CN109508024A - A kind of quick high accuracy posture compensation method of carrier-borne electronic reconnaissance equipment - Google Patents
A kind of quick high accuracy posture compensation method of carrier-borne electronic reconnaissance equipment Download PDFInfo
- Publication number
- CN109508024A CN109508024A CN201811328969.6A CN201811328969A CN109508024A CN 109508024 A CN109508024 A CN 109508024A CN 201811328969 A CN201811328969 A CN 201811328969A CN 109508024 A CN109508024 A CN 109508024A
- Authority
- CN
- China
- Prior art keywords
- coordinate
- point
- dsp
- pitch angle
- fpga
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000004364 calculation method Methods 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 10
- 239000013598 vector Substances 0.000 claims description 8
- 239000011159 matrix material Substances 0.000 claims description 5
- 238000005096 rolling process Methods 0.000 abstract description 3
- 230000009466 transformation Effects 0.000 abstract description 2
- 238000006243 chemical reaction Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000003111 delayed effect Effects 0.000 description 1
- 238000009795 derivation Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000013178 mathematical model Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000002715 modification method Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0875—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted to water vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Image Processing (AREA)
- Navigation (AREA)
Abstract
The present invention proposes a kind of quick high accuracy posture compensation method of carrier-borne electronic reconnaissance equipment.By disassembling pose compensation equation, two parts are classified as, a part carries out operation in dsp, and another part carries out operation in FPGA；More disadvantage is reduced for signal precision in coordinate transformation process in existing electronic reconnaissance field, hip-based platform is solved under the influence of the parameters such as stage+module angle, pitching, rolling, course, can correctly be converted direction finding result to geographical coordinate by front coordinate.The present invention can be obviously improved the pose compensation transduced precision of the reconnaissance signal of carrier-borne phased array, and method is simpler, easy to operate.
Description
Technical field
The invention belongs to electronic reconnaissance signal processing technology in electronic countermeasure field, it is especially a kind of for carrier-borne accurate and
Quick posture compensation method.
Background technique
Carrier-borne electronic reconnaissance equipment detect receive external signal when, direction finding precision and be two passes to the measurement of signal delay
Key index.Due to electronic reconnaissance equipment by sea can occur rolling, pitching and course change and itself front established angle because
The influence of element, the variation of these parameters can influence the variation of reconnaissance equipment beam position the moment, to influence Measure direction performance.Therefore
It needs in real time to be modified the direction of digital beam and reduces the influences of the parameters to direction finding precision such as ship sway.In electronic reconnaissance
In field, posture is completed due to more demanding to received delay performance, in the FPGA generally in wideband digital receiver and is mended
The operation repaid.Pose compensation operation is generally divided into three branches point and carries out: the azimuth pitch parameter that first obtains direction finding (relative to
Front coordinate) coordinate transform of front to ship deck coordinate is carried out, the transformation on deck to geodetic coordinates is then carried out, finally again
The shift conversion in course is considered to true geographical coordinate, and Fig. 1 gives the schematic diagram that general receiver pose compensation calculates.
DSP is received by parameter and forwarding module receives master control and sends, including course, is shaken in length and breadth and the attitude parameters such as established angle, so
These parameters are sent to FPGA by transmission channel afterwards.In FPGA, need to carry out array fixed-point calculation, each fixed-point calculation
After be required to result cut position, this method results in precision and largely declines.
Document (method [J] the mine warfare and warship's safety of the stable compensation of Wu Yonggang servo-system peculiar to vessel, 2016, Vol
24, No.2:23-27) it describes a kind of combination and shakes the method compensated with course data to launch angle in length and breadth, derive and establish
Attitudes vibration equation.This method can also be realized for the pose compensation of vehicular weapons servo-system provides theoretical foundation.A kind of warship
Ship shake in length and breadth synthetic vector coordinate transform antenna beam be directed toward modification method (201410704439.2) for ship sway and
Antenna attitude is directed toward the problem of influencing to antenna beam, and by establishing, antenna beam is directed toward and antenna attitude, naval vessel shake it in length and breadth
Between relationship mathematical model, the beam position under antenna coordinate system quickly can be adapted to the wave beam in earth coordinates and referred to
To).Document (Cao Zhengcai shipborne radar often uses stationary mode coordinate transform [J] radar and confrontation, 2010,30 (1): 47-52)
It is deduced marine electronic and stablizes compensation formula.By consulting literatures it can be found that researcher focuses on carrier-borne coordinate change mostly
The theory deduction changed, and how the formula after derivation is realized and is not explained in the implementation of which kind of computing platform.
Summary of the invention
In view of the shortcomings of the prior art, the present invention proposes have low delay while a kind of scouting field for marine electronic
With coordinate transform compensation method of conversion accuracy the features such as high, solve hip-based platform under the influence of pitching and rolling, it will
The problem of direction finding result is converted by front coordinate to geographical coordinate, is compared to the prior art, improves carrier-borne electronic reconnaissance
The pose compensation transduced precision of signal.
Realize that the technical solution of the object of the invention is as follows: a kind of quick high accuracy for carrier-borne electronic reconnaissance equipment
Posture compensation method, including the following steps:
Step 1: determine that front coordinate system to naval vessel geographic coordinate system converts required parameter:
(1) pitch angle Eoa and azimuth Aoa of the signal obtained from direction finding module relative to front；
(2) the installation position angle A_pos of front and installation pitch angle A_pit；
(3) the pitch angle B_pit and roll angle B_pos on naval vessel；
(4) naval vessel course H.
Step 2: the middle coefficient coef0 for switching to deck coordinate transform from front coordinate, Mult0 mould in dsp
Carry out calculating acquisition in block, when calculating executes floating-point operation below；
Step 3: the middle coefficient coef1 for switching to geographical coordinate from deck coordinate, in dsp in Mult1 module in
Operation acquisition is carried out, when calculating executes floating-point operation below；
Step 4: to the coefficient coef2 in course, operation is obtained in Mult2 module in dsp, and when operation executes below
Floating-point operation:
Step 5: coef0, coef1 and coef2 that step to step 4 obtains are merged into fortune in Mult3 module
It calculates, which is floating-point multiplication, as a result it is denoted as coef3:
Step 6: 9 coefficients in the intermediate quantity coef3 of step 5 generation are subjected to floating-point and turn fixed-point calculation, are then led to
It crosses transmission channel and is sent to FPGA, and complete subsequent required operation in FPGA；
Step 7: in FPGA, following fixed-point calculation is done to pitch angle Eoa and azimuth Aoa, obtains intermediate quantity
Xcoef:
Step 8: in FPGA, the intermediate quantity coef3 and intermediate quantity xcoef fixed-point multiplication for carrying out matrix and vector is transported
It calculates, obtains intermediate quantity coef:
Wherein, y0, y1 and y2 are three vectors obtaining after fixed-point multiplication operation.
Step 9: the intermediate quantity coef obtained according to step 8 can find out sitting after pose compensation relative to geography
Target aspect Aoa_real and pitch angle Eoa_real, atan is the arctan function acquired of tabling look-up here, and asin is to look into
The anti-sinusoidal function that table acquires.
The present invention has as follows a little compared with art methods:
(1) present invention is by studying the carrier-borne common coordinate transform of electronic reconnaissance, by disassembling pose compensation equation, by it
It is divided into two parts, a part of operation in dsp, another part middle calculating in FPGA is solved relative to front coordinate
The problem of aspect and pitching are converted to geographical coordinate.
(2) the part left side conversion process of pose compensation operation is carried out operation by the present invention in dsp, due to DSP operation
The characteristic that its floating point arithmetic can be used, ensure that after four groups of matrix multiplications, still have high data precision with
And great dynamic range.
(3) it is converted by front coordinate signal to geographical coordinate in FPGA, needs to do 4 table lookup operations, 9 multiplication altogether
Operation and 13 cut position operations compare and existing technical solution (14 table lookup operations, 71 multiplyings and 85 times
Cut position operation), have and is greatly improved in computational accuracy.
(4) the invention is simple and feasible, easy to operate, is solving relative to the aspect of front coordinate and pitching conversion
To geographical coordinate problem, it is provided simultaneously with the features such as low and conversion accuracy that is delayed is high.
Detailed description of the invention
Fig. 1 is the schematic diagram that general receiver pose compensation calculates in the prior art.
Fig. 2 is the flow chart of the quick high accuracy posture compensation method of the carrier-borne electronic reconnaissance equipment of the present invention
Specific embodiment
It is readily appreciated that, technical solution according to the present invention, in the case where not changing connotation of the invention, this field
Those skilled in the art can imagine numerous embodiments of the invention.Therefore, following specific embodiments and attached drawing are only
To the exemplary illustration of technical solution of the present invention, and it is not to be construed as whole of the invention or is considered as to the technology of the present invention side
The limitation or restriction of case.
Quick high accuracy posture compensation method of the present invention for carrier-borne electronic reconnaissance equipment, including it is following
Step:
Step 1: determine that front coordinate system to naval vessel geographic coordinate system converts required parameter:
(1) pitch angle Eoa and azimuth Aoa of the signal obtained from direction finding module relative to front；
(2) the installation position angle A_pos of front and installation pitch angle A_pit；
(3) the pitch angle B_pit and roll angle B_pos on naval vessel；
(4) naval vessel course H.
Step 2: the middle coefficient coef0 for switching to deck coordinate transform from front coordinate, Mult0 mould in dsp
Carry out calculating acquisition in block, when calculating executes floating-point operation below；
Step 3: the middle coefficient coef1 for switching to geographical coordinate from deck coordinate, in dsp in Mult1 module in
Operation acquisition is carried out, when calculating executes floating-point operation below；
Step 4: to the coefficient coef2 in course, operation is obtained in Mult2 module in dsp, and when operation executes below
Floating-point operation:
Step 5: coef0, coef1 and coef2 that step to step 4 obtains are merged into fortune in Mult3 module
It calculates, which is floating-point multiplication, as a result it is denoted as coef3:
Step 6: 9 coefficients in the intermediate quantity coef3 of step 5 generation are subjected to floating-point and turn fixed-point calculation, are then led to
It crosses transmission channel and is sent to FPGA, and complete subsequent required operation in FPGA；
Step 7: in FPGA, following fixed-point calculation is done to pitch angle Eoa and azimuth Aoa, obtains intermediate quantity
Xcoef:
Step 8: in FPGA, the intermediate quantity coef3 and intermediate quantity xcoef fixed-point multiplication for carrying out matrix and vector is transported
It calculates, obtains intermediate quantity coef:
Wherein, y0, y1 and y2 are three vectors obtaining after fixed-point multiplication operation.
Step 9: the intermediate quantity coef obtained according to step 8 can find out sitting after pose compensation relative to geography
Target aspect Aoa_real and pitch angle Eoa_real, atan is the arctan function acquired of tabling look-up here, and asin is to look into
The anti-sinusoidal function that table acquires.
Embodiment
To make features described above of the invention, purpose and a little can be more obvious and easy to understand, below in conjunction with Fig. 2 and specific
Embodiment sits further details of explanation, and is compared with simulation result.
Step 1: the definition that front coordinate system is converted to naval vessel geographic coordinate system is established；
It (1) is respectively 30 ° and -15 ° relative to the pitch angle Eoa of front and azimuth Aoa
(2) the installation position angle A_pos of front and installation pitch angle A_pit is respectively 10 ° and 5 °.
(3) the pitch angle B_pit and roll angle B_pos on naval vessel are respectively -13 ° and 25 °.
(4) naval vessel course H is 17 °.
Step 2: operation is carried out to the middle coefficient for switching to deck coordinate transform from front, Mult0 module in dsp
It is middle to execute floating-point operation below；
It is available
Step 3: operation is carried out to the middle coefficient for switching to geographical coordinate from deck, is held in Mult1 module in dsp
Row floating-point operation below；
It is available
Step 4: operation is carried out to the coefficient in course, executes floating-point operation below in Mult2 module in dsp；
It is available
Step 5: coef0, coef1 and coef2 that step to step 4 obtains are merged into fortune in Mult3 module
It calculates, which is floating-point multiplication, is as a result denoted as coef3
It is available
Step 6: 9 coefficients in the coef3 of step 5 generation are subjected to floating-point and turn fixed-point calculation, then pass through transmission
Channel is sent to FPGA.Setting fixed point length is set as 16bit, then
Step 7: following fixed-point calculation is done to pitch angle Eoa and azimuth Aoa:
Step 8: coef3 and xcoef and the fixed-point multiplication for carrying out matrix and vector are obtained into coef
It is available
Step 9: the coef obtained according to step 8 can find out the letter relative to geographical coordinate after pose compensation
Number orientation Aoa_real and pitch angle Eoa_real, atan is the arctan function acquired of tabling look-up here, and asin is to table look-up to acquire
Anti- sinusoidal function.
It can be in the hope of
In order to verify correctness of the invention, pitch angle Eoa, azimuth Aoa, the installation position angle A_pos of front, installation
Pitch angle A_pit, the pitch angle B_pit on naval vessel, roll angle B_pos and naval vessel course H etc. parameters are according to specific embodiment
In step 1 be configured, utilize matlab to carry out floating-point and emulate available azimuth-true after the left side converts
5.2676 ° of pitch angles are 56.3360 °, and the error of azimuth and pitch angle is respectively 0.0484 and 0.0770.If using original
Scheme, i.e., all coordinate transforms operation in a manner of fixed point in FPGA, the knot at available azimuth and pitch angle
Fruit is respectively -5.410 ° and 56.138 °, and error is respectively 0.1424 ° and 0.198 °.From verification process as can be seen that this hair
The bright promotion to be compared in coordinate transform with original method on precision property.
Claims (2)
1. a kind of quick high accuracy posture compensation method for carrier-borne electronic reconnaissance equipment, which is characterized in that by disassembling appearance
State compensates equation, is classified as two parts, and a part carries out operation in dsp, and another part carries out operation in FPGA.
2. being used for the quick high accuracy posture compensation method of carrier-borne electronic reconnaissance equipment as described in claim 1, feature exists
In parameter required for front coordinate system to naval vessel geographic coordinate system converts is as follows:
Pitch angle Eoa and azimuth Aoa of the signal obtained from direction finding module relative to front；
The installation position angle A_pos and installation pitch angle A_pit of front；
The pitch angle B_pit and roll angle B_pos on naval vessel；
Naval vessel course H；
The posture compensation method includes the following steps:
Step 1: the middle coefficient for obtaining and switching to deck coordinate transform from front coordinate is calculated in the computing module one of DSP
Coef0, when calculating, execute following floating-point operation,
Step 2: calculating the middle coefficient coef1 for obtaining and switching to geographical coordinate from deck coordinate in the computing module two of DSP,
Following floating-point operation is executed when calculating；
Step 3: calculating the coefficient coef2 for obtaining course in the computing module three of DSP, and when calculating executes following floating-point operation:
Step 4: coef0, coef1 and coef2 of aforementioned acquisition are merged into operation in the computing module four of DSP, the conjunction
Union is floating-point multiplication, is as a result denoted as coef3:
Wherein, c00, c01, c02, c10, c11, c12, c20, c21 and c22 are 9 coefficients that union operation obtains；
Step 5: 9 coefficients in the intermediate quantity coef3 of step 4 acquisition are subjected to floating-point and turn fixed-point calculation, then pass through biography
Defeated channel is sent to FPGA；
Step 6: in FPGA, following fixed-point calculation is done to pitch angle Eoa and azimuth Aoa, obtains intermediate quantity xcoef:
Step 7: in FPGA, intermediate quantity coef3 and intermediate quantity xcoef is carried out to the fixed-point multiplication operation of matrix and vector, is obtained
Obtain intermediate quantity coef:
Wherein, y0, y1 and y2 are three vectors obtaining after fixed-point multiplication operation；
Step 8: the intermediate quantity coef obtained according to step 8 finds out the signal relative to geographical coordinate after pose compensation
Azimuth Aoa_real and pitch angle Eoa_real,
Wherein, atan is arctan function operator, and asin is that rotation functional operation accords with anyway.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811328969.6A CN109508024B (en) | 2018-11-09 | 2018-11-09 | Rapid high-precision attitude compensation method for shipborne electronic reconnaissance equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811328969.6A CN109508024B (en) | 2018-11-09 | 2018-11-09 | Rapid high-precision attitude compensation method for shipborne electronic reconnaissance equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109508024A true CN109508024A (en) | 2019-03-22 |
| CN109508024B CN109508024B (en) | 2022-07-19 |
Family
ID=65747984
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811328969.6A Active CN109508024B (en) | 2018-11-09 | 2018-11-09 | Rapid high-precision attitude compensation method for shipborne electronic reconnaissance equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109508024B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112255615A (en) * | 2020-09-30 | 2021-01-22 | 四川九洲空管科技有限责任公司 | Radar moving platform electron beam stabilization and compensation system |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB8416585D0 (en) * | 1984-06-29 | 1984-08-01 | Racal Antennas Ltd | Antenna arrangements |
| US20030222816A1 (en) * | 2002-06-03 | 2003-12-04 | The Boeing Company | Satellite methods and structures for improved antenna pointing and wide field-of-view attitude acquisition |
| CN101231632A (en) * | 2007-11-20 | 2008-07-30 | 西安电子科技大学 | Method for processing floating-point FFT by FPGA |
| CN102629189A (en) * | 2012-03-15 | 2012-08-08 | 湖南大学 | Water floating point multiply-accumulate method based on FPGA |
| CN203399187U (en) * | 2013-08-20 | 2014-01-15 | 长沙超创电子科技有限公司 | Image jitter removing and electronic image stabilizing equipment based on multicore-DSP (Digital Signal Processor) plus FPGA (Field Programmable Gate Array) framework |
| CN105068066A (en) * | 2015-06-09 | 2015-11-18 | 哈尔滨工程大学 | Embedded-type fixed-and-floating-point multi-beam depth-sounding sonar signal acquisition and processing platform |
| CN107121685A (en) * | 2017-06-08 | 2017-09-01 | 南京理工大学 | A kind of miniature spaceborne high-dynamic GNSS receiver and its air navigation aid |
| CN108132467A (en) * | 2017-12-23 | 2018-06-08 | 成都汇蓉国科微系统技术有限公司 | The biradical Forward-looking SAR imaging methods of DSP+FPGA and imaging device based on enhanced ADC |
-
2018
- 2018-11-09 CN CN201811328969.6A patent/CN109508024B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB8416585D0 (en) * | 1984-06-29 | 1984-08-01 | Racal Antennas Ltd | Antenna arrangements |
| US20030222816A1 (en) * | 2002-06-03 | 2003-12-04 | The Boeing Company | Satellite methods and structures for improved antenna pointing and wide field-of-view attitude acquisition |
| CN101231632A (en) * | 2007-11-20 | 2008-07-30 | 西安电子科技大学 | Method for processing floating-point FFT by FPGA |
| CN102629189A (en) * | 2012-03-15 | 2012-08-08 | 湖南大学 | Water floating point multiply-accumulate method based on FPGA |
| CN203399187U (en) * | 2013-08-20 | 2014-01-15 | 长沙超创电子科技有限公司 | Image jitter removing and electronic image stabilizing equipment based on multicore-DSP (Digital Signal Processor) plus FPGA (Field Programmable Gate Array) framework |
| CN105068066A (en) * | 2015-06-09 | 2015-11-18 | 哈尔滨工程大学 | Embedded-type fixed-and-floating-point multi-beam depth-sounding sonar signal acquisition and processing platform |
| CN107121685A (en) * | 2017-06-08 | 2017-09-01 | 南京理工大学 | A kind of miniature spaceborne high-dynamic GNSS receiver and its air navigation aid |
| CN108132467A (en) * | 2017-12-23 | 2018-06-08 | 成都汇蓉国科微系统技术有限公司 | The biradical Forward-looking SAR imaging methods of DSP+FPGA and imaging device based on enhanced ADC |
Non-Patent Citations (3)
| Title |
|---|
| MAR J.,ET AL.: "Intelligent motion compensation for improving the tracking performance of shipborne phased array radar", 《INTERNATIONAL JOURNAL OF ANTENNAS AND PROPAGATION》 * |
| 李欣伟 等: "一种基于相位扫描的机载SAR运动补偿算法及实现", 《中国科学院研究生院学报》 * |
| 闫秋飞 等: "舰载雷达侦察系统坐标系转换方法", 《舰船电子对抗》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112255615A (en) * | 2020-09-30 | 2021-01-22 | 四川九洲空管科技有限责任公司 | Radar moving platform electron beam stabilization and compensation system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109508024B (en) | 2022-07-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112255615B (en) | Radar moving platform electron beam stabilization and compensation system | |
| CN104459608B (en) | Synthetic vector coordinate transform antenna beam is shaken in length and breadth and points to modification method in a kind of naval vessel | |
| CN105447574B (en) | A kind of auxiliary blocks particle filter method, device and method for tracking target and device | |
| CN107765226A (en) | A kind of SAR satellite radars analogue echoes method, system and medium | |
| CN103985952A (en) | Shipborne A-E-C triaxial satellite communication antenna polarization deviation angle real-time correction method | |
| CN109856606A (en) | A kind of Two-dimensional electron stabilized platform real-time computing technique structured the formation based on triangle | |
| CN106990395A (en) | The calibration method and device of a kind of radar target | |
| CN108306667A (en) | Mixing angle-of- arrival estimation based on linear search in extensive MIMO | |
| CN109508024A (en) | A kind of quick high accuracy posture compensation method of carrier-borne electronic reconnaissance equipment | |
| RU2617373C1 (en) | Optimal method of binding to mobile ground target and forecasting its parameters based on modified, invariant to underlying surface relief, elevation procedure of distance calculation | |
| CN111824357B (en) | Test method, test device, electronic equipment and computer readable storage medium | |
| CN101666876B (en) | Twin-line array sonar port-and-starboard identification method and corresponding system | |
| CN107643514A (en) | A kind of array calibration method of buoy base/shipborne radar based on direct wave | |
| CN112611382A (en) | Strapdown inertial navigation system heave measurement method with phase compensation | |
| CN103777179A (en) | Subarray dimension reducing method for radar three-dimensional conformal array | |
| CN110989655A (en) | Target tracking method for ship-based reconnaissance and shooting unmanned aerial vehicle in take-off and landing stages | |
| CN105404712A (en) | Method for designing launch station track boundary of mobile platform bistatic forward-looking SAR (Synthesize Aperture Radar) | |
| RU2478187C2 (en) | Ship navigation system | |
| CN115616477A (en) | Non-plane wave monopulse angle measurement method | |
| CN108627825A (en) | A kind of analysis method and system of radar detection probability | |
| Ma | Two modified unscented Kalman filter and acceleration information in unmanned surface vehicle estimation | |
| Wei et al. | 3-D MIMO Radar Imaging of Ship Target with Rotational Motions. | |
| Ianagui et al. | Experimental evaluation of sliding mode cooperative-controlled dp vessels | |
| Cai et al. | Space-time distribution of the first-order sea clutter in high frequency surface wave radar on a moving shipborne platform | |
| Gaitanakis et al. | Multi-sensor data fusion for 3D target tracking: a synergy of radar and IRST (InfraRed search & track) |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 225001 No. 26, South River, Jiangsu, Yangzhou Applicant after: NO 723 Research Institute OF CSIC Address before: 225001 No. 168 East Wuzhou Road, Yangzhou City, Jiangsu Province Applicant before: NO 723 Research Institute OF CSIC |
|
| CB02 | Change of applicant information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |