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WO1992007282A1 - Systeme de radar a faisceaux multiples monte sur un appareil d'aviation pourvu d'un rotor - Google Patents

Systeme de radar a faisceaux multiples monte sur un appareil d'aviation pourvu d'un rotor Download PDF

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Publication number
WO1992007282A1
WO1992007282A1 PCT/US1990/005643 US9005643W WO9207282A1 WO 1992007282 A1 WO1992007282 A1 WO 1992007282A1 US 9005643 W US9005643 W US 9005643W WO 9207282 A1 WO9207282 A1 WO 9207282A1
Authority
WO
WIPO (PCT)
Prior art keywords
antenna
angle
cuff
vehicle
output signal
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/US1990/005643
Other languages
English (en)
Inventor
Hubert Warren Upton
William Latimer Mckeown
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Bell Helicopter Textron Inc
Original Assignee
Bell Helicopter Textron Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Bell Helicopter Textron Inc filed Critical Bell Helicopter Textron Inc
Priority to PCT/US1990/005643 priority Critical patent/WO1992007282A1/fr
Publication of WO1992007282A1 publication Critical patent/WO1992007282A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • 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
    • G01S13/06—Systems determining position data of a target
    • G01S13/46—Indirect determination of position data
    • G01S13/48—Indirect determination of position data using multiple beams at emission or reception
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/27—Adaptation for use in or on movable bodies
    • H01Q1/28—Adaptation for use in or on aircraft, missiles, satellites, or balloons

Definitions

  • This invention relates in general to the field of radar systems, and more particularly to radar systems for use on aircraft such as helicopters.
  • the invention is described in one embodiment with regard to helicopter applications, but it is contemplated that the principles and concepts of the invention may be used in other applications such as tilt rotor aircraft. Therefore, the descriptions relating to helicopter applications and comparisons to helicopter prior art should not be construed as a limitation to the scope of the invention.
  • the placement and utilization of radar antennas in the rotors of helicopters is disclosed in various references, such as U.S. Patent Nos. 3,389,393 (Young, Jr.), 3,390,393 (Upton) and 3,896,446 (Kondoh et al.).
  • the present invention provides apparatus and methods for detecting radar reflections and displaying the reflections such that a pilot or other monitor of the display may readily determine the elevation angle of the target from which the radar beam is reflected.
  • a multibeam radar system is adapted for attachment to a rotating member such that the areas scanned by the radar beam do not exactly overlap, but rather are skewed to increase the vertical area of coverage.
  • multiple rotating radar antennas are used to produce the multiple beams.
  • a device for detecting and displaying a target with azimuth and elevation information comprising: a means for scanning a plurality of scan areas, each scan area having a different angle of elevation associated therewith; a means for detecting a target in at least one of the scan areas mounted to the scanning means; a means for distinguishing the scan area from which the target is detected from other scan areas, positioned and arranged to be responsive to the means for detecting; a means for measuring the azimuth of the scan area from which the target is detected positioned and arranged to be responsive to an azimuth angle position, relative to a reference azimuth position, of the scanning means; and a means for displaying a representation of the target simultaneously with the elevation and azimuth information positioned and arranged to be responsive to the means for distinguishing and the means for measuring.
  • a radar system for use on a vehicle, comprising: a rotatable mount attached to the vehicle; a first antenna connected to said rotating mount for scanning a first area of coverage and having a first antenna output signal for defining images in a first area of coverage; a second antenna connected to the rotating mount for scanning a second area of coverage different from said first area of coverage and having a second antenna output signal for defining images in said second area of coverage; and a display for displaying images of said first and second areas of coverage so as to distinguish said images.
  • a process for detecting and displaying a target with azimuth and elevation information comprising the steps of: scanning a plurality of scan areas, each scan area having a different angle of elevation associated therewith; detecting a target in at least one of said scan areas; distinguishing the scan area from which the target is detected from other scan areas; measuring the azimuth of the scan area from which the target is detected, and displaying a representation of the target simultaneously with the elevation and azimuth information from said distinguishing and said measuring.
  • One technical advantage of such embodiments is the allowance for the detection and display of elevation angle of a detected target without the need for a visual sighting.
  • FIGURE 1 shows a view of a helicopter radar system for scanning various elevation angles with no scan overlap.
  • FIGURE 2 shows an embodiment of the invention similar to that shown in FIGURE 1, but including an overlap to the scanned elevation areas.
  • FIGURE 3 shows an embodiment of the invention using a hub-and-cuff assembly as a rotatable mount.
  • FIGURE 3A is a block diagram of part of the circuit utilized by a display to generate a composite image.
  • FIGURE 3B is a block diagram of the timing circuitry 3A20 of FIGURE 3A.
  • FIGURE 4 shows an embodiment of the invention for connecting the antennas to the rotatable mount.
  • FIGURE 4A shows an embodiment of the invention for connecting the antennas to the mast with a defeathering capability.
  • FIGURE 5 shows another embodiment of the invention showing an alternative mounting of the antennas to the rotatable mount.
  • FIGURE 5A shows yet another antenna mount embodiment.
  • FIGURE 6 is a cross-sectional view taken through line 6-6 of FIGURE 5.
  • FIGURE 6A is a cross-sectional view taken through line 6A-6A of FIGURE 5A.
  • FIGURE 7 shows an embodiment of the invention using cuff angle sensors connected to the cuffs.
  • FIGURE 8 shows an embodiment using a circuit for signal stabilization with respect to variables such as pitch and roll.
  • FIGURES 1-3 show a helicopter 10 having what is commonly known as a rotor hub-and-cuff assembly 20.
  • assembly 20 includes a plurality of antennas 1-4 which are arranged to scan different elevational areas l , -4'. While four antennas are shown, fewer or more may be used. The various scanned areas l'-4' are shown with no overlap in FIGURE 1; however, in an alternative embodiment, such areas could have some overlap, as shown in FIGURE 2.
  • each antenna 1-4 When antennas 1-4 are situated to produce an elevational overlap, a more detailed resolution can be achieved as to elevation angle information.
  • the area of coverage of each antenna 1-4 is an azimuth angle of 360 degrees, while the elevational angle of coverage is smaller, being generally about 30 degrees.
  • the radar antennas are arranged so that there is no overlap, then the electromagnetic reflection may be detected exclusively by antenna 1 or 2, but not both. Therefore, with radar antennas arranged to produce non-overlapping elevational areas of coverage, the angle of elevation will be known to a greater accuracy of w.
  • FIGURE 3 shows an embodiment of a hub-and-cuff assembly 20 of a helicopter having multiple blades, each associated with a cuff having a radar antenna.
  • a radar antenna 1 is mounted in rotor cuff 210.
  • Each cuff 210-213 has mounted therein an antenna (2-4) , similar to that of antenna 1, except each antenna is vertically skewed with respect to the others to scan a partially different elevational angle from the rotational plane of the rotor assembly.
  • each antenna 1-4 rotates with the rotor to scan an area in front of helicopter 10, each antenna 1-4 scans a different elevational angle with respect to the rotational plane of the rotor.
  • the elevation angle of the target can be determined by detecting which antenna receives reflections from the target.
  • color coding of the target is employed to display the elevation angle information associated with each of the antennas 1-4.
  • the visual display may take various forms.
  • the display comprises a system 3A1 shown in FIGURE 3A.
  • four radar signals A-D are received from the four corresponding antennas 1-4 of a four-bladed helicopter.
  • the various radar signals A-D represent echoes received at different azimuth angles.
  • the image received by each antenna for the same azimuth angle must be displayed simultaneously.
  • a composite image for a particular azimuth angle is produced by storing representations of signals A-D in video frame memories 1A, 2B, 3C, and 4D until each of the images from that desired azimuth angle has been scanned.
  • Video frame memories also known as “stores” are well known in the art and need not be further detailed here. There are many frame grabbers (with associated video frame memories as in FIGURE 3A) on the market. In one embodiment, one used is made by POYNTING, INC. It allows a frame to be “grabbed” and processed at any rate, while a continuous frame output is being displayed at any other time desired. Processing can include edge enhancement, thresholding to eliminate noise, and logical operations on adjacent pixels to provide algorithmic image enhancement.
  • each video frame memory 1A-4D is selected or connected to the input of an image processor 3A10 when the respective video frame memory 1A-4D is triggered by a timing circuitry 3A20.
  • the input signal to timing circuitry 3 20 is generated by a mast rotation monitor 3A30, which in one embodiment is a magnetic pickup device. Monitor 3A30 is mounted to rotor mast 405 such that the input signal to timing circuitry 3A20 cycles at the same frequency as the rotational frequency of mast 405.
  • Image processor 3A10 in one embodiment, is an IMAGE TECHNOLOGY, INC. unit which contains digital signal processing (DSP) hardware to allow execution of the processing algorithms in real-time.
  • DSP digital signal processing
  • Timing circuitry 3A20 generates timed trigger signals a-d once for each mast revolution to store the images received by each of antennas 1-4 in the respective video frame memories 1A-4D. Each image is associated with a particular azimuth angle.
  • a timing reference signal t from timing circuitry 3A20 clocks the image processor 3A10, whereupon image processor 3A10 selects the stored images from image processing bus 3A40 at the time that corresponds to images obtained at the same azimuth angle.
  • FIGURE 3B shows an embodiment of timing circuitry 3A20, including a phase locked loop.
  • the "loop" of the phase locked loop consists of the phase comparator 3B1, loop filter 3B2, voltage controlled oscillator (VCO) 3B3, and divide-by-360 divider 3B4.
  • Loop Filter 3B2 is typical of phase-locked loops, used for the VCO 3B3.
  • the number 360 is arbitrarily chosen, wherein the rotor azimuth will be divided, or resolved, into 1 degree increments. The resolution could be finer, if desired.
  • the time reference 'a' is developed by another divide-by-360 divider 3B5 which has a variable starting time relative to mast magnetic pickup signal 3B30. While signal 3B30 acts as a master time reference for the system, the occurrence of
  • 'a' can be varied so that the image display can rotate its effective radar viewing orientation (in the case of a 360 degree display) or it can serve to vary the starting point of a sector of radar information to be displayed.
  • the occurrence of 'a' (which is a logic or trigger signal) is delayed from mast magnetic pickup signal 3B30 by divide-by-N counter 3B7.
  • Counter 3B7 is reset at the occurrence of each signal 3B30 and is driven by the output of VCO 3B3.
  • counter 3B5 is reset by the output of the divide-by-N counter. This action causes 'a' to repeat once per mast revolution, delayed from the rotor master azimuth pulse by a count of N.
  • N is a delay variable introduce from a control operated by the display operator.
  • the N signal will be controlled by a knob-driven digital encoder or a digital input from a system controller.
  • the other timing signals b, c, and d are also derived from the VCO output.
  • signals a-d are 90 degrees apart, corresponding to the angular space between the rotor blades.
  • the image frame grabber or frame memories 1A-4D contain azimuth-congruent video date when triggered by the signals a, b, c, and d.
  • the circuitry generates b, c, and d as follows:
  • the 360/rev VCO output 3B3 is divided by additional divide-by-360 counters 3B5, 3B6, 3B7, and 3B8.
  • Each of these counter outputs is a 1/rev pulse a, b, c, and d.
  • the start of each count cycle begins after the respective counter is loaded.
  • the counters (b, c, d) start after being loaded with the appropriate number at the start of each new 360 degree cycle, that is: 90, 180 and 270.
  • the signals generated by this process will allow a display system to combine the video data from the four antennas and to rotate the displayed field of view by changing "N" from 0 to 359.
  • the counter divisor numbers can be varied to cause only sectors of the total radar scan to be taken in for processing. Those sectors might be, for example, only those ahead of the helicopter, or only those behind.
  • the sector number, size and location can all be varied, as desired.
  • image processor 3A10 is preferably a digital signal processor (DSP) for converting the composite signal into a display format (for example RGB) for display on a video display screen (CRT) 3A60.
  • DSP digital signal processor
  • the representation of the image received by each antenna is displayed on the display 3A60 with a unique color. Each color thus represents a different elevational angle of radar coverage.
  • the inaccuracies introduced by feathering may be corrected by defeathering means.
  • One type of defeathering means includes a mechanical apparatus.
  • Another type of defeathering means includes an electronic system which also corrects for the display inaccuracies that result from changes in pitch and roll attitude of the helicopter 10. Simultaneous errors introduced by pitch, roll, and feathering can be compensated by image processor 3A10.
  • Such an electronic defeathering means corrects for such inaccuracies by modification of the video image, to be further described below, after the description of the mechanical defeathering means.
  • FIGURE 4 shows an embodiment with a mechanical means to prevent feathering of a cuff-mounted antenna.
  • the antenna 1 is rigidly connected to the helicopter mast 405, through the cuff 210, by a coupling 410.
  • Coupling 410 prevents antenna 1 from pivoting about axis 420 during pivotal movements, i.e. feathering, of the cuff 210 and the rotor blade.
  • a cuff support 430 does pivot about axis 420 as rotor blade 250 (FIGURE 3) is feathered.
  • the radar antenna 1 is connected to the cuff support 430 by a free pivot mount 440.
  • the cuff support 430 includes an ear having a hole through which a pin passes and is connected to the antenna 1, thus allowing it to pivot with respect to the rotor cuff 210.
  • the angle of antenna 1 with respect to the rotational plane of cuffs 210-213 remains the same.
  • antennas 1-4 can be cyclically articulated to cause the radar transmission patterns to be stable relative to the earth. This is accomplished by using an actuation device 510, such as a hydraulic actuator or motor, as seen in FIGURE 5.
  • actuation device 510 such as a hydraulic actuator or motor, as seen in FIGURE 5.
  • FIGURE 4A shown is another embodiment using cyclic defeathering and stabilization of the radar antenna with respect to the earth, done either individually or in combination.
  • Four sinusoidal signals (one for each blade) are generated, each 90 degrees from the other, for example by oscillators 451A-451D referenced or locked to the rotor mast 450 by magnetic pickups 453A- 453-D.
  • Each actuator 510 is placed in a control loop to cause the antenna angle to follow commands generated by multipliers 452A-452D.
  • Multipliers 452A-452D control the magnitudes of the sinusoidal oscillator signals so as to generate counteracting feathering motions of each antenna 1-4 as rotor 20 turns.
  • Actuator 510 functions as a servo to cyclically change the angle of each antenna.
  • a typical position loop closure makes the actuator follow electronically generated position commands.
  • the commands to defeather are generated by measuring feather angles and using these as opposing commands.
  • antenna 1 pivots about antenna pivot axis 505 and maintains the same angle with respect to the rotational plane of cuffs 210-213.
  • Earth stabilizing commands can be superimposed on the feathering commands to introduce feathering in a way to stabilize the antenna patterns horizontal to the earth.
  • the radar antenna 1 may be mounted as shown in FIGURES 5A and 6A. As shown, antenna 1 is mounted similarly to the embodiment shown in FIGURES 5 and 6, but on the trailing edge of the rotor cuff 210, rather than on the leading edge.
  • the means for defeathering includes an electronic method that is incorporated within display 3A1. Shown in FIGURES 7 and 8, antenna 1 is mounted to the rotor cuff 210 with no pivot, so that the angle of antenna 1 changes as does the angle of the cuff 210 with respect to the rotational plane of the cuffs 210-213. The angle of the cuffs 210-213 is monitored, along with the attitude of the helicopter, and through signal processing the radar signals are stabilized with respect to the horizon.
  • the angle of the cuffs 210-213 is monitored by cuff angle sensors 710-713, which in one embodiment take the form of linear variable differential transformers (LVDT'S), and which are connected to the cuffs 210-213 as shown in FIGURE 7.
  • a sensor 810 which in some embodiments comprises a gyro, monitors the attitude of the helicopter 10.
  • Pitch signal 812 and roll signal 814 correspond to the helicopter's pitch and roll angles.
  • the signals from cuff angle sensors 710-713 and the signals from sensor 810 are input to image processor 815.
  • FIGURE 8 shows an additional processing technique to earth stabilize the radar information with the fixed radar antenna in each blade.
  • Digital image processor 815 is an embodiment of image processor 3A10.
  • Digital image processor 815 first adds input signals from the cuff angle sensors 710-713 and the attitude gyro 810. First, signals 812 and 814 are summed and differenced with cuff angle signals 710-713 to provide composite signals 710'-713', representing the earth-reference attitude of each antenna. Image processor software then operates on the video from video frame memories 1A-4D of FIGURE 3A to rotate and translate the output image going to the display screen. The operation consists of carrying out a coordinate rotation of the data about the helicopter axes.
  • a forward sector displayed on the screen would rotate on the screen as a result of the attitude signals, while pilot-induced cyclic feathering motions, or changes in the rotor attitude with respect to the helicopter, would be accounted for by the cuff angle sensors and would not be apparent on the screen.
  • the pitch motion of the helicopter would be accounted for by a vertical motion of the image on the screen.
  • a multi-beam rotor radar has all the advantages of a radar using a rotor mounted antenna system, as cited in previous references.
  • the disadvantage of those systems is there being no elevation information.
  • This is overcome by the multi-beam antenna configuration along with the means to utilize the radar information obtained by such a multiplicity of antennas.
  • Earlier systems require the use of a very broad vertical beamwidth in the antenna(s) so that targets will be detected regardless of attitude changes and rotor blade feathering angles.
  • an advantage is the higher antenna gain naturally associated with the narrower vertical beamwidth, which is not only desired but also required by the multi-beam configuration. Since energy is concentrated into a much smaller vertical beamwidth, more range is available or a much lower radar power may be used. This lowers transceiver cost and weight, and in some cases more importantly, it reduces radiated power which can be used by an enemy as a detection means.
  • the elevation information gives an advantage over the other systems in providing terrain avoidance information. It also provides elevation information as to the location of enemy airborne threats in a combat situation.
  • the elevation information allows discrimination between targets of equal range but different elevations, thus resolving ambiguities in target location and target identification, e.g., an aircraft versus a tree.

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

Abstract

On décrit un radar à faisceaux multiples comprenant une multiplicité d'antennes (1-4) qui balayent des élévations différentes (1'-4') autour d'un véhicule tel qu'un hélicoptère (10). On obtient des informations se rapportant à l'élévation en vérifiant laquelle des antennes a détecté une cible particulière.
PCT/US1990/005643 1990-10-10 1990-10-10 Systeme de radar a faisceaux multiples monte sur un appareil d'aviation pourvu d'un rotor Ceased WO1992007282A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/US1990/005643 WO1992007282A1 (fr) 1990-10-10 1990-10-10 Systeme de radar a faisceaux multiples monte sur un appareil d'aviation pourvu d'un rotor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/US1990/005643 WO1992007282A1 (fr) 1990-10-10 1990-10-10 Systeme de radar a faisceaux multiples monte sur un appareil d'aviation pourvu d'un rotor

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WO1992007282A1 true WO1992007282A1 (fr) 1992-04-30

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2124222C1 (ru) * 1997-11-11 1998-12-27 Юрий Гурьевич Булычев Подвижный пеленгатор
US6054947A (en) * 1998-08-28 2000-04-25 Kosowsky; Lester H. Helicopter rotorblade radar system
DE4420153B3 (de) * 1994-06-09 2013-10-31 Dassault Electronique Radar für Hubschrauber
US20140292556A1 (en) * 2012-12-10 2014-10-02 Eurocopter Deutschland Gmbh Obstacle and terrain warning radar system for a rotorcraft
EP3173814A1 (fr) * 2015-11-27 2017-05-31 Bradar Industria S.A. Système et procédé de détection et de visualisation de cibles par radar aéroporté

Citations (8)

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Publication number Priority date Publication date Assignee Title
US3611367A (en) * 1968-02-01 1971-10-05 Houston Hotchkiss Brandt Comp Airborne station for aerial observation system
US3611376A (en) * 1969-08-04 1971-10-05 Lockheed Aircraft Corp Radar system with beam splitter and synthetic stabilization
US3760420A (en) * 1969-09-22 1973-09-18 Raytheon Co Radiation seeker
US3896446A (en) * 1972-07-13 1975-07-22 Mitsubishi Electric Corp Radar mounted on helicopter
US4638315A (en) * 1984-06-20 1987-01-20 Westinghouse Electric Corp. Rotor tip synthetic aperture radar
US4695013A (en) * 1983-10-17 1987-09-22 Ulrich Trampnau Landing aid
US4737788A (en) * 1985-04-04 1988-04-12 Motorola, Inc. Helicopter obstacle detector
US4887087A (en) * 1982-03-16 1989-12-12 Micro Control Technology Limited Method of displaying detected information about a rotating mass

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3611367A (en) * 1968-02-01 1971-10-05 Houston Hotchkiss Brandt Comp Airborne station for aerial observation system
US3611376A (en) * 1969-08-04 1971-10-05 Lockheed Aircraft Corp Radar system with beam splitter and synthetic stabilization
US3760420A (en) * 1969-09-22 1973-09-18 Raytheon Co Radiation seeker
US3896446A (en) * 1972-07-13 1975-07-22 Mitsubishi Electric Corp Radar mounted on helicopter
US4887087A (en) * 1982-03-16 1989-12-12 Micro Control Technology Limited Method of displaying detected information about a rotating mass
US4887087B1 (fr) * 1982-03-16 1992-03-24 Micro Control Tech Ltd
US4695013A (en) * 1983-10-17 1987-09-22 Ulrich Trampnau Landing aid
US4638315A (en) * 1984-06-20 1987-01-20 Westinghouse Electric Corp. Rotor tip synthetic aperture radar
US4737788A (en) * 1985-04-04 1988-04-12 Motorola, Inc. Helicopter obstacle detector

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4420153B3 (de) * 1994-06-09 2013-10-31 Dassault Electronique Radar für Hubschrauber
RU2124222C1 (ru) * 1997-11-11 1998-12-27 Юрий Гурьевич Булычев Подвижный пеленгатор
US6054947A (en) * 1998-08-28 2000-04-25 Kosowsky; Lester H. Helicopter rotorblade radar system
US20140292556A1 (en) * 2012-12-10 2014-10-02 Eurocopter Deutschland Gmbh Obstacle and terrain warning radar system for a rotorcraft
US9304199B2 (en) * 2012-12-10 2016-04-05 Airbus Helicopters Deutschland GmbH Obstacle and terrain warning radar system for a rotorcraft
EP3173814A1 (fr) * 2015-11-27 2017-05-31 Bradar Industria S.A. Système et procédé de détection et de visualisation de cibles par radar aéroporté
US10495751B2 (en) 2015-11-27 2019-12-03 Bradar Industria S.A. System and method for detecting and visualizing targets by airborne radar

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