Blind area tracking method and apparatus for directional antenna and motion tracking system

A blind area tracking apparatus, comprising:

• a processor, and a memory storing a computer program executable by the processor;
• wherein when the computer program is executed by the processor, the processor is configured to:
• acquire a position and a velocity of a tracking target relative to a directional antenna;
• determine, according to a critical time and the position and the velocity of the tracking target relative to the directional antenna, whether the tracking target enters the tracking blind area:
• wherein the critical time is calculated using the following formula:
• K
• ⁢
• φ
• .
• max
• ⁢
• t
• l
• =
• arctan
• ⁢
• (
• v
• ′
• ⁢
• t
• l
• A
• ⁢
• B
• )
• ;
• K representing an azimuth velocity margin coefficient, wherein a value of the azimuth velocity margin coefficient K is 80%, φmax representing a maximum azimuth velocity of the directional antenna, t1 representing the critical time, v′ representing a velocity projection of the tracking target in a horizontal reference plane, A representing a position of the directional antenna and B representing an intersection point of a straight line along v′ in the horizontal reference plane and a vertical line perpendicular to the straight line, with the vertical line passing through the point A;
• and drive, in a preset blind area guidance mode and when the tracking target is located in the tracking blind area, the directional antenna to rotate.