The use of radars to locate enemy mortar, rocket, and artillery positions goes all the way back to World War II. The superb SCR-584, designed to direct the fire of 90mm anti-aircraft batteries, was shown to be quite capable of tracking inbound enemy indirect fire. It wasn't long before the services developed dedicated systems specifically for that role. Here's a video showing the early 1970s era TPQ-31 in use.
The next generation of radars for the Marine Corps is the TPS-80 Ground/Air Task Oriented Radar, or GATOR, which combines Air Traffic Control, Air Defense, fire finding, and other functions in one set.
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