KR20160078066A - Multi target trace method of radar apparatus - Google Patents
Multi target trace method of radar apparatus Download PDFInfo
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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
- G01S13/52—Discriminating between fixed and moving objects or between objects moving at different speeds
- G01S13/522—Discriminating between fixed and moving objects or between objects moving at different speeds using transmissions of interrupted pulse modulated waves
- G01S13/524—Discriminating between fixed and moving objects or between objects moving at different speeds using transmissions of interrupted pulse modulated waves based upon the phase or frequency shift resulting from movement of objects, with reference to the transmitted signals, e.g. coherent MTi
- G01S13/53—Discriminating between fixed and moving objects or between objects moving at different speeds using transmissions of interrupted pulse modulated waves based upon the phase or frequency shift resulting from movement of objects, with reference to the transmitted signals, e.g. coherent MTi performing filtering on a single spectral line and associated with one or more range gates with a phase detector or a frequency mixer to extract the Doppler information, e.g. pulse Doppler radar
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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
- G01S13/583—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
- G01S13/584—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets adapted for simultaneous range and velocity measurements
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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
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
- G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
- G01S13/726—Multiple target tracking
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Abstract
Description
본 발명은 레이더 장치의 다중표적 추적방법에 관한 것으로, 더욱 상세하게는 레이더 장치를 이용해서 주변에 있는 다중표적의 추적 성능을 향상시킬 수 있는 레이더 장치의 다중표적 추적방법에 관한 것이다. The present invention relates to a multi-target tracking method for a radar device, and more particularly, to a multi-target tracking method for a radar device capable of improving the tracking performance of multiple targets in the vicinity using a radar device.
레이더 시스템은 마이크로웨이브를 사용하여 전파를 송신하고 목표물에 반사되어오는 반사파를 수신하여 거리, 속도, 각도 정보를 측정한다. A radar system uses a microwave to transmit radio waves and receives reflected waves reflected from the target to measure distance, velocity, and angle information.
이러한 레이더 시스템은 눈, 비, 안개, 야간 등의 환경 조건에서도 그 성능이 보장되어 다양한 분야에 적용되어 사용되고 있다.These radar systems are used in various fields because their performance is ensured even in environmental conditions such as snow, rain, fog, and nighttime.
레이더 시스템은 크게 신호처리부, RF 송수신부, 송수신 안테나, 외부 통신부등으로 구성된다. RF 송수신부에서 사용되는 레이더 파형은 Pulsed Doppler Radar, FMCW/SFCW/FSK Radar 등의 다양한 Radar Waveform을 사용하여 표적정보를 측정한다.The radar system consists largely of a signal processing unit, an RF transmitting and receiving unit, a transmitting and receiving antenna, and an external communication unit. The radar waveform used in the RF transceiver unit measures target information using various radar waveforms such as Pulsed Doppler Radar and FMCW / SFCW / FSK Radar.
레이더 시스템은 여러 개의 표적을 탐지하여 각 표적별 거리, 속도, 각도에 대한 궤적의 이동경로를 예측 및 추적할 수 있다. The radar system can detect multiple targets and predict and track the path of the trajectory for each target's distance, velocity, and angle.
다중표적은 추적필터와 데이터 조합 (Data Association) 필터를 이용하여 추적 정보의 예측과 추적 ID를 각각 부여받는다.
The multi-target is given a tracking ID and a prediction ID of the tracking information using a tracking filter and a data association filter.
그러나 다중표적의 경우, 탐지하는 표적의 RCS(Radar Cross Section)라는 표적에 대한 전파의 반사도에 따라 탐지 확률이 달라지며, 일반적으로 낮은 RCS를 갖는 표적의 경우, 추적성능이 떨어지는 문제점이 있었다.However, in the case of multiple targets, the detection probability varies depending on the reflectivity of the radio wave for a target called a RCS (Radar Cross Section) of the target to be detected. In general, a target having a low RCS has a problem of poor tracking performance.
본 발명의 목적은 상기한 바와 같은 문제점을 해결하기 위한 것으로, 다중표적의 RCS를 고려하여 표적탐지 및 추적 파라미터 등을 변경해서 모든 표적에 대한 일정한 추적 성능을 확보활 수 있는 레이더 장치의 다중표적 추적방법을 제공하는 것이다. SUMMARY OF THE INVENTION The object of the present invention is to solve the above-mentioned problems, and it is an object of the present invention to provide a multi-target tracking method for a radar device capable of securing a constant tracking performance for all targets by changing target detection and tracking parameters in consideration of multi- Method.
상기한 바와 같은 목적을 달성하기 위하여, 본 발명에 따른 레이더 장치의 다중표적 추적방법은 다중표적의 거리, 속도 및 각도 측정하는 단계, 각각의 다중표적에 대한 수신 신호세기와 SNR(신호대 잡음비)를 측정하는 단계 및 다중표적의 수신신호 세기에 따라 반지름이 다른 Euclidean Distance Circle를 각 표적별로 할당하는 단계를 포함하는 것을 특징으로 한다.In order to achieve the above object, a multi-target tracking method of a radar apparatus according to the present invention includes a step of measuring a distance, a velocity and an angle of a multi-target, a step of measuring a received signal strength and SNR (signal- And a step of allocating an Euclidean Distance Circle having a different radius according to the received signal strength of the multiple target for each target.
상술한 바와 같이, 본 발명에 따른 레이더 장치의 다중표적 추적방법에 의하면, 다중표적에 대한 추적과정에서 표적의 종류에 상관없이 일정한 추적성능을 얻을 수 있다는 효과가 얻어진다. As described above, according to the multi-target tracking method of the radar device according to the present invention, it is possible to obtain a constant tracking performance irrespective of the type of target in the tracking process for multiple targets.
본 발명에 의하면, 모든 레이더 시스템에 적용 가능한 방식으로 추적기술이 필요한 레이더에 적용 가능하는 효과가 얻어진다.
According to the present invention, an effect that is applicable to a radar requiring a tracking technique in a manner applicable to all radar systems is obtained.
도 1은 본 발명의 바람직한 실시 예에 따른 레이더 장치의 다중표적 추적방법을 단계별로 설명하는 흐름도.
도 2는 표적의 거리, 속도를 검출하기 위한 신호처리 과정을 단계별로 설명하는 흐름도,
도 3은 도 2에서 FFT를 수행한 결과 그래프,
도 4는 측정값의 SNR에 따라 구분한 결과의 예시도,
도 5는 측정 데이터의 거리와 속도 그래프,
도 6은 측정 데이터에 적용되는 Euclidean Distance Circle을 예시한 예시도,
도 7은 ④단계 내지 ⑨단계에 대한 표적추적 순서의 예시도,
도 8은 ⑩단계 내지 ⑫단계에 대한 표적추적 순서의 예시도. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a flowchart illustrating a multi-target tracking method of a radar apparatus according to a preferred embodiment of the present invention.
FIG. 2 is a flowchart for explaining a signal processing process for detecting the distance and speed of a target in steps; FIG.
FIG. 3 is a graph showing the result of FFT performed in FIG. 2,
FIG. 4 is an example of a result obtained by dividing an SNR of a measurement value,
5 shows the distance and velocity graph of measurement data,
6 shows an example of an Euclidean distance circle applied to measurement data,
FIG. 7 is a diagram illustrating an example of a target tracking sequence for steps (4) to (9)
FIG. 8 is an exemplary view of a target tracking sequence for steps (10) to (12);
이하 본 발명의 바람직한 실시 예에 따른 레이더 장치의 다중표적 추적방법을 첨부된 도면을 참조하여 상세하게 설명한다. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a multi-target tracking method of a radar apparatus according to a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.
도 1은 본 발명의 바람직한 실시 예에 따른 레이더 장치의 다중표적 추적방법을 단계별로 설명하는 흐름도이다. FIG. 1 is a flowchart illustrating a multi-target tracking method of a radar apparatus according to a preferred embodiment of the present invention.
본 발명의 바람직한 실시 예에 따른 레이더 장치의 다중표적 추적방법은 도 1에 도시된 바와 같이, 다중표적의 거리, 속도 및 각도 측정하는 단계(①), 각각의 다중표적에 대한 수신 신호세기와 SNR(신호대 잡음비)를 측정하는 단계(②) 및 다중표적의 수신신호 세기에 따라 반지름이 다른 Euclidean Distance Circle를 각 표적별로 할당하는 단계를 포함한다(③). As shown in FIG. 1, the multi-target tracking method of a radar apparatus according to a preferred embodiment of the present invention includes steps (1) of measuring distances, velocities and angles of multiple targets, receiving signal strength and SNR (2) of measuring the signal-to-noise ratio (RI), and allocating Euclidean Distance Circle having different radii according to the received signal strength of the multiple target for each target (3).
도 2는 표적의 거리, 속도를 검출하기 위한 신호처리 과정을 단계별로 설명하는 공정도이다. FIG. 2 is a process diagram for explaining a signal processing process for detecting the distance and speed of a target in steps.
도 2에 도시된 바와 같이, 기존 추정 데이터와 신규로 검출되는 측정 데이터의 거리를 계산한다(= Euclidean Distance 계산).As shown in FIG. 2, the distance between the existing estimation data and the newly detected measurement data is calculated (= Euclidean Distance calculation).
도 3은 도 2에서 FFT를 수행한 결과 그래프이다. FIG. 3 is a graph of FFT performed in FIG.
도 3에 도시된 바와 같이, FFT를 수행한 결과를 바탕으로 Data Association (추적 ID 할당)을 위한 Euclidean Distance Circle을 선택할 수 있는 기준을 수신 신호세기 별로 구별한다.As shown in FIG. 3, based on the result of performing the FFT, criteria for selecting the Euclidean Distance Circle for the Data Association (tracking ID assignment) are distinguished by the received signal strength.
도 4는 측정값의 SNR에 따라 구분한 결과의 예시도이다. FIG. 4 is an exemplary diagram showing the result of classification according to the SNR of the measurement value.
이어서, 본 발명은 측정 데이터(Measurement Data)들과 추정 데이터(Tracking Estimation Data)와 Euclidean Distance를 측정하는 단계를 더 포함할 수 있다(④). Next, the present invention may further include a step of measuring measurement data (measurement data), estimation data (Tracking Estimation Data) and Euclidean distance (4).
도 4에 도시된 바와 같이, 기존 추정 데이터와 신규로 검출되는 측정 데이터의 거리를 계산한다(= Euclidean Distance 계산).As shown in FIG. 4, the distance between the existing estimation data and the newly detected measurement data is calculated (= Euclidean Distance calculation).
도 5는 측정 데이터의 거리와 속도 그래프이다. 5 is a graph of distance and velocity of measurement data.
도 5에 도시된 바와 같이, 측정 데이터는 거리 vs 속도에 대한 것으로, 1개의 표적이 갖는 거리, 속도 정보를 포함한다.As shown in FIG. 5, the measurement data is about distance vs. speed, and includes distance and velocity information of one target.
여기서, 수신신호의 SNR이 큰 경우, 잡음의 영향이 작기 때문에 측정 데이터의 분포(퍼짐)가 좁게 나타나므로, 반지름이 작은 Euclidean Distance Circle을 적용한다. Here, when the SNR of the received signal is large, since the influence of the noise is small, the distribution (spread) of the measured data becomes narrow, so the Euclidean distance circle having a small radius is applied.
반면, 수신신호의 SNR이 작은 경우, 잡음의 영향이 크기 때문에 측정 데이터의 분포(퍼짐)가 넓게 나타나므로, 반지름이 큰 Euclidean Distance Circle을 적용하여 잡음의 영향을 줄일 수 있다. On the other hand, when the SNR of the received signal is small, since the influence of the noise is large, the distribution (spread) of the measurement data is wide, so that the influence of the noise can be reduced by applying the Euclidean distance circle having a large radius.
도 6은 측정 데이터에 적용되는 Euclidean Distance Circle을 예시한 예시도이다. 6 is an exemplary diagram illustrating an Euclidean distance circle applied to measurement data.
측정되는 모든 데이터들은 기존에 추정된 데이터와 비교하여 동일 표적인지 여부를 Matching 시킬 때, 도 6에 도시된 바와 같은 Euclidean Distance 측정값의 한계를 결정하는 Circle을 적용하여 추정된 값과 동일 표적 인지 여부를 판단한다.
When all of the measured data are compared with the previously estimated data to determine whether they are the same target or not, it is determined whether or not the target is the same as the estimated value by applying the circle determining the limit of the Euclidean distance measurement value as shown in FIG. 6 .
그리고 본 발명은 모든 측정값과 추정값에 대해 각각 최소 Euclidean Distance 측정하여 그 중 Minimum 값을 계산하는 단계(⑤), 계산된 Minimum 값이 어떤 Euclidean Distance Circle 내에 포함되어 있는지를 판단하는 단계(⑥), 각각의 표적별로 해당된 Euclidean Distance Circle내에 계산된 최소 거리가 존재하는 경우, 기존과 동일한 표적으로 간주하여 동일한 추적 ID 할당하는 단계(⑦), Alpha Trimmed Filter를 적용하여 순간적으로 튀는 신호에 대해 Smoothing 수행하여 Spike 잡음을 제거하는 단계(⑧) 및 Tracking Filter를 적용하여 새로운 추정 데이터를 계산하는 단계(⑨)를 더 포함할 수 있다. In the present invention, the minimum Euclidean distance is measured for all the measured values and the estimated values, respectively, and the minimum value is calculated (step 5). The Euclidean distance circle is used to determine whether the calculated minimum value is included in the Euclidean distance circle. If there is a minimum distance calculated within the corresponding Euclidean Distance Circle for each target, the same tracking ID is assigned considering the same target as the existing target (⑦), and the Alpha trimmed filter is applied to perform the smoothing A step (⑧) of removing spike noise and a step (⑨) of calculating new estimation data by applying a tracking filter.
여기서, 추적 필터는 Alpha-beta-gamma Filter, Kalman Filter 등 다양한 추적필터를 적용할 수 있다. Here, the tracking filter can be applied to various tracking filters such as Alpha-beta-gamma filter and Kalman filter.
도 7은 ④단계 내지 ④단계에 대한 표적추적 순서의 예시도이다.FIG. 7 is an illustration of a target tracking sequence for steps (4) to (4).
도 7에는 측정값과 추정값의 최소거리가 각각의 가변 Euclidean Distance Circle 내에 포함되는 경우에 대한 추적 ID를 할당한 결과가 예시되어 있다. FIG. 7 illustrates the result of assigning a tracking ID to a case where the minimum distance between the measured value and the estimated value is included in each variable Euclidean Distance Circle.
예를 들어, 도 7에 도시된 바와 같이 3개의 표적에 대해 SNR 이 각각 다른 경우, Euclidean Distance Circle을 달리하여 추정 데이터와 측정 데이터의 길이를 측정한다.For example, when the SNRs are different for three targets as shown in FIG. 7, the length of the estimation data and measurement data is measured by varying the Euclidean distance circle.
측정된 길이(Euclidean Distance)가 해당 추적 ID에 할당된 Euclidean Distance Circle 내에 존재하는 경우, 기존 추적 데이터와 동일한 표적으로 인식하여 동일한 추적 ID 할당한다. If the measured length (Euclidean Distance) exists in the Euclidean Distance Circle assigned to the corresponding tracking ID, it is recognized as the same target as the existing tracking data and assigned the same tracking ID.
동일한 추적 ID로 할당된 측정데이터는 Alpha-trimmed Filter 입력으로 넣어주고 Data Smoothing을 수행한다.The measurement data assigned with the same tracking ID is input to the Alpha-trimmed Filter input and data smoothing is performed.
Smoothing 된 데이터는 Tracking Filter를 통해 신규 측정데이터의 c추정(예측) 값을 계산한다. The smoothing data is used to calculate the estimated (predicted) value of the new measurement data through the tracking filter.
이후, 신규 측정 데이터가 입력되면, 위 ④단계 내지 ⑨단계를 반복한다.Thereafter, when new measurement data is input,
또, 본 발명은 각각의 표적별로 할당된 Euclidean Distance Circle 내에 계산된 최소거리가 존재하지 않는 경우, 현재 추적하고 있는 표적들과 상관이 없다고 판단하여 해당 측정 데이터에 신규 추적 ID를 할당해서 새로운 표적으로 추적을 시작하는 단계(⑩), 기존 추적데이터에 더 이상 측정 데이터가 Matching이 되지 않는 경우, 연속적으로 추적할 표적이 없다고 판단하여 추적 ID를 해제하는 단계(⑪) 및 추적 ID가 해제된 데이터에 대해 최종적으로 표적 추적을 종료하는 단계(⑫)를 더 포함할 수 있다. In the present invention, when there is no calculated minimum distance in the Euclidean Distance Circle allocated to each target, it is determined that there is no correlation with the currently tracked targets, and a new tracking ID is assigned to the corresponding measurement data, A step of starting the tracking (step (10)), if the measurement data is no longer matched to the existing tracking data, determining that there is no target to be continuously tracked and releasing the tracking ID (step And finally terminating the target tracking (step (12)).
예를 들어, 도 8은 ⑩단계 내지 ⑫단계에 대한 표적추적 순서의 예시도이다 For example, FIG. 8 is an illustration of an example of a target tracking sequence for
도 8에는 측정값과 추정값의 최소거리가 각각의 가변 Euclidean Distance Circle 내에 포함되지 않은 경우에 대한 추적 ID 할당한 결과가 예시되어 있다. FIG. 8 illustrates a result of assigning a tracking ID to a case where the minimum distance between the measured value and the estimated value is not included in each variable Euclidean Distance Circle.
도 8에 도시된 바와 같이, 측정 데이터와 추정 데이터의 길이가 Euclidean Distance Circle에 포함되지 않을 경우, 신규 추적 데이터로 간주하여 신규 추적 ID 할당하여 새롭게 추정 데이터 연산 수행한다. As shown in FIG. 8, when the length of the measurement data and the estimated data is not included in the Euclidean Distance Circle, a new tracking ID is regarded as new tracking data and a new estimated data operation is performed.
이때, 측정 데이터가 매칭이 안된 추정 데이터는 더 이상 동일한 표적이 존재 하지 않는다고 판단하여 추적 ID 해제하고 추적 수행을 종료한다. At this time, it is determined that the same target does not exist any more in the estimated data that is not matched with the measurement data, and the tracking ID is released and the tracking is terminated.
이상 본 발명자에 의해서 이루어진 발명을 상기 실시 예에 따라 구체적으로 설명하였지만, 본 발명은 상기 실시 예에 한정되는 것은 아니고, 그 요지를 이탈하지 않는 범위에서 여러 가지로 변경 가능한 것은 물론이다.
Although the invention made by the present inventors has been described concretely with reference to the above embodiments, the present invention is not limited to the above embodiments, and it goes without saying that various changes can be made without departing from the gist of the present invention.
Claims (1)
각각의 다중표적에 대한 수신 신호세기와 SNR(신호대 잡음비)를 측정하는 단계 및
다중표적의 수신신호 세기에 따라 반지름이 다른 Euclidean Distance Circle를 각 표적별로 할당하는 단계를 포함하는 것을 특징으로 하는 레이더 장치의 다중표적 추적방법.
Measuring the distance, velocity and angle of the multiple targets,
Measuring the received signal strength and SNR (signal to noise ratio) for each of the multiple targets; and
And assigning an Euclidean Distance Circle having a different radius to each target according to the received signal strength of the multi-target.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2018135754A1 (en) * | 2017-01-18 | 2018-07-26 | (주)디지탈엣지 | Clutter elimination and multi-target tracking method for radar system |
| CN108344992A (en) * | 2017-12-20 | 2018-07-31 | 北京华航无线电测量研究所 | A kind of multi-object tracking method for vehicle-mounted millimeter wave radar |
| RU2665031C1 (en) * | 2018-01-31 | 2018-08-27 | Федеральное государственное казённое военное образовательное учреждение высшего образования "Военная академия воздушно-космической обороны имени Маршала Советского Союза Г.К. Жукова" Министерства обороны Российской Федерации | Method of tracking aerial target from “turbojet aircraft” class under effect of range and velocity deflecting noise |
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| CN108344992B (en) * | 2017-12-20 | 2020-03-27 | 北京华航无线电测量研究所 | Multi-target tracking method for vehicle-mounted millimeter wave radar |
| RU2665031C1 (en) * | 2018-01-31 | 2018-08-27 | Федеральное государственное казённое военное образовательное учреждение высшего образования "Военная академия воздушно-космической обороны имени Маршала Советского Союза Г.К. Жукова" Министерства обороны Российской Федерации | Method of tracking aerial target from “turbojet aircraft” class under effect of range and velocity deflecting noise |
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| KR102071493B1 (en) | 2018-12-21 | 2020-01-30 | 엘아이지넥스원 주식회사 | System and method for forming multi-beam |
| RU2713635C1 (en) * | 2019-05-27 | 2020-02-05 | Федеральное государственное унитарное предприятие "Государственный научно-исследовательский институт авиационных систем" (ФГУП "ГосНИИАС") | Method of tracking an aerial target in a radar station from a class of "aircraft with turbojet engine" under action of distance and speed withdrawing interference |
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