CN110412551B - Cross-platform handover coordinate conversion method for beyond-the-horizon detection target information - Google Patents

Cross-platform handover coordinate conversion method for beyond-the-horizon detection target information Download PDF

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CN110412551B
CN110412551B CN201910657744.3A CN201910657744A CN110412551B CN 110412551 B CN110412551 B CN 110412551B CN 201910657744 A CN201910657744 A CN 201910657744A CN 110412551 B CN110412551 B CN 110412551B
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platform
target
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observation
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CN110412551A (en
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陆翔
田田
张宁
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724th Research Institute of CSIC
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/04—Systems determining presence of a target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/28—Details of pulse systems
    • G01S7/285—Receivers
    • G01S7/295—Means for transforming co-ordinates or for evaluating data, e.g. using computers
    • G01S7/2955—Means for determining the position of the radar coordinate system for evaluating the position data of the target in another coordinate system

Abstract

The invention relates to a method for converting over-the-horizon detection target information cross-platform handover coordinates. Aiming at the problem that a coordinate conversion method adopting the traditional cross-platform handover has a system error due to the influence of the earth curvature factor in the cross-platform handover process of an over-the-horizon target, the invention provides a cross-platform handover coordinate conversion method of over-the-horizon detection target information, which can effectively eliminate the coordinate conversion system error caused by the spherical surface angle exceeding in the cross-platform handover process of the over-the-horizon target, and comprises the following specific steps: obtaining distance angle information of an observation target of the platform and distance angle information of an observation cooperative platform of the platform; executing an beyond-visual-range cross-platform eye-finger conversion method; and outputting the target observation result of the cooperative platform.

Description

Cross-platform handover coordinate conversion method for beyond-the-horizon detection target information
Technical Field
The invention relates to a cross-platform handover coordinate conversion method for target information.
Background
The method for converting the cross-platform handover coordinate of the target information refers to converting the result of the observation target of the platform into the result of the observation target of the cooperative platform. The cross-platform handover coordinate conversion of the target information can realize that the result of target observation is sent to the cooperative platform through the platform under the condition that the target is out of the power coverage range of the cooperative platform, so that the cooperative platform can continuously monitor the target. On one hand, the transformation of the cross-platform handover coordinates of the target information can realize the pre-arrangement of key observation target resources by the cooperative platform, so that the radar can quickly find the target when the target enters the platform power range; on the other hand, the cooperative platform can continuously monitor key targets outside the detection power coverage range, and provides target position information with guaranteed precision for the cooperative platform.
Under a common condition, the target information cross-platform handover method calculates and obtains the distance angle of the cooperative platform observation target according to the distance angle of the platform observation target and the distance angle of the platform observation cooperative platform.
In the process of implementing the invention, the inventor finds that the cross-platform handover coordinate transformation of the over-the-horizon detection target information has the following problems: when a scene satisfies one or more of the following conditions: when the platform and the cooperative platform are beyond the visual range, and the target and the cooperative platform are beyond the visual range, the traditional cross-platform coordinate conversion method is adopted, and the spherical angle beyond influence caused by the earth curvature under the condition of beyond the visual range is not considered, so that the traditional cross-platform coordinate conversion method cannot ensure the target tracking precision after conversion. When high-precision target tracking is required, a traditional cross-platform joint coordinate conversion method has a large system error, and the error will have adverse effects on tasks such as cross-platform relay observation of pre-arranged detection resources.
Disclosure of Invention
The invention aims to overcome the problem of cross-platform target information conversion error caused by the curvature of the earth, namely, the error generated by converting the result of the platform observation target into the result of the cooperative platform observation target. The invention provides a cross-platform handover coordinate conversion method for over-the-horizon detection target information by comprehensively considering the characteristic of spherical angle over. The contents of the technical invention are as follows.
Obtaining distance angle information of an observation target of the platform and distance angle information of an observation cooperative platform of the platform; executing an beyond-visual-range cross-platform eye-finger conversion method; and outputting the target observation result of the cooperative platform. The specific method for executing beyond visual range cross-platform visual target conversion is as follows: the observation result of the platform target to be converted into the observation result of the cooperative platform is preprocessed, and the included angle formed by the platform, the geocentric and the target is calculated and output
Figure GDA0002885657250000011
Distance L 'from the platform to the projection point of the target on the sea level'1Altitude h of the targetpDistance L 'from collaboration platform to target'2(ii) a Solving the included angle of the cooperative platform, the geocentric and the target
Figure GDA0002885657250000012
Pitching parameter for solving cooperative platform target observation result
Figure GDA0002885657250000021
Distance parameter L for solving cooperative platform target observation result2(ii) a Solving collaborative platform target observation resultsOf the azimuth parameter theta2。
Drawings
Fig. 1 is a schematic diagram of a method for converting over-the-horizon detection target information cross-platform handover coordinates.
Fig. 2 is a schematic diagram of a method for converting over-the-horizon detection target information cross-platform handover coordinates.
Fig. 3 is a schematic diagram of an embodiment of a method for converting over-the-horizon detection target information cross-platform handover coordinates.
Detailed Description
The implementation process and the software flow are shown in fig. 3 and described as the following processes.
Step 1: obtaining the distance angle information of the platform observation target and the distance angle information of the platform observation cooperative platform, and recording the distance of the platform observation target as S1, the distance of the cooperative platform as S2 and the distance of the platform observation target as L1The azimuth angle of the observation target of the platform is recorded as theta1The pitch angle of the observation target of the platform is recorded as
Figure GDA0002885657250000022
The angle of the platform for observing the target cooperative platform, namely the angle of S2 observed by S1 is marked as a12The angle of the platform is recorded as a21The mutual distance measurement result of the platform and the cooperative platform is recorded as D', and the altitude h of the platform is recorded ass1And the altitude h of the cooperative platforms2；
Step 2: solving parameters
Figure GDA0002885657250000023
Figure GDA0002885657250000024
And step 3: parameter L 'is solved'1
Figure GDA0002885657250000025
And 4, step 4: solving for height hp
Figure GDA0002885657250000026
And 5: solve L'2
About L'2According to the spherical trigonometric cosine formula cos C ═ cos a cos b + sin a sin b cos C, it can be known that:
Figure GDA0002885657250000027
therefore, there are:
Figure GDA0002885657250000028
step 6: solving for
Figure GDA0002885657250000031
About
Figure GDA0002885657250000032
From the relationship of arc length to angle we can see:
Figure GDA0002885657250000033
and 7: pitching parameter for solving cooperative platform target observation result
Figure GDA0002885657250000034
According to
Figure GDA0002885657250000035
Therefore, the following steps are carried out:
Figure GDA0002885657250000036
Figure GDA0002885657250000037
and 8: distance parameter L for solving cooperative platform target observation result2
With respect to L2Derived from the above formula
Figure GDA0002885657250000038
In a clear view of the above, it is known that,
Figure GDA0002885657250000039
and step 9: orientation parameter theta for solving cooperative platform target observation result2
About theta2According to the spherical triangular sine formula, the following results are obtained:
Figure GDA00028856572500000310
thus:
Figure GDA00028856572500000311
according to the mutual direction finding result of the cooperative ship,
θ2＝a21-B；
step 10: distance parameter L of cooperative platform target observation result2Azimuth parameter theta of same-platform target observation result2Pitching parameter of cooperative platform target observation result
Figure GDA00028856572500000312
Form a vector
Figure GDA00028856572500000313
And outputting the P as a cooperative platform target observation result.

Claims (1)

1. A method for converting over-the-horizon detection target information cross-platform handover coordinates is characterized by comprising the following steps:
step 1: obtaining the distance angle information of the platform observation target and the distance angle information of the platform observation cooperative platform, and recording the distance of the platform observation target as S1, the distance of the cooperative platform as S2 and the distance of the platform observation target as L1The azimuth angle of the observation target of the platform is recorded as theta1The pitch angle of the observation target of the platform is recorded as
Figure FDA0002864421680000011
The angle of the platform for observing the target cooperative platform, namely the angle of S2 observed by S1 is marked as a12The angle of the platform is recorded as a21The mutual distance measurement result of the platform and the cooperative platform is recorded as D', and the altitude h of the platform is recorded ass1And the altitude h of the cooperative platforms2；
Step 2: solving the included angle formed by the platform, the geocenter and the target
Figure FDA0002864421680000012
Figure FDA0002864421680000013
And step 3: solving the length L 'of the projection of the line segment connecting the platform and the target on the sea level'1：
Figure FDA0002864421680000014
And 4, step 4: solving the altitude h of the target observed by the platformp：
Figure FDA0002864421680000015
And 5: solving distance L 'between collaborative platform and target'2：
Figure FDA0002864421680000016
Step 6: solving the included angle of the cooperative platform, the geocentric and the target
Figure FDA0002864421680000017
Figure FDA0002864421680000018
And 7: pitching parameter for solving cooperative platform target observation result
Figure FDA0002864421680000019
Figure FDA00028644216800000110
And 8: distance parameter L for solving cooperative platform target observation result2：
Figure FDA00028644216800000111
And step 9: orientation parameter theta for solving cooperative platform target observation result2：
Figure FDA0002864421680000021
θ2＝a21-B；
Step 10: outputting a cooperative platform target observation result L2、θ2、
Figure FDA0002864421680000022
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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0614535B1 (en) * 1991-11-25 1996-03-20 United Technologies Corporation Radar tracking system having target position dead reckoning
CA2485884A1 (en) * 2002-05-13 2003-11-20 James R. Hager Method and apparatus to determine a target location in body coordinates
CN104076348A (en) * 2014-07-09 2014-10-01 中国船舶重工集团公司第七二四研究所 Radar beyond visual range base line passive cooperative localization method
CN109459753A (en) * 2017-10-16 2019-03-12 内蒙古工业大学 Weather radar data coordinate converts Fast Interpolation method
CN109683629A (en) * 2019-01-09 2019-04-26 燕山大学 Unmanned plane electric stringing system based on integrated navigation and computer vision

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0614535B1 (en) * 1991-11-25 1996-03-20 United Technologies Corporation Radar tracking system having target position dead reckoning
CA2485884A1 (en) * 2002-05-13 2003-11-20 James R. Hager Method and apparatus to determine a target location in body coordinates
CN104076348A (en) * 2014-07-09 2014-10-01 中国船舶重工集团公司第七二四研究所 Radar beyond visual range base line passive cooperative localization method
CN109459753A (en) * 2017-10-16 2019-03-12 内蒙古工业大学 Weather radar data coordinate converts Fast Interpolation method
CN109683629A (en) * 2019-01-09 2019-04-26 燕山大学 Unmanned plane electric stringing system based on integrated navigation and computer vision

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
Coordinate registration algorithms for over-the-horizon radar;Kong Min等;《Journal of Systems Engineering and Electronics》;20061231;第17卷(第4期);第725-730页 *

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