CN113805169A - Space target low-power-consumption small satellite radar searching and tracking method - Google Patents
Space target low-power-consumption small satellite radar searching and tracking method Download PDFInfo
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Abstract
The invention provides a space target low-power-consumption small satellite radar searching and tracking method, and a C wave band is selected as a radar working frequency band. The phased array radar is used for firstly searching a space domain target, obtaining distance information of the target through distance compression, short-time Fourier transform and constant false alarm detection, and then measuring an angle of the target through sum and difference beams. And tracking the target when the distance and angle information of the target is obtained. Based on the design of the miniaturized phased array radar system, the signal processing method for target searching and tracking, and the distance and angle measurement error analysis, the miniaturized phased array radar can search a three-dimensional space target of 40 degrees multiplied by 40 degrees within a 25km range, and can realize the distance measurement precision of 0.4m and the angle measurement precision of 0.03 degrees, so that the application requirements of large-range searching and tracking of the space target are met.
Description
Technical Field
The invention belongs to the technical field of radars in the electronic information industry, and relates to a space target low-power-consumption small satellite radar searching and tracking method.
Background
With the development of the aerospace technology, space debris, invalid spacecrafts and other space wastes are more and more, and the space safety of high-value satellites is threatened. For this purpose, the spatial object needs to be detected. At present, space target detection is basically two ways of ground-based detection and space-based detection. As most of the foundation detection stations in China are distributed in China, the detection points are limited, the detection airspace is limited, and the detection of space debris in all airspaces and all-day-time can not be realized. And space-based observation is not limited by an airspace, and detection and tracking of a full airspace space target can be realized.
Space-based space debris detection is a method for detecting space debris by using detection equipment on a space-based platform comprising a satellite, an airship and a space station and during detection, wherein the main detection equipment comprises an optical telescope, a microwave radar, a laser radar and the like. Optical detection has certain requirements on illumination conditions, in addition, optical measurement can only measure angles, and the limitation that high-precision distance measurement is difficult can increase the positioning difficulty. The satellite-borne radar is more suitable to be carried on a larger satellite platform due to the large volume and high power consumption. The laser radar has the characteristics of high positioning accuracy and strong anti-interference performance, but the current space high-power laser signal generation and receiving technology is not mature, and the laser radar is only used for detecting a short-distance space target in space-based detection.
The space debris can be detected by applying space-based radar, a special observation satellite can be adopted, or satellites, spaceships, space stations and the like which are responsible for other tasks are carried, and small satellite networking can be adopted to distribute a plurality of satellites in the whole orbit layer expected to be observed. At present, the radar for implementing space-based observation on space debris internationally mainly comprises: the radar for monitoring the track debris, which is carried on the international space station in the United states, can carry out tracking measurement on space objects of 4-80 m within the range of 25km near the international space station. The method is characterized in that space fragments of 1-3 mm are observed by adopting a millimeter wave space-based radar. Microwave radars on the small satellite constellation of the french space research center, the radar system can detect space targets of hundreds of millimeters each year. In addition, there are space debris observation radars in canada and small target detection radars in the italian space base. China began 2000 years for space-based radar detection research, and the idea of space multi-beam measurement radar was proposed. Although research has been done for space-based radar detection for decades, radar is currently limited in its detection capabilities.
Disclosure of Invention
In view of the technical problems, the invention provides a phased array radar technology with a space target low power consumption and a small satellite, and the phased array radar technology meets the application requirements of large-range searching and tracking of the space target. The phased array radar technology can search a three-dimensional space target of 40 degrees multiplied by 40 degrees within a 25km range, and the ranging precision of 0.4m and the angle measurement precision of 0.03 degrees are realized. By analyzing the performance of the radar with different wave bands on searching and fine tracking of a target in a large-scale space and comprehensively considering factors such as searching and tracking, system complexity and power consumption, the C wave band is finally selected as the working frequency band of the radar. Compared with the traditional search radar, the phased array radar has the advantages of simultaneously searching and tracking, meeting the requirement of searching and tracking in a large range and the like.
The technical solution of the invention is as follows:
in a first aspect, a space target low-power consumption small satellite radar searching and tracking method includes the following steps:
1) transmitting a radar signal, searching a target, obtaining a ranging result of a real target according to a radar receiving echo, and obtaining ranging precision in a distance direction and an azimuth direction;
2) measuring the target angle to obtain the azimuth angle of the real target and the angle measurement precision of the real target;
3) and tracking the target and determining the motion trail information of the target.
Optionally, the radar is a phased array radar.
Optionally, the C-band is selected as the operating band of the phased array radar.
Optionally, the signal transmitting mode of the radar specifically adopts a time-frequency orthogonal transceiving mode of a small time-bandwidth product and a time-bandwidth product.
Optionally, the method for obtaining the ranging result of the real target and obtaining the ranging accuracy in the distance direction and the azimuth direction in step 1) specifically includes:
11) transmitting a signal by a radar;
12) performing range compression processing on the received echo signals to obtain range-compressed echo data;
13) performing Fourier transform processing in the azimuth direction to obtain a Fourier transform result;
14) judging whether a target exists according to the echo data after the distance direction compression, the Fourier transform result and the signal-to-noise ratio requirement of radar imaging, and entering a step 15 if the target exists); otherwise, returning to the step 12);
15) judging whether the target obtained in the step 13) is a real target or not by using a constant false alarm detection method, and if so, entering the step 16), otherwise, returning to the step 12);
16) analyzing the distance direction and the azimuth direction of the real target according to the normalized signal-to-noise ratio to obtain a distance measurement result of the real target and obtain distance measurement precision of the distance direction and the azimuth direction;
17) and (3) judging whether the distance direction and the azimuth direction obtained in the step (16) meet the threshold requirement, if so, entering the step (2), otherwise, returning to the step (12).
Optionally, the threshold requirement in step 17) is specifically: the distance and direction measuring precision is not less than 0.5 m.
Optionally, the method for obtaining the azimuth angle of the real target and the angle measurement accuracy of the real target in step 2) specifically includes:
21) in the scanning process of the radar beam, two adjacent beams irradiated to a target are searched and obtained, and therefore the difference sum ratio of the two adjacent beams is obtained through solving;
22) determining the azimuth angle of the real target according to the difference sum ratio and the sum-difference beam ratio lookup table obtained in the step 21);
23) repeating the steps 21) to 22) for a plurality of times according to the real angle of the target and the azimuth angle calculated in the step 22), thereby obtaining the angle measurement precision of the target.
Optionally, the method for determining the motion trajectory information of the target in step 3) specifically includes:
31) adjusting a beam to stably track the real target according to the ranging result of the real target and the azimuth angle of the real target;
32) if n real targets exist, reducing the tracking frame frequency of each target to be 1/n of the original tracking frame frequency; otherwise, directly entering the step 33); wherein n is a positive integer greater than 1;
33) and keeping continuous tracking of the real target, and performing track association processing in the tracking process so as to determine the motion track information of the target.
In a second aspect, a processing apparatus comprises:
a memory for storing a computer program;
a processor for calling and running the computer program from the memory to perform the method of the first aspect.
A computer readable storage medium having stored thereon a computer program or instructions which, when executed, implement the method of the first aspect.
Compared with the prior art, the invention has the following advantages:
1) by emitting the time-frequency orthogonal receiving and transmitting signals of the small time bandwidth product and the time bandwidth product, the phased array radar carried by the small satellite can simultaneously meet the requirement of large-range blind-area-free detection of the target within a detection angle range.
2) Compared with the traditional satellite-borne radar, the space target low-power-consumption small satellite radar searching and tracking method has the advantages of large volume, high power consumption, small volume, low power consumption and the like.
Drawings
FIG. 1 is a plot of SNR versus RCS for a wide range search mode;
FIG. 2 is a graph of SNR versus RCS for target tracking mode;
FIG. 3 is a diagram of a phased array radar system;
FIG. 4 is a schematic view of a target search pattern;
FIG. 5 is a schematic diagram of a time-frequency orthogonal transceiving mode;
FIG. 6 is a signal processing module flow diagram;
FIG. 7 is a geometric relationship diagram of a satellite and a target;
FIG. 8 is a raw echo map;
FIG. 9 is a slice view of the range and azimuth at the target point;
FIG. 10 is a scanned beam pattern;
FIG. 11 is a graph of the difference and ratio of the various beams;
FIG. 12 is a plot of range compressed signals for five point targets.
Detailed Description
The invention relates to a space target low-power-consumption small satellite radar searching and tracking method, which selects radar wave bands meeting the searching and tracking performances at the same time, and then analyzes the searching and tracking performances of a radar. The method comprises the following steps:
1) radar band selection
According to the radar equation in the search mode, the search performance depends on the power aperture area of the radar; according to the radar equation in the target tracking mode, the tracking performance depends on the power aperture gain product of the radar. And comprehensively considering factors such as large-range search, fine target tracking, system complexity and cost and the like, and selecting the C wave band as the working wave band of the micro-nano satellite miniaturized phased array radar.
2) Transmission signal pattern
In order to reduce the detection blind area as much as possible and reduce the mutual interference between signals, a time-frequency orthogonal transceiving working mode of small time bandwidth product and time bandwidth product is adopted.
3) Target searching is carried out to obtain the distance measurement result of the real target and the distance measurement precision of the distance direction and the direction
30) The radar return signals are received and the radar return signals are received,
31) firstly, performing range compression processing on echo signals to obtain range compressed echo data;
32) then, short-time FFT conversion processing is carried out in the azimuth direction to obtain an FFT conversion result;
33) judging whether a target exists according to the echo data after the range direction compression, an FFT (fast Fourier transform) result and the signal-to-noise ratio requirement of radar imaging, and if so, entering a step 34); otherwise, returning to the step 31);
34) judging whether the target obtained in the step 33) is a real target or not by using a Constant False Alarm Rate (CFAR) detection method, if so, entering the step 35), otherwise, returning to the step 31);
35) analyzing the distance direction and the azimuth direction of the real target according to the normalized signal-to-noise ratio to obtain a distance measurement result of the real target and the distance measurement precision of the distance direction and the azimuth direction;
36) judging whether the distance direction and the azimuth direction obtained in the step 35) meet the threshold requirement, if so, entering the step 2), otherwise, returning to the step 31); the threshold requirements are specifically: the distance and direction measuring precision is not less than 0.5 m.
4) Measuring the target angle to obtain the azimuth angle of the real target and the angle measurement precision of the real target;
41) in the scanning process of the radar beam, two adjacent beams irradiated to a target are searched and obtained, and therefore the difference sum ratio of the two adjacent beams is obtained through solving;
42) determining the azimuth angle of the real target according to the difference sum ratio and the sum-difference beam ratio lookup table obtained in the step 41);
43) for a plurality of targets, 41) and 42) are repeated for each target, respectively);
44) and repeating the steps 41) to 42) for a plurality of times according to the real angle of the target and the azimuth angle calculated in the step 42) for each target, thereby obtaining the angle measurement precision of the target.
5) Target tracking
51) Adjusting a beam to stably track the real target according to the ranging result of the real target and the azimuth angle of the real target;
52) if n real targets exist, reducing the tracking frame frequency of each target to be 1/n of the original tracking frame frequency in order to ensure the SNR requirement;
53) and keeping continuous tracking of the real target, and performing track association processing in the tracking process so as to determine the motion track information of the target.
The space target low-power consumption is accompanied by the phased array radar technology of the small satellite, the phased array radar carried by the small satellite needs to meet the requirements of a plurality of tasks such as large-range space target searching and fine tracking at the same time, and the searching performance depends on the power aperture area of the radar according to the radar equation in the searching mode; according to the radar equation in the target tracking mode, the tracking performance depends on the power aperture gain product of the radar.
And comprehensively considering factors such as large-range search, fine target tracking, system complexity and cost and the like, and finally selecting the C wave band as the working wave band of the micro-nano satellite miniaturized phased array radar.
The search performance depends on the power aperture product of the radar
Search for the radar equation of
Wherein, PavA is the power aperture product, PavFor average transmit power, A is the physical aperture, σ is the radar cross-sectional area, Ω is the solid angle, TsFor the scan time, TeFor effective temperature, L is the radar loss, F is the noise coefficient, k is the Boltzmann constant, and R is the target distance.
The tracking performance depends on the power aperture gain product of the radar.
The tracking radar equation is as follows:
wherein, PavA.G is the power aperture gain product, fframeTo track frame rate, NtargetThe number of the targets is tracked. According to the radar equation in the target tracking mode, the tracking performance depends on the power aperture gain product of the radar.
And selecting the C wave band as the working wave band of the micro-nano satellite miniaturized phased array radar.
For the phased array antenna with the same caliber and the X wave band and the C wave band, the number of array elements of the X wave band antenna is more, in order to meet the flexible wave beam scanning capability in the same airspace search, the number of TR components of the X wave band phased array radar is more, the structure is more complex, the number of TR components of the C wave band is relatively less, the loss is lower, and the design requirements of light weight, low cost and the like are met more easily. And comprehensively considering factors such as large-range search, fine target tracking, system complexity and cost and the like, and finally selecting the C wave band as the working wave band of the micro-nano satellite miniaturized phased array radar.
For miniaturized phased array radar system design
1) The phased array radar based on the micro/nano satellite mainly comprises a C-band phased array antenna and an electronic system. The C-band phased array antenna comprises 100 antenna array elements and 25 TR components, each TR component feeds a 2 x 2 antenna subarray, the peak power of a transmitted signal of each TR component is 10W, and the duty ratio of the signal is less than 10%. The phased array antenna can scan and cover a space domain range of 40 degrees multiplied by 40 degrees, and large-range space target search is realized. The electronic system mainly comprises a signal transmitter, an intermediate frequency receiver, a radio frequency circuit, a clock management unit, an FPGA, a signal processing unit and the like, wherein the FPGA mainly completes time sequence control of signal generation, echo reception, echo data storage and the like of the system, and the signal processing unit mainly completes detection, parameter estimation and the like of a space target.
2) The phased array radar realizes the search and detection of space targets in a large range in an electric scanning mode, and the phased array antenna scans 6 wave beams in the azimuth direction and the elevation direction respectively according to the width of the wave beams of the antenna and the search airspace; since the total search time is 1S, the dwell time for each beam is about 27.8 ms. After searching the target, adjusting the beam to track the target for a long time, and in order to meet the frequency requirement of a tracking frame of 10Hz, the coherent accumulation time is 100ms and the SNR is improved by 5.5dB compared with the search mode. For multiple targets, in order to guarantee SNR requirement, it is necessary to properly reduce the tracking frame frequency of each target, for example, to simultaneously track three targets, the tracking frame frequency of each target being about 3.3 Hz.
3) In order to reduce the detection blind area as much as possible and reduce the mutual interference between signals, a time-frequency orthogonal transceiving working mode of small time bandwidth product and time bandwidth product is adopted.
Signal processing method for target searching and tracking
For the range error, the range direction compression processing is firstly carried out on the target echo, and then the short-time FFT is carried out in the azimuth direction. And analyzing the distance and the azimuth direction of the target according to the normalized signal-to-noise ratio to obtain the ranging precision. If the target exists, detecting the angle of the target by using a sum-difference beam method, calculating the difference sum ratio of each beam, and compressing the distance of the target with different angles to obtain the angle measurement precision of the target. The distance and angle information of the detected target can be obtained through speed measurement and angle measurement analysis.
The main innovation points of the invention comprise:
1) the method creatively combines the large-range airspace target search and the measurement tracking, provides a phased array radar detection and measurement technology based on the satellite, analyzes the performance of different wave band radars on the large-range airspace target search and the measurement tracking, and obtains the conclusion that the C wave band radar has the advantage of high comprehensive cost performance.
2) The signal processing method of the miniaturized phased array radar system design, the time-sharing detection receiving and transmitting time sequence of the far and near targets and the target searching and measuring is elaborated, so that the targets can be detected in a detection angle range in a large range without blind areas.
In an exemplary embodiment of the invention, a signal processing method for phased array radar system design, target search and tracking, and a ranging and angle measurement error analysis technology are provided.
According to the radar equation in the search mode, the search performance depends on the power aperture product of the radar, and the power aperture product is 4 W.m. shown in FIG. 12And a relation curve between SNR and RCS with a search distance of 25km and an airspace coverage range of 40 degrees multiplied by 40 degrees in 1.5S shows that SNR of X, C, S three-waveband radars is almost consistent. According to the radar equation in the target tracking mode, the tracking performance depends on the power aperture gain product of the radar, fig. 2 shows the relation curve between the SNR and the RCS for simultaneously tracking three targets with the target tracking frame rate of 10Hz under the same parameters, and it can be seen that the X-band and the C-band can satisfy the RCS of 0.5m2The tracking SNR requirement for the above target (about 20 dB). For the phased array antenna with the same caliber and the X wave band and the C wave band, the number of array elements of the X wave band antenna is more, in order to meet the flexible wave beam scanning capability in the same airspace search, the number of TR components of the X wave band phased array radar is more, the structure is more complex, the number of TR components of the C wave band is relatively less, the loss is lower, and the design requirements of light weight, low cost and the like are met more easily. And comprehensively considering factors such as large-range search, target fine tracking, system complexity and cost and the like, and finally selecting the C wave band as the working wave band of the satellite phased array radar.
Fig. 3 shows a phased array radar system, which mainly includes two parts, namely a C-band phased array antenna and an electronic system. The C-band phased array antenna comprises 100 antenna array elements and 25 TR components, each TR component feeds a 2 x 2 antenna subarray, the peak power of a transmitted signal of each TR component is 10W, and the duty ratio of the signal is less than 10%. The phased array antenna can scan and cover a space domain range of 40 degrees multiplied by 40 degrees, and large-range space target search is realized. The electronic system mainly comprises a signal transmitter, an intermediate frequency receiver, a radio frequency circuit, a clock management unit, an FPGA, a signal processing unit and the like, wherein the FPGA mainly completes time sequence control of signal generation, echo reception, echo data storage and the like of the system, and the signal processing unit mainly completes detection, parameter estimation and the like of a space target.
Thirdly, referring to fig. 4, the phased array radar realizes space target search and detection in a large range in an electric scanning mode, and the phased array antenna respectively scans 6 wave beams in the azimuth direction and the elevation direction according to the wave beam width of the antenna and a search airspace; since the total search time is 1S, the dwell time for each beam is about 27.8 ms. After searching the target, adjusting the beam to track the target for a long time, and in order to meet the frequency requirement of a tracking frame of 10Hz, the coherent accumulation time is 100ms and the SNR is improved by 5.5dB compared with the search mode. For multiple targets, in order to guarantee SNR requirement, it is necessary to properly reduce the tracking frame frequency of each target, for example, to simultaneously track three targets, the tracking frame frequency of each target being about 3.3 Hz. In addition, in order to reduce the detection blind area as much as possible and reduce the mutual interference between signals, a time-frequency orthogonal transceiving operation mode of a small time bandwidth product and a large time bandwidth product is adopted, and the time sequence is shown in fig. 5.
And fourthly, referring to fig. 6, analyzing the distance measurement error, the angle measurement error and the speed measurement range of different targets in the C wave band. For the range error, the range direction compression processing is firstly carried out on the target echo, and then the short-time FFT is carried out in the azimuth direction. And analyzing the distance and the azimuth direction of the target according to the normalized signal-to-noise ratio to obtain the ranging precision. If the target exists, the target angle is detected by using a sum-difference beam method, the obtained difference sum ratio of each beam is calculated at first, and the angle measurement precision of the target can be obtained by compressing the distance of the target with different angles. The distance, speed and angle information of the detected target can be obtained through speed measurement and angle measurement analysis.
And fifthly, the geometry of the satellite and the target is assumed to be as shown in FIG. 7. The coordinates of the satellite are (1e4,0,0) and the position of the target relative to the satellite is (1.5e4,1.8e4,1.5e 4). The target relative flying speed is set to 10 m/s. And (3) carrying out simulation analysis on the distance measurement and angle measurement errors of the C-band radar, firstly carrying out distance measurement precision analysis, and then carrying out angle measurement precision analysis.
And sixthly, detecting the targets with different distances, wherein target echoes are shown in fig. 8. First, the received echo is subjected to distance compression processing, and then to azimuth short-time fourier transform processing, and a slice diagram of the point target is shown in fig. 9. And (4) carrying out multiple tests on the target to obtain the root mean square error, so as to meet the index requirement.
Seventhly, referring to fig. 10, the scanning beam pattern has a beam width of 4.3 °, a scanning interval of 4 °, and a total of 15 beams, and covers a range of 60 °. The calculated sum of differences of the respective beams is shown in fig. 11, and it can be seen from the figure that the sum of differences ratio is an approximately linear monotonic function in the corresponding interval. With the beam pattern, 500 times of repeated angle measurement simulation is performed on 5 point targets with a distance of 15km and azimuth angles of-27 °, -15 °,0 °, 13 ° and 25 °, respectively, and the distance compression signals of the five targets are shown in fig. 12. The results of the angle measurement simulation analysis of the target are shown in table 1.
TABLE 1 simulation analysis results of angle measurements of five targets
| True angle of target | Measure the average value of the angle | Root mean square error |
| -27° | -26.9970° | 0.0226° |
| -15° | -14.9952° | 0.0227° |
| 0° | -0.0311 | 0.0302 |
| 13° | 12.9929° | 0.0236° |
| 25° | 24.9973° | 0.0231° |
As can be seen from the above description of the examples, the invention can search and measure the three-dimensional space target of 40 degrees multiplied by 40 degrees in the range of 25km, and realize the ranging precision of 0.4m and the angle measurement precision of 0.03 degrees. Compared with the traditional satellite-borne radar, the miniaturized phased array radar has the advantages of small size, low power consumption and the like, can meet the application requirements of large-range search and tracking of space targets, and provides a supplementary approach for a foundation detection means.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (10)
1. The method for searching and tracking the space target by the low-power-consumption small satellite radar is characterized by comprising the following steps of:
1) transmitting a radar signal, searching a target, obtaining a ranging result of a real target according to a radar receiving echo, and obtaining ranging precision in a distance direction and an azimuth direction;
2) measuring the target angle to obtain the azimuth angle of the real target and the angle measurement precision of the real target;
3) and tracking the target and determining the motion trail information of the target.
2. The method for searching and tracking the space target by the small satellite radar with low power consumption as claimed in claim 1, wherein the radar is a phased array radar.
3. The method for searching and tracking the space target by the small satellite radar with low power consumption as claimed in claim 2, wherein a C wave band is selected as an operating wave band of the phased array radar.
4. The method as claimed in claim 3, wherein the signal transmission mode of the radar specifically adopts a time-frequency orthogonal transceiving mode with a small time bandwidth product and a time bandwidth product.
5. The method for searching and tracking the space target by the low-power-consumption small satellite radar as claimed in claim 4, wherein the step 1) of obtaining the ranging result of the real target and obtaining the ranging accuracy of the distance direction and the azimuth direction is specifically as follows:
11) transmitting a signal by a radar;
12) performing range compression processing on the received echo signals to obtain range-compressed echo data;
13) performing Fourier transform processing in the azimuth direction to obtain a Fourier transform result;
14) judging whether a target exists according to the echo data after the distance direction compression, the Fourier transform result and the signal-to-noise ratio requirement of radar imaging, and entering a step 15 if the target exists); otherwise, returning to the step 12);
15) judging whether the target obtained in the step 13) is a real target or not by using a constant false alarm detection method, and if so, entering the step 16), otherwise, returning to the step 12);
16) analyzing the distance direction and the azimuth direction of the real target according to the normalized signal-to-noise ratio to obtain a distance measurement result of the real target and obtain distance measurement precision of the distance direction and the azimuth direction;
17) and (3) judging whether the distance direction and the azimuth direction obtained in the step (16) meet the threshold requirement, if so, entering the step (2), otherwise, returning to the step (12).
6. The method for searching and tracking the space target by the low-power-consumption small satellite radar as claimed in claim 5, wherein the threshold requirement of the step 17) is specifically as follows: the distance and direction measuring precision is not less than 0.5 m.
7. The method for searching and tracking the space target by the low-power-consumption small satellite radar as claimed in claim 6, wherein the step 2) of obtaining the azimuth angle of the real target and the angle measurement precision of the real target specifically comprises:
21) in the scanning process of the radar beam, two adjacent beams irradiated to a target are searched and obtained, and therefore the difference sum ratio of the two adjacent beams is obtained through solving;
22) determining the azimuth angle of the real target according to the difference sum ratio and the sum-difference beam ratio lookup table obtained in the step 21);
23) repeating the steps 21) to 22) for a plurality of times according to the real angle of the target and the azimuth angle calculated in the step 22), thereby obtaining the angle measurement precision of the target.
8. The method for searching and tracking the space target by the low-power-consumption small satellite radar as claimed in claim 7, wherein the method for determining the motion trajectory information of the target in step 3) specifically comprises:
31) adjusting a beam to stably track the real target according to the ranging result of the real target and the azimuth angle of the real target;
32) if n real targets exist, reducing the tracking frame frequency of each target to be 1/n of the original tracking frame frequency; otherwise, directly entering the step 33); wherein n is a positive integer greater than 1;
33) and keeping continuous tracking of the real target, and performing track association processing in the tracking process so as to determine the motion track information of the target.
9. A processing apparatus, comprising:
a memory for storing a computer program;
a processor for calling and running the computer program from the memory to perform the method of any of claims 1 to 7.
10. A computer-readable storage medium, having stored thereon a computer program or instructions, which, when executed, implement the method of any one of claims 1 to 7.
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