RU2052834C1 - Method for determining object coordinates during passage tracking - Google Patents

Abstract

FIELD: navigation. SUBSTANCE: method involves detection of object, its tracking and determination of its coordinates in passage using four-line scanning of sector in which detected object is located wherein first and second lines are scanned by means of antenna directivity pattern in opposite directions; second scanning line is positioned above return object and upon passage of second line fourth one is scanned, then third line; in the process, antenns directivity pattern moved in opposite direction during fourth line scanning and unidirectionally with second-line directivity pattern during third line scanning. EFFECT: improved accuracy in determining object coordinates. 2 dwg

Description

 The invention relates to radar technology, and in particular to tracking systems for objects during a search (tracking systems on the “passage”) and can be used to determine the coordinates of objects.

 The aim of the invention is to increase the accuracy of determining the coordinates of the selected object.

 In FIG. 1 is a view of a sweep of a radar beam in space according to the invention; in FIG. 2 device for implementing the method.

 The device comprises an antenna 1, a receiver 2, an azimuth drive 3, a tilt drive 4, an azimuth angle sensor 5, a tilt angle sensor 6, an angular coordinate meter 7, an operational amplifier 8, a key 9, a key 10, a decoder 11, a counting trigger 12, threshold devices 13 and 14, calculator 15, threshold devices 16 and 17, counter with decoder 18, calculator 19.

 The method is as follows. The radar beam in the viewing sector of the review is moved along the lines at a constant speed, sequentially transferred from the first (top) line to the second. After passing the line, the beam is moved to the fourth (lower) line, then to the third, after which it is returned to the beginning of the search. In this case, the angular position of the second row in the slope is selected above the angle of inclination of the tracked object, the angular position of the third row is lower, which ensures the observability of the tracked object between the rows.

 In FIG. 1 it can be seen that, along the tracked object located between the lines, the radar beam travels in the same direction at regular intervals during its movement, thereby ensuring a uniform update of information about the coordinates of the object throughout the tracking process and increasing the frequency of receipt of information on the tracked object.

 The order of the radar beam along the lines, different from the known ones, saves the size of the viewing sector and the viewing period for objects located in the viewing sector.

 In FIG. 2 shows a simplified block diagram of a device that implements the proposed method, and the area outside the dashed rectangle corresponds to the implementation of the prototype device, and inside shows the relationship that allows you to implement the proposed method.

 An example implementation of the device operates as follows.

The signals from the antenna 1 are fed to the input of the receiver 2, where there is a selection of the signal reflected from the tracked object during the search. A signal containing information about the angular position of the object, from the output of the receiver 2, enters the angular coordinate meter 7, the other input of which receives a signal fixing the current angular position of the radar beam in space along the inclination Φ _{n tech} in the inclination sensor 6. The meter 7 generates a signal characterizing the angular position of the tracked object along the slope Φ _{n ism} , which then enters the computing device 19. It determines the maximum position of the radar beam according to the slope Φ _{n max} , i.e., the position of the first line of the viewing area in space along the slope . For this, a signal corresponding to the value of the line spacing Δ _s is supplied to the second input 19. The position of the first line in the slope is the output signal of the calculator 19 and is equal to Φ _{n max} Φ _{n ism} + 1.5 · Δ _s , which then goes to the input of the counter with the decoder 18. The signal will come to the second input of the counter 18 only when the current position of the radar beam in space along the azimuth Φ _{a tech,} recorded in the azimuth angle sensor 5, reaches either the maximum position Φ _{a tech} Φ _{a max} , or its minimum position Φ _{a tech} Φ _{a min} . The limits of movement of the radar beam in azimuth are predefined.

Exceeding the signal Φ _{a tech} threshold Φ _{a max} in the threshold device 16 leads to a stop in the search in azimuth (to stop the sweep of the radar beam along the line).

 After the signal from the output of the threshold device 16 or from the threshold device 17 arrives at the second input of the counter with the decoder 18, four control pulses are generated separately at its four outputs, each of which makes the radar beam move in the vertical plane through the tilt 4 drive.

The first excess of the signal Φ _{a tech of} one of the thresholds Φ _{a max} or Φ _{a min} forms in the counter 18 a control signal Φ _{n the rear} Φ _{n max} corresponding to the movement of the radar beam along the slope from any point of the field of view to the beginning of the first line.

The second excess Φ _{n back} Φ _{n max} -Δ _s , which corresponds to moving from the end of the first row to the beginning of the second. The third Φ _{n ass} Φ _{n max} 3Δ _s , which corresponds to the movement from the end of the second row to the beginning of the fourth. The fourth Φ _{n ass} Φ _{n max} -2Δ _s , which corresponds to the movement from the end of the fourth row to the third.

The current position of the radar beam, taken from the angle sensor 6, is fed to the input of the calculator 15, the control signal from the output of the counter 18 is also received there. In the calculator 15, a signal equal to the module Z _n / Φ _{n tech} -Φ _{n ass} / which is received the input of the threshold device 13 and the threshold device 14, where it is compared with a small value of δ threshold.

The signal Z _n > δ received in the threshold device 13 is fed to one of the inputs of the decoder 11, at the output of which a signal is generated that locks both keys (keys 9 and 10), thereby creating a zero voltage at the input of the operational amplifier 8.

The signal Z _n <δ received in the threshold device 14 is fed to the input of the counting trigger 12, which through the decoder 11 alternately opens and locks the keys 9 and 10, thereby creating a signal in the form of a sequence of bipolar pulses at the input of the amplifier 8.

 Thus, at the input of amplifier 8 there is a signal in the form of a sequence of bipolar rectangular pulses spaced from each other by the time the voltage is zero, the time corresponding to the movement of the radar beam in space along the slope at a constant azimuth value.

 The output of the operational amplifier 8 produces a signal in the form of a train of pulses of a trapezoidal shape. Each output pulse of the amplifier 8 corresponds to the passage of the radar beam 2 lines of the field of view. The leading edge of the output pulse changes the position of the radar beam in space in azimuth from left to right (first line); trailing edge from right to left (second line).

The output signal from amplifier 8, which determines the specified angular position of the radar beam in azimuth Φ _{and the rear} , is fed to the input of the antenna drive in azimuth 3. Drive 3 fulfills the given position Φ _{and the rear} by moving the radar beam in space in azimuth (scan along the line).

Claims (1)

 THE METHOD FOR DETERMINING THE OBJECT COORDINATES WHEN ACCOMPANING ON THE “PASS”, which consists in detecting the object, tracking and determining the coordinates of the object on the “pass” using a four-line scan of the sector in which the detected object is located, in which the first and second scan lines are viewed by the antenna pattern in opposite directions, characterized in that, in order to improve the accuracy of determining the coordinates of the selected object, the second scan line is placed above the mark from After passing the second line, the fourth and then third scan lines are scanned, while the direction of the antenna pattern during scanning along the fourth line is opposite, and the third line coincides with the direction of the antenna pattern along the second scan line.

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