CN111537991A - Processing method for displaying target containing azimuth information in radar view - Google Patents

Processing method for displaying target containing azimuth information in radar view Download PDF

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CN111537991A
CN111537991A CN202010430118.3A CN202010430118A CN111537991A CN 111537991 A CN111537991 A CN 111537991A CN 202010430118 A CN202010430118 A CN 202010430118A CN 111537991 A CN111537991 A CN 111537991A
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target
target point
point
display
current
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CN111537991B (en
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李秋实
田湉
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Beijing Institute of Radio Measurement
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Beijing Institute of Radio Measurement
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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
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S13/60—Velocity or trajectory determination systems; Sense-of-movement determination systems wherein the transmitter and receiver are mounted on the moving object, e.g. for determining ground speed, drift angle, ground track
    • 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
    • G01S7/04—Display arrangements

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

Abstract

The invention relates to the technical field of radar views, in particular to a method for processing target display containing azimuth information in a radar view, which comprises the following steps: calculating a relative azimuth angle of a current target point for a target containing azimuth information according to the acquired radar view information of the target needing to be displayed currently; respectively judging whether the current target point and the previous target point are in the target display range of the radar view; and connecting the two target points according to the position relation between the current target point and the previous target point, and displaying the target track. According to the method and the device, the positions of two adjacent target points in the radar view relative to the target display range are judged, and the target track display is carried out by selecting a proper target display method, so that wrong connection can be avoided in the radar view, and the track information of the target can be accurately displayed.

Description

Processing method for displaying target containing azimuth information in radar view
Technical Field
The invention relates to the technical field of radar views, in particular to a processing method for displaying a target containing azimuth information in a radar view.
Background
At present, the processing method of target display in radar view is generally a direct link method, that is, in a given coordinate system, two adjacent target positions are directly connected. And the target track is displayed in a point-to-point connection mode.
In a traditional point-to-point connection mode, problems are easy to occur when a target is displayed in a radar view containing an azimuth angle. When the target azimuth exceeds the display range, an error connecting line of a target connecting line crossing the screen may occur, so that the target track displayed in the radar view cannot correctly reflect the real target track condition.
Disclosure of Invention
The invention aims to solve the technical problem of providing a processing method for displaying a target in a radar view aiming at the defects of the prior art.
The technical scheme for solving the technical problems is as follows:
a processing method for displaying a target containing azimuth information in a radar view comprises the following steps:
according to the acquired radar view information of the target needing to be displayed currently, for the target containing azimuth information, calculating a relative azimuth angle of a current target point, wherein the relative azimuth angle refers to a relative position of a real azimuth angle of the current target point relative to a normal angle N;
respectively judging whether the current target point and the previous target point are in the target display range of the radar view;
and connecting the two target points according to the position relation between the current target point and the previous target point, and displaying the target track.
The invention has the beneficial effects that: by judging the positions of two adjacent target points in the radar view relative to the target display range and selecting a proper target display method to display the target track, the occurrence of wrong connection lines in the radar view can be avoided, and the track information of the target can be accurately displayed. Meanwhile, the method is also suitable for ballistic display.
On the basis of the technical scheme, the invention can be further improved as follows.
Further, the calculating the relative azimuth angle of the current target point includes:
determining a relative azimuth angle range [ A ] from the normal angle Nmin,Amax]Wherein A ismin＝N–180°、Amax＝N+180°；
According to the actual azimuth RA and A of the current target pointmin、AmaxIs calculated from the magnitude relation ofThe relative azimuth angle a.
Further, the real azimuth RA and A according to the current target pointmin、AmaxCalculating the relative azimuth angle a, including:
if RA>AmaxWhen A is RA-360 degree;
if RA<AminIf A is RA +360 °;
if Amin≤RA≤AmaxAnd then a ═ RA.
Further, the respectively determining whether the current target point and the previous target point are within the target display range of the radar view includes:
determining a target display range according to the radar view information, wherein the target display range comprises: horizontal display Range [ Ashow_Min,Ashow_Max]And a vertical display range [ R ]show_Min,Rshow_Max]；
If the position information (A, R) of the current target point or the last target point satisfies:
Ashow_Min≤A≤Ashow_Maxand R isshow_Min≤R≤Rshow_MaxAnd if not, the current target point or the previous target is in the target display range, wherein A is the relative azimuth angle of the target, and R is the distance between the target and the radar or the height of the target.
Further, connecting the two target points according to the position relationship between the current target point and the previous target point to obtain a target track, including:
when the current target point and the last target point are not in the target display range, no connection is carried out, and no target track is displayed;
when one of the current target point and the previous target point is within the target display range, quantizing the target point located outside, and connecting the internal target point and the quantized external target point without displaying a line segment beyond the target display range;
and when the current target point and the previous target point are both in the target display range, determining a connection mode of the two target points according to the magnitude relation between the relative azimuth angle difference D of the two target points and 180 degrees, connecting the two target points, and displaying a target track.
The beneficial effect of adopting the further scheme is that: by judging the positions of two adjacent target points in the radar view relative to the target display range and selecting a proper target display method to display the target track, the phenomenon that a target connecting line crosses a wrong connecting line of a screen in the radar view can be avoided.
Further, the quantifying the target point located outside includes:
relative azimuth A to the external target pointoutQuantization is carried out to obtain three values QA1＝Aout，QA2＝Aout+360°，QA3＝Aout–360°；
Computing QAiRelative azimuth A to the internal target pointinDifference d ofi＝|QAi-AinWherein i ═ 1, 2, 3;
selection of diMinimum QAiAs the quantified relative azimuth of the external target point.
The beneficial effect of adopting the further scheme is that: and quantizing the external target point to minimize the azimuth difference between the external target point and the internal target point, and connecting the two targets at the moment, so that the occurrence of wrong connecting lines of target connecting lines crossing the screen can be avoided in the radar view.
Further, the connecting the internal target point and the quantized external target point without displaying a line segment exceeding the target display range includes:
calculating the intersection point of the connecting line of the internal target point and the quantized external target point and the display boundary;
and connecting the intersection point with the internal target point, and displaying the target track.
Further, the determining a connection mode of the two target points according to a magnitude relation between a relative azimuth difference D of the two target points and 180 ° to connect the two target points and display a target track includes:
and if D is less than 180 degrees, directly connecting the two target points to display the target track, otherwise, quantizing the two target points respectively, and then connecting the two target points in a segmented manner to display the target track.
The beneficial effect of adopting the further scheme is that: and respectively quantizing the two target points under the condition that the relative azimuth angle difference D of the two target points is more than or equal to 180 degrees, and then performing segmented connection to display the target track, so that the occurrence of wrong connection of the target connection line crossing the screen in the radar view can be more effectively avoided, and the target track can be accurately displayed.
Further, the quantifying two target points respectively, performing segment connection, and displaying the target track includes:
when the relative azimuth angle A of the current target point1Greater than the relative azimuth A of the previous target point2Then, the quantized relative azimuth angle A of the previous target point2’＝A2+360 °, quantified relative azimuth a 1' ═ a 1-360 ° of the current target point;
calculating a first intersection point of a connecting line of the previous target point and the current target point after quantization and a display boundary;
connecting the first intersection point with the internal target point, and displaying a first target track;
calculating a second intersection point of a connecting line of the current target point and the last target point after quantization and a display boundary;
connecting the second intersection point with the previous target point, and displaying a second target track;
the first target track and the second target track are both the target tracks.
Further, the quantifying two target points respectively, performing segment connection, and displaying the target track includes:
when the phase of the current target pointAzimuth angle A1Is smaller than the relative azimuth angle A of the last target point2Then, the quantized relative azimuth angle A of the current target point1’＝A1+360 °, quantized relative azimuth angle a of the previous target point2’＝A2–360°；
Calculating a third intersection point of a connecting line of the current target point and the last target point after quantization and a display boundary;
connecting the third intersection point with the last target point, and displaying a third target track;
calculating a fourth intersection point of a connecting line of the previous target point and the current target point after quantization and a display boundary;
connecting the fourth intersection point with the internal target point, and displaying a fourth target track;
the third target track and the fourth target track are both the target tracks.
Another technical solution of the present invention for solving the above technical problems is as follows:
a target display processing system, the system comprising: a radar view acquisition module, an azimuth angle judgment module and a target display module, wherein,
and the radar view acquisition module is used for acquiring the radar view information of the target which needs to be displayed currently.
And the azimuth angle judging module is used for judging whether azimuth angle information is needed or not when the target is displayed according to the radar view information.
The object display module includes: and when the azimuth angle judging module determines whether the radar view contains the azimuth angle, the target display module decomposes the radar view, and for the radar view containing the azimuth angle, the target display module containing the azimuth angle is used for displaying the target, otherwise, the target display module not containing the azimuth angle is used.
Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments of the present invention or in the description of the prior art will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart of a processing method for displaying a target in a radar view according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a processing method for displaying a target containing azimuth information in a radar view according to another embodiment of the present invention;
fig. 3 is a block diagram of a processing system for displaying a target in a radar view according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.
With reference to fig. 1 and fig. 2, a detailed description is given of a processing method for displaying a target containing azimuth information in a radar view according to an embodiment of the present invention. As shown in fig. 1 and fig. 2, a processing method for displaying a target containing azimuth information in a radar view includes:
110. and calculating the relative azimuth angle of the current target point for the target containing azimuth information according to the acquired radar view information of the target needing to be displayed currently, wherein the relative azimuth angle refers to the relative position of the real azimuth angle of the current target point relative to the normal angle N.
Specifically, in this embodiment, the radar view information includes a display coordinate system, a current display range, and normal line information. Step 110 may include:
111. determining a relative azimuth angle range [ A ] from the normal angle Nmin,Amax]Wherein A ismin＝N–180°、Amax＝N+180°。
112. According to the actual azimuth RA and A of the current target pointmin、AmaxThe relative azimuth angle A is calculated.
Specifically, in this embodiment, if RA>AmaxWhen A is RA-360 degree; if RA<AminIf A is RA +360 °; if Amin≤RA≤AmaxAnd then a ═ RA.
120. And respectively judging whether the current target point and the previous target point are in the target display range of the radar view.
Specifically, in this embodiment, step 120 includes:
121. determining a target display range according to the radar view information, wherein the target display range comprises: horizontal display Range [ Ahow_Min,Ahow_Max]And a vertical display range [ R ]how_Min,Rhow_Max]。
122. If the position information (A, R) of the current target point or the previous target point satisfies:
Ahow_Min≤A≤Ahow_Maxand R ishow_Min≤R≤Rhow_MaxIf the target point or the previous target is in the target display range, otherwise, the target point or the previous target is not in the target display range, wherein A is the relative azimuth angle of the target point, and R is the distance between the target point and the radar or the height of the target point.
That is, in this embodiment, the radar view is a radar view in which the abscissa is information of the relative azimuth angle a of the target and the ordinate is information of the distance between the target and the radar or the height R of the target, and the target display range includes: an azimuth display range and a distance display range, or an azimuth display range and an altitude display range.
The target display range includes: for example, when determining whether the current target point and the previous target point are within the target display range of the radar view, it is necessary to determine whether the azimuth angles of the current target point and the previous target point are within the azimuth display range and whether the distances thereof are within the distance display range according to the position information (azimuth information and distance information) of the current target point and the previous target point, respectively.
Specifically, it is determined whether the azimuth of the current target point is within the azimuth display range and whether the distance thereof is within the distance display range, based on the position information (azimuth information and distance information) of the current target point. According to the position information (azimuth information and distance information) of the previous target point, whether the azimuth of the previous target point is within the azimuth display range and whether the distance of the previous target point is within the distance display range are judged.
And if the azimuth angle of the current target point is within the azimuth angle display range and the distance of the current target point is within the distance display range, the current target point is within the target display range, otherwise, the current target point is not within the target display range. Similarly, if the azimuth angle of the previous target point is within the azimuth angle display range and the distance thereof is within the distance display range, the previous target point is within the target display range, otherwise, the previous target point is not within the target display range.
In one possible embodiment, if there is no previous target, the step 130 is not continued, and the next target is selected as the new current target and the step 110 is executed.
130. And connecting the two target points according to the position relation between the current target point and the previous target point, and displaying the target track.
Specifically, in this embodiment, the position relationship between the current target point and the previous target point is the positions of the two target points relative to the target display range, and may include: two target points are not both within the target display range, two target points are both within the target display range, and one of the two target points is within the target display range, which are 3 cases.
In the processing method for displaying the target in the radar view provided in the above embodiment, the position of two adjacent target points in the radar view relative to the target display range is judged, and a suitable target display method is selected to display the target track, so that the occurrence of wrong connection lines in the radar view can be avoided, and the track information of the target can be accurately displayed.
Optionally, in one embodiment, step 130 comprises:
131. and if the current target point and the last target point are not in the target display range, no connection is carried out, and the target track is not displayed.
132. If one of the current target point and the previous target point is within the target display range, quantizing the target point located outside, and connecting the internal target point and the quantized external target point without displaying the line segment beyond the target display range (namely hiding the line segment beyond the display range).
Specifically, in this embodiment, the step 132 performs quantization processing on the target point located outside, including:
1321. relative azimuth A to external target pointoutQuantization is carried out to obtain three values QA1＝Aout，QA2＝Aout+360°，QA3＝Aout–360°。
1322. Computing QAiRelative azimuth A to internal target pointinDifference d ofi＝|QAi-AinWherein i is 1, 2, 3.
1323. Selection of diMinimum QAiAs the relative azimuth of the quantified external target point. At this time, the quantized external target point is closest to the internal target point, and the target point located outside is quantized to the vicinity of the internal target point.
After the quantized external target point is obtained, the intersection point of the connection line of the quantized external target point and the internal target point and the display boundary is calculated, and the track beyond the target display range is not displayed, so that the intersection point and the internal target point are only connected, and the connection line is the target track.
133. If the current target point and the previous target point are both in the target display range, determining the connection mode of the two target points according to the relation between the relative azimuth angle difference D of the two target points and 180 degrees to connect the two target points and display the target track.
Optionally, in another embodiment, in step 133, determining a connection mode of the two target points according to a magnitude relation between the relative azimuth difference D of the two target points and 180 ° to connect the two target points, and displaying the target track includes:
if D is less than 180 degrees, directly connecting the two target points and displaying the target track, otherwise, quantizing the two target points respectively, and then connecting the two target points in a segmented manner to display the target track.
Specifically, in this embodiment, the quantifying two target points, performing segment connection, and displaying the target track includes:
relative azimuth A at current target point1Greater than the relative azimuth A of the previous target point2In the case of (1), the quantized relative azimuth angle A of the previous target point2’＝A2+360 °, and the quantized relative azimuth angle a 1' of the current target point is a 1-360 °.
And calculating a first intersection point of a connecting line of the previous target point and the current target point after quantization and the display boundary.
And connecting the first intersection point with the internal target point, and displaying the first target track.
And calculating a second intersection point of a connecting line of the quantized current target point and the previous target point and the display boundary.
And connecting the second intersection point with the last target point, and displaying the second target track.
Then, the first target track and the second target track are both target tracks.
Relative azimuth A at current target point1Relative azimuth A smaller than the previous target point2In case of quantized relative azimuth angle A of the current target point1’＝A1+360 °, quantized relative azimuth angle a of the previous target point2’＝A2–360°。
And calculating a third intersection point of a connecting line of the quantized current target point and the previous target point and the display boundary.
And connecting the third intersection point with the last target point, and displaying a third target track.
And calculating a fourth intersection point of a connecting line of the previous target point and the current target point after quantization and the display boundary.
And connecting the fourth intersection point with the internal target point, and displaying a fourth target track.
Then, the third target track and the fourth target track are both target tracks.
That is, for the case where D ≧ 180 °, it is assumed that the relative azimuth angles of the two target points 1, 2 are A, respectively1，A2And then:
if A1>A2The method comprises the following specific steps:
1331. quantification A2’＝A2+360 °, calculating an intersection point of a connecting line between the target point 2' and the target point 1 and the display boundary, and connecting the intersection point with the target point 1;
1332. quantification A1’＝A1-360 °, calculating the intersection of the line connecting the target point 1' and the target point 2 with the display boundary, connecting the intersection with the target point 2. At the moment, the two connecting lines are both track tracks of the target.
If A1<A2The method comprises the following specific steps:
1333. quantification A1’＝A1+360 °, calculating an intersection point of a connecting line between the target point 1' and the target point 2 and the display boundary, and connecting the intersection point with the target point 2;
1334. quantification A2’＝A2360 DEG, calculating the intersection point of the connecting line of the target point 2' and the target point 1 and the display boundary, and connecting the intersection point and the target point 1. At the moment, the two connecting lines are both track tracks of the target.
Wherein, the target point 1 'is the quantized target point 1, and the target point 2' is the quantized target point 2, A1'is the relative azimuth of the target point 1', A2'is the relative azimuth of the target point 2'.
In the above embodiment, by determining the positions of two adjacent target points in the radar view relative to the target display range, and selecting a suitable target display method to perform target track display, an error connection line of a target connection line crossing the screen can be avoided in the radar view.
It should be understood that, in the embodiments of the present invention, the sequence numbers of the above-mentioned processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.
The invention further provides a processing system for displaying the target in the radar view. As shown in fig. 3, the system includes: the radar view display system comprises a radar view acquisition module 100, an azimuth angle judgment module 200 and a target display module 300.
The radar view acquisition module 100 is configured to acquire radar view information of a target that needs to be displayed currently.
The radar view information includes coordinate system information, display range information, normal line information, and the like. In this embodiment, the radar view information includes a display coordinate system, a current display range (i.e., a maximum value and a minimum value of horizontal and vertical coordinates in the current display coordinate system), and normal information. The display range may be changed according to the user's operation.
The azimuth angle determining module 200 is configured to determine whether azimuth angle information is needed when the target is displayed according to the radar view information.
The object display module 300 includes: a target display module 310 with azimuth and a target display module 320 without azimuth. After the azimuth determination module 200 determines whether the radar view contains an azimuth, the target display module 300 decomposes the radar view, and for the radar view containing the azimuth, the target display module 310 containing the azimuth is used to display the target, otherwise, the target display module 320 containing no azimuth is used.
It should be noted that, in the embodiment of the present invention, the target display module 310 with azimuth according to the embodiment of the present invention may correspond to an execution subject of the processing method for displaying the target with azimuth information in the radar view according to the embodiment of the present invention, that is: when the target display module 310 with the azimuth angle is used to display the target, the specific implementation process is as the corresponding flow of each method in fig. 1 and fig. 2, and for brevity, no further description is given here.
In addition, the term "and/or" herein is only one kind of association relationship describing an associated object, and means that there may be three kinds of relationships, for example, a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
Those of ordinary skill in the art will appreciate that the elements and algorithm steps of the examples described in connection with the embodiments disclosed herein may be embodied in electronic hardware, computer software, or combinations of both, and that the components and steps of the examples have been described in a functional general in the foregoing description for the purpose of illustrating clearly the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may also be an electric, mechanical or other form of connection.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment of the present invention.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention essentially or partially contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
While the invention has been described with reference to specific embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (10)

1. A method for processing display of a target containing azimuth information in a radar view is characterized by comprising the following steps:
according to the acquired radar view information of the target needing to be displayed currently, for the target containing azimuth information, calculating a relative azimuth angle of a current target point, wherein the relative azimuth angle refers to a relative position of a real azimuth angle of the current target point relative to a normal angle N;
respectively judging whether the current target point and the previous target point are in the target display range of the radar view;
and connecting the two target points according to the position relation between the current target point and the previous target point, and displaying the target track.
2. The method for processing the display of the target containing the azimuth information in the radar view according to claim 1, wherein the calculating the relative azimuth angle of the current target point according to the acquired radar view information of the target currently required to be displayed comprises:
determining a relative azimuth angle range [ A ] from the normal angle Nmin,Amax]Wherein A ismin＝N–180°、Amax＝N+180°；
According to the actual azimuth RA and A of the current target pointmin、AmaxThe relative azimuth angle a is calculated.
3. The method of claim 2, wherein the target display with azimuth information is processed according to the real azimuth RA and A of the current target pointmin、AmaxCalculating the relative azimuth angle a, including:
if RA>AmaxWhen A is RA-360 degree;
if RA<AminIf A is RA +360 °;
if Amin≤RA≤AmaxAnd then a ═ RA.
4. The method for processing the display of the target containing the azimuth information in the radar view according to claim 1, wherein the determining whether the current target point and the previous target point are within the target display range of the radar view respectively comprises:
determining a target display range according to the radar view information, wherein the target display range comprises: horizontal display Range [ Ashow_Min,Ashow_Max]And a vertical display range [ R ]show_Min,Rshow_Max]；
If the position information (A, R) of the current target point or the last target point satisfies:
Ashow_Min≤A≤Ashow_Maxand R isshow_Min≤R≤Rshow_MaxAnd if not, the current target point or the previous target is in the target display range, wherein A is the relative azimuth angle of the target point, and R is the distance between the target point and the radar or the height of the target point.
5. The method for processing the display of the target containing the azimuth information in the radar view according to any one of claims 1 to 4, wherein connecting two target points according to the position relationship between the current target point and the previous target point to obtain a target track comprises:
when the current target point and the last target point are not in the target display range, no connection is carried out, and no target track is displayed;
when one of the current target point and the previous target point is within the target display range, quantizing the target point located outside, and connecting the internal target point and the quantized external target point without displaying a line segment beyond the target display range;
and when the current target point and the previous target point are both in the target display range, determining a connection mode of the two target points according to the magnitude relation between the relative azimuth angle difference D of the two target points and 180 degrees, connecting the two target points, and displaying a target track.
6. The method for processing the display of the target containing the orientation information in the radar view according to claim 5, wherein the quantizing the target point located outside includes:
relative azimuth A to the external target pointoutQuantization is carried out to obtain three values QA1＝Aout，QA2＝Aout+360°，QA3＝Aout–360°；
Computing QAiRelative azimuth A to the internal target pointinDifference d ofi＝|QAi-AinWherein i ═ 1, 2, 3;
selection of diMinimum QAiAs the quantified relative azimuth of the external target point.
7. The method for processing target display containing azimuth information in radar view according to claim 6, wherein said connecting the internal target point and the quantized external target point without displaying a line segment beyond the target display range comprises:
calculating the intersection point of the connecting line of the internal target point and the quantized external target point and the display boundary;
and connecting the intersection point with the internal target point, and displaying the target track.
8. The method according to claim 5, wherein determining a connection mode of two target points according to a magnitude relationship between a relative azimuth difference D between the two target points and 180 ° to connect the two target points and display a target track comprises:
and if D is less than 180 degrees, directly connecting the two target points to display the target track, otherwise, quantizing the two target points respectively, and then connecting the two target points in a segmented manner to display the target track.
9. The method of claim 8, wherein the quantizing the two target points, and then performing segment linking to display the target track comprises:
when the relative azimuth angle A of the current target point1Greater than the relative azimuth A of the previous target point2Then, the quantized relative azimuth angle A of the previous target point2’＝A2+360 °, quantified relative azimuth a 1' ═ a 1-360 ° of the current target point;
calculating a first intersection point of a connecting line of the previous target point and the current target point after quantization and a display boundary;
connecting the first intersection point with the internal target point, and displaying a first target track;
calculating a second intersection point of a connecting line of the current target point and the last target point after quantization and a display boundary;
connecting the second intersection point with the previous target point, and displaying a second target track;
the first target track and the second target track are both the target tracks.
10. The method of claim 8, wherein the quantizing the two target points, and then performing segment linking to display the target track comprises:
when the relative azimuth angle A of the current target point1Is smaller than the relative azimuth angle A of the last target point2Then, the quantized relative azimuth angle A of the current target point1’＝A1+360 °, quantized relative azimuth angle a of the previous target point2’＝A2–360°；
Calculating a third intersection point of a connecting line of the current target point and the last target point after quantization and a display boundary;
connecting the third intersection point with the last target point, and displaying a third target track;
calculating a fourth intersection point of a connecting line of the previous target point and the current target point after quantization and a display boundary;
connecting the fourth intersection point with the internal target point, and displaying a fourth target track;
the third target track and the fourth target track are both the target tracks.
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