KR102061007B1 - Altitude observation system using horizontality and perpendicularity radar - Google Patents

Abstract

One embodiment of the present invention relates to an altitude observation system using a horizontal and perpendicular marine radar. The technical problem to be solved is to install two radar antennas horizontally and vertically, and digital radar signal is received via Ethernet to easily calculate altitude and orientation information. To this end, in one embodiment of the present invention, the altitude observation system comprises: a first marine radar antenna arranged in a horizontal direction with respect to a horizontal line to measure orientation information of a flying object; and a second marine radar antenna arranged in a vertical direction with respect to the horizontal line to measure altitude information of the flying object. A horizontal beam width of the first marine radar antenna is 2.3 degrees, and a vertical beam width of the second marine radar antenna is 22 degrees.

Description

ALTITUDE OBSERVATION SYSTEM USING HORIZONTALITY AND PERPENDICULARITY RADAR}

One embodiment of the present invention relates to an altitude observation system using horizontal and vertical ocean radars.

In general, in the energy business (land and offshore wind power generation, solar heat, transmission lines, etc.), the area of bird observation has keen interest due to location problems (algae habitat and place of origin), and power generation facilities and bird collisions in operation. It became.

In addition, the Ministry of Environment and the National Park Service have conducted a feasibility study on the movement tracking using weather radar with the Korea Meteorological Administration for the research on the movement of birds arriving on the Korean Peninsula in relation to the national biodiversity strategy. It was found to be inadequate in terms of its effectiveness, and there is no weather radar available for migratory birds in Korea.

Therefore, it is urgent to develop a bird tracking system using radar in various fields such as aircraft safety, energy business, and biodiversity.

In particular, existing bird observation systems use high-power radars using magnetrons. Magnetron radar has a problem that it is difficult to detect a small object such as a bird, that is, a small RCS (Radar Cross Section) due to poor resolution.

Patent Publication No. 10-2018-0115935 (Published date: October 24, 2018)

One embodiment of the present invention is to install the two radar antennas horizontally and vertically, to provide an altitude observation system using horizontal and vertical marine radar that can easily calculate the altitude information and orientation information by receiving a digital radar signal via Ethernet do.

An altitude observation system using horizontal and vertical marine radars according to an embodiment of the present invention comprises: a first marine radar antenna arranged in a horizontal direction with respect to a horizontal line to measure orientation information of a flying object; And a second marine radar antenna arranged in a vertical direction with respect to a horizon to measure altitude information of the flying object, wherein the horizontal beam width of the first marine radar antenna is 2.3 degrees, and the vertical of the second marine radar antenna is vertical. The beamwidth may be 22 degrees.

In addition, the altitude observation system using the horizontal and vertical marine radar is to fly the respective information received from the first marine radar antenna and the second marine radar antenna via an Ethernet network using an image processing technique and a machine learning technique. A data processor for classifying an image of the object; And a data management unit which tracks the image of the separated flying object using a Kalman filter and stores the tracked information in a database.

In addition, the first marine radar antenna and the second marine radar antenna may be a solid state Doppler radar antenna.

In addition, the altitude observation system using the horizontal and vertical ocean radar further includes a control unit for controlling the operation of each component constituting the altitude observation system using the horizontal and vertical ocean radar, the control unit is the first marine Based on the orientation information and the altitude information of the flying object received from the radar antenna and the second marine radar antenna, and the orientation information and the altitude information of the preset reference object, Calculate and correct the measurement error

D: d = H: h

(Where D is the distance between the radar antenna and the flying object, d is the distance between the radar antenna and the reference object, H is the maximum viewing altitude of the flying object, and h is the maximum viewing altitude relative to the top of the reference object)

The controller may calculate a difference between H and actual position information of the flying object as an error.

In the altitude observation system using horizontal and vertical marine radar according to an embodiment of the present invention, two solid state Doppler radar antennas are installed horizontally and vertically, and receive digital radar signals through Ethernet to obtain altitude information and Orientation information vertical antenna can easily calculate the altitude information.

1 is a block diagram schematically illustrating an altitude observation system using horizontal and vertical ocean radars according to an embodiment of the present invention.
FIG. 2 is a view for explaining a concept of radar spoke information displayed after digital radar signal processing in an altitude observation system using horizontal and vertical marine radars according to an embodiment of the present invention.
3 is a view illustrating a state in which a radar scanner coupled with a first marine radar antenna and a second marine radar antenna is horizontally installed in an altitude observation system using horizontal and vertical marine radars according to an embodiment of the present invention.
FIG. 4 is a diagram illustrating a state in which a radar scanner coupled with a first marine radar antenna and a second marine radar antenna is vertically installed in an altitude observation system using horizontal and vertical marine radars according to an embodiment of the present invention.
5 to 7 are views for explaining the installation angle of the radar scanner and the maximum altitude information of the flying object as a target in the altitude observation system using the horizontal and vertical ocean radar according to an embodiment of the present invention.

Terms used herein will be briefly described and the present invention will be described in detail.

The terms used in the present invention have been selected as widely used general terms as possible in consideration of the functions in the present invention, but this may vary according to the intention or precedent of the person skilled in the art, the emergence of new technologies and the like. In addition, in certain cases, there is also a term arbitrarily selected by the applicant, in which case the meaning will be described in detail in the description of the invention. Therefore, the terms used in the present invention should be defined based on the meanings of the terms and the contents throughout the present invention, rather than the names of the simple terms.

When any part of the specification is to "include" any component, this means that it may further include other components, except to exclude other components unless otherwise stated. In addition, the terms "... unit", "module", etc. described in the specification mean a unit for processing at least one function or operation, which may be implemented in hardware or software or a combination of hardware and software. .

DETAILED DESCRIPTION Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art may easily implement the present invention. As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. In the drawings, parts irrelevant to the description are omitted in order to clearly describe the present invention, and like reference numerals designate like parts throughout the specification.

1 is a block diagram schematically illustrating an altitude observation system using horizontal and vertical ocean radars according to an embodiment of the present invention, and FIG. 2 is an elevation observation system using horizontal and vertical ocean radars according to an embodiment of the present invention. Is a view for explaining the concept of the radar spoke information displayed after the digital radar signal processing, Figure 3 is a first marine radar antenna and second in the altitude observation system using a horizontal and vertical ocean radar according to an embodiment of the present invention 4 is a view illustrating a state in which a radar scanner coupled to an ocean radar antenna is installed horizontally, and FIG. 4 illustrates a first marine radar antenna and a second marine radar in an altitude observation system using horizontal and vertical marine radars according to an embodiment of the present invention. 5 is a view illustrating a state in which a radar scanner having an antenna coupled thereto is installed vertically, FIG. 5. 7 to 7 are views for explaining an installation angle of a radar scanner and maximum altitude information of a flying object that is a target in an altitude observation system using horizontal and vertical marine radars according to an embodiment of the present invention.

As shown in FIG. 1, the altitude observation system using horizontal and vertical ocean radars according to an embodiment of the present invention is a vertical object height measurement system using marine radar, which includes a radar scanner 100 and data. The processor 200, a data manager 300, and a controller 400 are included.

The radar scanner 100 is a radar antenna in which the first marine radar antenna 110 and the second marine radar antenna 120 are horizontally / vertically coupled to each other.

In the present invention, the radar is installed vertically to measure the vertical altitude of the flying object such as a bird or a drone, and the horizontal beam width of each radar is 2.3 degrees, the vertical beam width is designed to 22 degrees.

3 shows a horizontal beam width and a vertical beam width of the radar antenna. In other words, it is shaped like a fan with a wide beam width in the vertical direction and a narrow width in the left and right directions. The reason why the horizontal beam width is narrow is to increase azimuth resolution.

In addition, as shown in FIG. 4, when the radar antenna is vertically installed in the present invention, the horizontal beam width becomes the vertical beam width and the horizontal beam width becomes the vertical beam width. When installed horizontally, the orientation can be measured accurately, but when installed vertically, altitude can be measured accurately. Whether installed vertically or horizontally, there is no difference in the observed performance of flying objects. As described above, the beam shape in the vertical installation can be observed at an altitude because the beam width is narrow at 2.3 degrees up and down, and the altitude can be observed at a resolution of about 1 degree.

For example, when the radar is installed vertically to measure the altitude of the drone, as shown in FIG. 5, the azimuth direction of the radar becomes the altitude of the target. Depending on how the radar front is installed, the horizontal direction may be vertical. FIG. 5 is a screen installed so that the top and bottom of the radar are in the horizontal direction. However, since the bearing was not connected with the bearing indicator, the bearing was measured by a protractor.

More specifically, the first marine radar antenna 110 is an antenna that is arranged in a horizontal direction with respect to the horizontal line to measure the orientation information of the flying object, and the horizontal beam width is 2.3 degrees.

The second marine radar antenna 120 is an antenna for measuring altitude information of a flying object by arranging it in a vertical direction with respect to a horizontal line. The vertical beam width is 22 degrees.

The first marine radar antenna 110 and the second marine radar antenna 120 may be solid state Doppler radar antennas.

In general, existing bird observation systems have been using a high-power radar using a magnetron. These magnetron radars have low resolution and are difficult to detect small objects such as birds, such as small RCSs, but the solid state doppler radars use the Doppler effect even when using the same frequency. Because of its excellent distance and bearing resolution, it is easy to distinguish flying objects.

In addition, the existing radar signal is digitized by using three analog signals, such as Azimuth, Trigger, and Video. In the present invention, the digital radar receives the digital signal as the raw data through Ethernet, thereby performing image processing and machine learning techniques. Easy to apply

In addition, in the present invention, the radar antenna is arranged horizontally and vertically so that the horizontal antenna uses azimuth information to calculate the vertical antenna altitude information.

In addition, the present invention distinguishes the image of the flying object by applying image processing, such as Gaussian processing, labeling application, and machine learning techniques such as random forest, SVM, DT, etc., using a Kalman filter It will track it and record it in the database.

Through this, the present invention uses a solid state Doppler radar with high azimuth and distance resolution to observe the altitude and azimuth of a flying object, track and record the movement, and track and alert a flying object generating a crash alert. It can be applied to a system (Bird Tracking and Warning System, hereinafter referred to as BTAS).

That is, the present invention includes PC-based radar software that installs two radar antennas horizontally and vertically, receives digital radar signals via Ethernet, and calculates altitude and azimuth. The following machine learning techniques are applied to distinguish between: cloud, rain, airplane, etc.).

On the other hand, signals from a solid state Doppler radar are processed in a function specified as a callback function in a radar DLL (Dynamic Link Library). The callback function is called automatically when the radar module finishes processing the signal. The transmitted radar signal is delivered to a buffer of 1024 bytes, where one byte corresponds to one pixel. The bundle of data of 1024 bytes is called scan data, and is also referred to as Spoke because it is displayed like a bar chopstick as shown in FIG. The radar screen consists of 8192 spokes. When dividing 360 degrees into 8192 spokes, it becomes about 0.44 degrees. If you draw them radially from the center of the circle, the radar screen is completed.

Even if there are 8192 Spokes, if you draw a pixel radially, as shown in Fig. 2, there is a blank space where the pixel is not drawn at the edge of the screen.

The data processor 200 uses the image processing technique and the machine learning technique to obtain an image of a flying object from each of the information received from the first marine radar antenna 110 and the second marine radar antenna 120 through an Ethernet network. It is a device to distinguish.

The data manager 300 is a device that tracks an image of a flying object classified by the data processor 200 using a Kalman filter and stores the tracked information in a database.

The control unit 400 is a device for controlling the operation of each component constituting the altitude observation system using the horizontal and vertical ocean radar by the execution of the pre-installed altitude measurement software.

In addition, the controller 400 is based on the orientation information and the altitude information of the flying object received from the first marine radar antenna 110 and the second marine radar antenna 120, the orientation information and the altitude information of the preset reference object. By calculating the measurement error of the azimuth information and altitude information of the flying object by using the following formula,

D: d = H: h

(Where D is the distance between the radar antenna and the flying object, d is the distance between the radar antenna and the reference object, H is the maximum viewing altitude of the flying object, and h is the maximum viewing altitude relative to the top of the reference object)

The controller 400 may calculate the difference between H and actual position information of the flying object as an error.

For example, in the present invention, in order to determine the accuracy of the altitude observation, the radar was installed in the reference building, and the altitude was calculated by comparing the altitude of the observed target with the previously known reference building height.

At this time, the height of the building as a reference is set to 293m, based on this calculated as shown in Figure 8 to measure the altitude.

Meanwhile, the controller 400 may perform a land noise removing function as shown in FIGS. 6 to 7.

At sea, radio waves radiated below the horizon are reflected by sea level and fly away. On land, they are reflected by all objects on land and received by radar. That is, on land, it is impossible to detect flying objects such as birds flying in the sky because of the surface reflection wave. As shown in FIG. 6, when a structure is installed below the radar scanner to block radio waves radiated below the horizon, bird watching in the ground can ignore the reflected wave and fly.

, 레이다 수평 설치 각도

, 타겟 관측 거리

를 알면 타겟의 최대 관측 고도

와 관측 고도 범위

를 알 수 있다. 최대 관측 고도와 고도 범위는 하한 각을 제한하지 않으면 같은 값을 가지며, 하한값을 제한하더라도 육지 표면 반사파를 제거하고자 하는 목적이므로 굳이 계산에 포함하지 않았다. 위 기하학적 배치에서 최대 관측 고도 h는 다음과 같은 식으로 산정할 수 있다. More specifically, the radar's vertical beamwidth

Radar horizontal mounting angle

, Target viewing distance

Knowing the maximum observation altitude of the target

And observation altitude range

It can be seen. The maximum observation altitude and the altitude range have the same value unless the lower limit angle is limited, and the maximum observation altitude and altitude range are not included in the calculation because they are intended to remove the ground surface reflection wave even if the lower limit value is limited. In the above geometrical arrangement, the maximum observation altitude h can be calculated as follows.

를 최대 수직 빔폭

으로 놓으면 도 7과 같이 간단하게 표현할 수 있다.here

Vertical beam width

If it is set as can be expressed simply as shown in FIG.

In the altitude observation system using the horizontal and vertical marine radar according to the embodiment of the present invention configured as described above, two solid state Doppler radar antennas are installed horizontally and vertically to transmit digital radar signals through Ethernet. The altitude information and the orientation information can be easily calculated by the vertical antenna.

On the other hand, a sound absorbing layer (not shown) for preventing noise is formed on the inner surface of the case (not shown) for accommodating the data processor 200, the data manager 300, and the controller 400.

The felt constituting the sound absorbing layer is not particularly limited. The felt is not particularly limited, and examples thereof include polyester fibers, nylon fibers, polypropylene fibers, acrylic fibers, and natural fibers.

It is preferable that the thickness of the said sound absorption layer is 2-17 mm. If the thickness of the sound absorbing layer is less than 2 mm, a sufficient sound absorbing effect is not obtained. If the thickness of the sound absorbing layer is more than 17 mm, the height of the car interior space is reduced, which is a disadvantage in that sufficient comfort is not obtained even in the car interior space.

The weight of the sound absorbing layer is preferably set to 6-400g / m2. If it is less than 6 g / m <2>, a sufficient sound absorption effect will not be acquired, and if it exceeds 400 g / m <2>, it is unpreferable since light weight cannot be ensured as a vehicle carpet.

The fineness of the fibers constituting the sound absorbing layer is preferably in the range of 0.5-15 decitex. If it is less than 0.5 decitex, absorption of low frequency noise is difficult and cushion property is also reduced, which is not preferable. It is also undesirable to exceed 15 decitex because it is difficult to absorb high frequency noise.

The reason for the numerical limitation as described above is because the result of the applicant's experiment several times shows the optimum effect.

In addition, the outer surface of the case, the first marine radar antenna 110 and the second marine radar antenna 120, the antifouling coating coated with the antifouling coating composition to effectively achieve the prevention and removal of contaminants Layers can be formed.

The antifouling coating composition includes ampodiglycinate and sorbitol ester in a 1: 0.01 to 1: 2 molar ratio, and the total content of ampodiglycinate and sorbitol ester is 1 to 10% by weight based on the total aqueous solution. to be.

The ampodiglycinate and sorbitol esters are preferably in a molar ratio of 1: 0.01 to 1: 2. If the molar ratio is out of the above range, the coating property of the substrate is reduced or the moisture absorption of the surface is increased after application, thereby removing the coating film. There is a problem.

The ampodiglycinate and sorbitol esters have a problem in that 1 to 10% by weight of the total composition aqueous solution is preferred. If the content is less than 1% by weight, the coating property of the substrate is lowered. Precipitation is likely to occur.

On the other hand, it is preferable to apply | coat by the spray method as a method of apply | coating this antifouling coating composition on a base material. The final coating film thickness on the substrate is preferably 500 to 2000 kPa, more preferably 1000 to 2000 kPa. If the thickness of the coating film is less than 500 kPa, there is a problem of deterioration in the case of high temperature heat treatment, and if the thickness of the coating film exceeds 2000 kPa, crystal precipitation of the coated surface is liable to occur.

In addition, the present antifouling coating composition may be prepared by adding 0.1 mol of ampodiglycinate and 0.05 mol of sorbitol ester to 1000 ml of distilled water, followed by stirring.

In addition, in order to prevent corrosion of metal surfaces, some surfaces of the radar scanner 100 may have 20% by weight of guanadino benzoimidazole, 15% by weight of oxycarboxylic acid leaves, 10% by weight of imidazoline thione, and 15% by weight of hafnium. Surface coating material consisting of 10% by weight of molybdenum emulsion (MoS2), 25% by weight of aluminum oxide, 5% by weight of diglycidyl aniline is coated, the coating thickness may be formed to 7㎛.

Guanadino benzoimidazole, oxycarboxylic acid leaf, imidazoline thione, and diglycidyl aniline serve as corrosion protection and discoloration prevention.

Hafnium is a corrosion-resistant transition metal element that serves to have excellent waterproofness and corrosion resistance.

Molybdenum emulsion plays a role of imparting slidability and lubricity to the surface of the coating film.

Aluminum oxide is added for the purpose of fire resistance, chemical stability, and the like.

The reason for limiting the numerical value of the ratio and the coating thickness of the components as described above, the inventors analyzed through the test results several times, showed the optimum anti-corrosion effect at the ratio.

The apparatus described above may be implemented as a hardware component, a software component, and / or a combination of hardware components and software components. For example, the devices and components described in the embodiments may be, for example, processors, controllers, arithmetic logic units (ALUs), digital signal processors, microcomputers, field programmable arrays (FPAs), It may be implemented using one or more general purpose or special purpose computers, such as a programmable logic unit (PLU), microprocessor, or any other device capable of executing and responding to instructions. The processing device may execute an operating system (OS) and one or more software applications running on the operating system. The processing device may also access, store, manipulate, process, and generate data in response to the execution of the software. For the convenience of understanding, a processing device may be described as one being used, but a person skilled in the art will appreciate that the processing device includes a plurality of processing elements and / or a plurality of types of processing elements. It can be seen that it may include. For example, the processing device may include a plurality of processors or one processor and one controller. In addition, other processing configurations are possible, such as parallel processors.

The software may include a computer program, code, instructions, or a combination of one or more of the above, and configure the processing device to operate as desired, or process it independently or collectively. You can command the device. Software and / or data may be any type of machine, component, physical device, virtual equipment, computer storage medium or device in order to be interpreted by or to provide instructions or data to the processing device. Or may be permanently or temporarily embodied in a signal wave to be transmitted. The software may be distributed over networked computer systems so that they may be stored or executed in a distributed manner. Software and data may be stored on one or more computer readable recording media.

The method according to the embodiment may be embodied in the form of program instructions that can be executed by various computer means and recorded on a computer readable medium. The computer readable medium may include program instructions, data files, data structures, and the like, alone or in combination. The program instructions recorded on the media may be those specially designed and constructed for the purposes of the embodiments, or they may be of the kind well-known and available to those having skill in the computer software arts. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tape, optical media such as CD-ROMs, DVDs, and magnetic disks, such as floppy disks. Magneto-optical media, and hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, flash memory, and the like. Examples of program instructions include not only machine code generated by a compiler, but also high-level language code that can be executed by a computer using an interpreter or the like. The hardware device described above may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

In addition, the lower end of the control unit 400 may be further provided with a vibration absorption prevention unit of the rubber material. The raw material content ratio of the vibration absorbing prevention part is mixed with rubber 60% by weight, carbon black 33-36% by weight, antioxidant 2-5% by weight, sulfur accelerator 1 to 3% by weight.

Carbon black is added to increase the wear resistance, but if the content is less than 33% by weight, the elasticity and wear resistance is reduced, when the content exceeds 36% by weight, the rubber content of the main component is relatively small, there is a fear that the elastic force is lowered , 33 to 36% by weight.

Antioxidants add 2-5% by weight of 3C (N-PHENYL-N'-ISOPROPYL-P-PHENYLENEDIAMINE) or RD (POLYMERIZED 2,2,4-TRIMETHYL-1,2-DIHYDROQUINOLINE) If it is less than the weight%, the product is easy to oxidize, and if it is added too much, if it exceeds 5 weight%, the rubber content of the main component is relatively small, and the elastic force may be reduced. ~ 5% by weight is appropriate.

Sulfur, an accelerator, is mixed with 1-3 wt%. Less than 1% by weight is a slight vulcanization effect in the heating step during molding, so 1% by weight or more is added. If it exceeds 3% by weight, the content of rubber, which is a main component, is relatively low, and there is a possibility that the elastic force may drop, so 1 to 3% by weight is appropriate.

Therefore, the present invention is reinforced with synthetic rubber having elasticity in various directions, so that the elasticity, toughness, and rigidity of the vibration absorbing portion is increased, so that durability is improved, thereby increasing the life of the vibration absorbing portion.

Although the embodiments have been described with reference to the accompanying drawings as described above, various modifications and variations are possible to those skilled in the art from the above description. For example, the described techniques may be performed in a different order than the described method, and / or components of the described systems, structures, devices, circuits, etc. may be combined or combined in a different manner than the described method, or other components. Or even if replaced or replaced by equivalents, an appropriate result can be achieved.

Therefore, other implementations, other embodiments, and equivalents to the claims are within the scope of the claims that follow.

100: radar scanner 110: first marine radar antenna
120: second marine radar antenna 200: data processing unit
300: data management unit 400: control unit

Claims (4)

A first marine radar antenna arranged in a horizontal direction with respect to a horizontal line to measure orientation information of the flying object; And
And a second marine radar antenna disposed vertically with respect to a horizontal line to measure altitude information of the flying object.
The horizontal beamwidth of the first marine radar antenna is 2.3 degrees, the vertical beamwidth of the second marine radar antenna is 22 degrees,
A data processing unit for classifying each image received from the first marine radar antenna and the second marine radar antenna via an Ethernet network by using an image processing technique and a machine learning technique;
A data management unit which tracks the image of the separated flying object using a Kalman filter and stores the tracked information in a database; And
Further comprising a control unit for controlling the operation of each component constituting the altitude observation system using the horizontal and vertical ocean radar,
The first marine radar antenna and the second marine radar antenna are solid state Doppler radar antennas,
An internal sound absorbing layer is formed on an inner surface of the case accommodating the data processing unit, the data management unit, and the control unit. The fineness of the fibers constituting the layer is in the range of 0.5-15 decitex,
The outer surface of the case, the first marine radar antenna and the second marine radar antenna is formed with an antifouling coating layer coated with an antifouling coating composition, wherein the antifouling coating composition comprises ampodiglycinate and sorbitol ester. It is included in a molar ratio of 1: 0.01 to 1: 2, and the total content of ampodiglycinate and sorbitol ester is 1 to 10% by weight based on the total aqueous solution,
Some surfaces of the radar scanner in which the first marine radar antenna and the second marine radar antenna are coupled to each other may include 20% by weight of guanadino benzoimidazole, 15% by weight of oxycarboxylic acid leaves, 10% by weight of imidazoline thione, and 15% by weight of hafnium. %, Molybdenum emulsion (MoS2) 10% by weight, aluminum oxide 25% by weight, diglycidyl aniline 5% by weight of the surface coating material is coated, the coating thickness is characterized in that the horizontal and vertical is formed to 7㎛ Altitude observation system using marine radar.
delete delete The method of claim 1,
The controller uses the following equation on the basis of the orientation information and the altitude information of the flying object received from the first marine radar antenna and the second marine radar antenna, and the orientation information and the altitude information of a preset reference object. Calculates and corrects measurement error of azimuth information and altitude information of
D: d = H: h
(Where D is the distance between the radar antenna and the flying object, d is the distance between the radar antenna and the reference object, H is the maximum viewing altitude of the flying object, and h is the maximum viewing altitude relative to the top of the reference object)
Wherein the control unit calculates the difference between H and the actual position information of the flying object as an error observation system using horizontal and vertical ocean radar.

Images