional radar test, testing cost is reduced to 1~20,000 by 20~600,000 magnitudes Magnitude;And support automatic test;Within 10 meters of range accuracy error, required precision of the angle measurement error within 1 degree Under, it can satisfy millimeter wave continuous wave low-speed unmanned aerial vehicle detection radar requirement.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto, In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art, It should be covered by the protection scope of the present invention.

Claims (10)

1. a kind of test macro for low slow small detection radar key index, which is characterized in that including object element and ground It stands;
The object element, detected target when as radar test, reflects the detectable signal of the radar;And with described Wireless data sending link is established at face station, by own location information, is passed link by number and is sent to the earth station;
The earth station and radar netting establish connection, obtain the radar to the detection knot of object element by radar netting Fruit;It is compared with the object element own location information that link obtains is passed by number, to the range accuracy and survey of the radar Angular accuracy is tested.
2. test macro according to claim 1, which is characterized in that the object element includes unmanned aerial vehicle platform, navigation Satellite reception module, barometertic altimeter, MCU module, number pass sending module;
The unmanned aerial vehicle platform reflects the continuous wave detection signal of the radar as aerial target;It is carried as carrying platform Navigation satellite receiving module, barometertic altimeter, number pass sending module and MCU module;
The navigation satellite receiving module carries out satellite positioning, obtains the longitude and latitude of the object element;
The barometertic altimeter measures the pressure altitude of the object element;
The MCU module is connect with navigation satellite receiving module and barometertic altimeter, will include that navigation satellite receiving module measures Longitude and latitude, barometertic altimeter measurement pressure altitude and timestamp including location information, carry out uniform protocol coding;
The MCU module passes sending module with number and connect, and will be sent to digital transmission module by the location information of uniform protocol coding;
The number passes sending module, for establishing data chain link with earth station, after location information is carried out anti-interference coding, and hair It is sent to earth station.
3. test macro according to claim 2, which is characterized in that the number that the object element includes passes antenna as bending Flexible PCB printed antenna, size 43mm × 9mm.
4. test macro according to claim 1, which is characterized in that the earth station includes number transmitting/receiving module, receives Antenna, turntable, Radar interface, observing and controlling component and North Finding Module;
Several transmitting/receiving modules are electrically connected with receiving antenna, are passed sending module by the number of receiving antenna and object element and are established Data link;It receives number and passes location information after the anti-interference coding that sending module issues, obtain unification after carrying out anti-interference decoding The location information of protocol code;
The turntable is fixedly connected with receiving antenna, and 360 ° of rotations in the horizontal direction under rotation instruction control make receiving antenna Main beam moment alignment target unit data transmission blocks antenna, it is ensured that data link is unimpeded, make data transmission have connect Continuous property;
The Radar interface is electrically connected with radar fence communication interface, for receiving the radar to the radar surveying number of object element According to and radar position data;
Shown North Finding Module, is used to indicate direct north;
Observing and controlling component is connect with number transmitting/receiving module, receives the location information for the uniform protocol coding that number transmitting/receiving module transmits, It is decoded to obtain longitude and latitude, height and the timestamp information of object element;It is connect with North Finding Module, receives due north azimuth θ0;It is connect with turntable module, receives the angle, θ that turntable drives receiving antenna to be directed toward object element1;It connect, receives with Radar interface Radar position data;And true altitude H, projector distance D including timestamp information T, object element are calculated according to above- mentioned information, Number including level angle θ, pitch angle α passes measurement data;
Observing and controlling component will be received including timestamp information T ', projector distance D ', true altitude H ', level angle from Radar interface Radar measured data including θ ', pitch angle α ' passes measurement data with number and is compared, and the measurement for obtaining radar measured data misses Difference.
5. test macro according to claim 4, which is characterized in that the turntable includes antenna fixed platform, needle roller axis Hold double freedom rotating mechanism, motor and electric machine controller;
The antenna fixed platform fixed reception antenna;
The needle bearing double freedom rotating mechanism connection motor and antenna fixed platform;Motor is double freely by needle bearing It spends rotating mechanism and drives the rotation of antenna fixed platform;
The electric machine controller is electrically connected with motor, and output rotation instruction control motor rotation makes number pass receiving antenna main beam Always towards the data transmission blocks antenna of object element.
6. test macro according to claim 4, which is characterized in that the receiving antenna is three unit yagi aerials, in Heart frequency band 5.8GHz, bandwidth 150MHz, 8~10dBi of gain, 10 °~15 ° of main beam width.
7. test macro according to claim 4, which is characterized in that number pass measurement data calculation methods include:
True altitude H=h-h0;H is the elevation information of barometertic altimeter measurement, h0Pressure altitude when taking off for unmanned plane, nothing Man-machine requirement for height of taking off is sustained height with radar;
Level angle θ=θ10, θ1The angle of receiving antenna direction object element is driven for turntable;θ0For the finger north of North Finding Module As a result;
Pitch angle(x0,y0) be radar initial position, (x1,y1) satellite navigation module transmission nothing Man-machine position;
The projector distance of object element
8. test macro according to claim 4, which is characterized in that when test, the earth station and the radar are arranged In same radar site.
9. -9 any test macro according to claim 1, which is characterized in that the wireless data sending link is expanded using LoRa Frequently anti-interference several arq modes.
10. a kind of key index test method for low slow small detection radar, which comprises the steps of:
Step S1, object element and earth station's power-up work normally;
Step S2, ensure that the pressure altitude when unmanned plane of object element takes off is identical as the pressure altitude of radar;Earth station's control Personnel processed are after confirmation height is identical, and just sending unmanned plane takes off instruction;
Step S3, during unmanned plane during flying, earth station by data link receive the longitude and latitude of object element, pressure altitude and Time stamp data calculates number and passes measurement data in conjunction with by the received radar site of Radar interface;Thunder is received by Radar interface Up to the radar measured data to object element;
Step S4, compare the identical number of timestamp and pass measurement data and radar measured data, obtain the measurement of radar measured data Error.
CN201811066590.2A 2018-09-12 2018-09-12 Key index testing system and method for low-slow small detection radar Active CN109188380B (en)

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CN111624574A (en) * 2020-07-29 2020-09-04 绵阳市游仙区创新科技产业技术研究院 Target detection method, system, storage medium and device for weak target detection

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