CN103744077A - Angle measurement method of mechanical-scanning meter-wave radar under multi-target condition - Google Patents

Angle measurement method of mechanical-scanning meter-wave radar under multi-target condition Download PDF

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CN103744077A
CN103744077A CN201410018152.4A CN201410018152A CN103744077A CN 103744077 A CN103744077 A CN 103744077A CN 201410018152 A CN201410018152 A CN 201410018152A CN 103744077 A CN103744077 A CN 103744077A
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target
angle
data
passage
pulse
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CN103744077B (en
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赵永波
靳晓焕
刘宏伟
水鹏朗
高炎
冯大政
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Xidian University
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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
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section

Abstract

The invention discloses an angle measurement method of a mechanical-scanning meter-wave radar under a multi-target condition, and the angle measurement method is mainly used for solving the problem of low angle measurement precision of the mechanical-scanning meter-wave radar adopting a traditional single-pulse method under a multi-target condition. The angle measurement method is implemented by virtue of the following steps: 1), classifying antennae into two submatrixes, wherein the lower part of each submatrix is connected with a receiver to form a left-path channel and a right-path channel; 2) respectively receiving impulse signals transmitted by a radar by virtue of the left-path receiving channel and the right-path receiving channel; 3) performing clutter target cancellation treatment on the received echoed signal data; 4) performing coherent accumulation on the two paths of data subjected to clutter cancellation; 5) obtaining a sum beam and a difference beam by use of the two paths of accumulated data; 6) measuring the off-axis angle of an expected target by use of a traditional single-pulse method, and adding the off-axis angle and a reference angle so as to obtain the accurate angle of the expected target; 7) repeating the steps 3)-6) so as to sequentially obtain the accurate angles of all the targets. The angle measurement method disclosed by the invention has the advantages of high angle measurement accuracy, good stability and capability of distinguishing multiple targets, and can be used for multi-target detection of the mechanical-scanning meter-wave radar.

Description

Machine is swept the angle-measuring method of metre wave radar in multiple goal situation
Technical field
The invention belongs to Radar Technology field, particularly metre wave radar angle-measuring method in multiple goal situation, can be used for mechanical scanning radar when multiple targets exist simultaneously, eliminates influencing each other between each target, improves the monopulse angle measurement accuracy to multiple targets.
Background technology
Metre wave radar is because signal attenuation is little, and detection range is far away, at aspects such as over-the-horizon detection, anti-electronic interferences, has unique advantage, but simultaneously because the wavelength of metre wave radar is longer, wave beam is wider, makes its angle-resolved rate variance, and angle measurement accuracy is low.Mechanical scanning radar is because cost is low, realizes the factor such as simple always by people's widespread use.Mechanic scan radar angle-measuring method generally adopts maximum-signal method, but the precision of this method is poor, especially for machine, sweeps metre wave radar.Its electric size is less, and wave beam is wider, and maximum-signal method angle measurement accuracy is not high.In order to improve angle measurement accuracy, can adopt monopulse angle measurement technique.
Zhang Guangyi academician has provided monopulse angle-measuring method in " phased-array radar principle [M], Beijing: National Defense Industry Press, 1994 " book.Monopulse angle-measuring method refers to a class angle-measuring method that utilizes the echoed signal of individual pulse just can measure target actual position.At machine, sweep and in metre wave radar, utilize the accurate location that obtains target that width phase and difference beam single pulse method can be very fast.Width phase and difference beam single pulse method refer to each pulse echo that radar is received after treatment, obtain each pulse with wave beam and difference beam, by calculating poor and ratio, the off-axis angle of the known each pulse target of tabling look-up.Add the reference angle of antenna, just obtain the angle on target that individual pulse records, it is exactly the actual position of target that the angle that all pulses are recorded is averaged.
Due to width phase and difference beam single pulse method realization convenience, calculated amount is little, and angle measurement accuracy is high, and tool has great advantage in actual applications.But it is wider to be subject to machine to sweep metre wave radar wave beam, the impact of the shortcomings such as central beam misalignment target, although width phase and difference beam monopulse angle-measuring method precision are higher than maximum-signal method, but exist in multiobject situation in same beam angle or same range unit, owing to existing and influencing each other between multiple goal, thereby the angle measurement accuracy of traditional width phase monopulse angle-measuring method is reduced, especially when two targets are nearer apart, tradition monopulse angle-measuring method cannot resolution target, do not reach the accurately object of angle measurement of each target, affect resolving power and the angle measurement accuracy of radar.
Summary of the invention
The object of the invention is the shortcoming for above-mentioned existing width phase and difference beam monopulse angle-measuring method, propose a kind of machine and swept the angle-measuring method of metre wave radar in multiple goal situation, to eliminate influencing each other between multiple targets, improve the monopulse angle measurement accuracy in multiple goal situation.
The present invention is achieved in that for achieving the above object
One, technical thought
The present invention sweeps by machine the antenna surface that antenna equivalence becomes to be comprised of two submatrixs, the Doppler frequency of the each target obtaining according to priori, using one of them target as expectation target, other targets are considered as to the clutter of motion, by custom-designed moving target indication MTI canceller, other clutter targets are eliminated, only retain the data of expectation target, then utilize traditional width phase and difference beam single pulse method to carry out angle measurement to expectation target, obtain the off-axis angle of expectation target, add the accurate angle that obtains expectation target after reference angle.
Two, performing step
According to above-mentioned technical thought, performing step of the present invention is as follows:
(1) machine is swept to antenna and be equivalent to the antenna array being formed by N array element, antenna array is divided into two submatrixs in left and right, and each submatrix array number is N/2, Ge Jie No. mono-receiver under the submatrix of left and right, form left and right two-way receiving cable, wherein N is more than or equal to 4 even number;
(2) measurable angle range-90 °～90 ° are divided into a ripple position at interval of 10 °, for any one ripple position, by N/2 array element of left passage, are obtained the synthetic wave beam B of left passage of this ripple position l, the right passage that is obtained this ripple position by N/2 array element of right passage synthesizes wave beam B r, by these two synthetic wave beam B land B robtain the mirror angular curve of this ripple position, preserve the data of the mirror angular curve of all ripples position, angular curve table obtains reflecting;
(3) being located at the target that has M motion in a beam angle of mechanic scan radar, is U by this M target number consecutively 1..., U k..., U m, obtain the Doppler frequency of each target
Figure BDA0000457249560000021
wherein f 0the centre frequency that represents radar emission signal, c represents the light velocity, V krepresent the radial velocity of each target with respect to radar, k=1,2 ..., M;
(4) mechanic scan radar, when antenna scanning is worked, at interval of a pulse of 0.25 ° of transmitting, is launched L pulse altogether in a beam angle; In the time of will launching i pulse, the angle of center of antenna normal and horizontal reference plane is as reference angle
Figure BDA0000457249560000034
i, i=1,2 ..., L;
(5) by N/2 array element of left passage, receive L the pulse that mechanic scan radar is launched when antenna scanning is worked, obtain left passage echo data
Wherein: left passage echo data T 1in comprised all targets echo information,
Figure BDA0000457249560000032
represent that left passage receives the echo data that i pulse obtains, i=1,2 ..., L; A ik=[a (θ k1) ..., a (θ ki) ..., a (θ kL)] represent that left passage receives the angle information of k target,
In formula, a (θ ki)=[1, exp (j2 π 1d/ λ sin θ ki) ..., exp (j2 π (N/2-1) d/ λ sin θ ki)] trepresent the direction vector of k the target that i packet of pulses that left passage receives contain, θ kithe angle that represents to receive during i pulse k target and antenna normal, is called off-axis angle; Exp represents the exponential depth take e the end of as, and j represents imaginary unit, and d represents array element distance, λ representation signal wavelength, [] trepresent the non-conjugated transposition of vector;
S ik=[s k1..., s ki..., s kL] trepresent the complex envelope information of k target of mechanic scan radar antenna reception, s in formula ki=exp (j2 π f k(i-1) t) represent the complex envelope of k the target that i packet of pulses contain, f krepresent the Doppler frequency of k target, the t indicating impulse repetition period;
N 1represent the noise that left passage N/2 array element receives, wherein n 1that average is 0, the rank random Gaussian white noise that variance is 1;
(6) by N/2 array element of right passage, receive L the pulse that mechanic scan radar is launched when antenna scanning is worked, obtain right passage echo data
Figure BDA0000457249560000033
Wherein, right passage echo data T 2in comprised all targets echo information,
Figure BDA0000457249560000041
represent i the echo data that pulse obtains that right passage receives, i=1 in formula, 2 ..., L, G ik=[g (θ k1) ..., g (θ ki) ..., g (θ kL)] represent the angle information of k the target that right passage receives,
In formula, g (θ ki)=[exp (j2 π (N/2+1) d/ λ sin θ ki) ..., exp (j2 π (N-1) d/ λ sin θ ki)] trepresent the direction vector of k the target comprising in i pulse of right passage reception;
N 2represent the noise that right passage N/2 array element receives, wherein n 2that average is 0, the random Gaussian white noise that variance is 1;
(7) data that receive are done to clutter target and offset processing:
7a) by k target U kbe labeled as expectation target, and all the other targets are all seen to the clutter target of taking exercises;
7b) by left passage echo data T 1with right passage echo data T 2in the clutter target data that comprises all disappear, utilize moving target to know showing that the MTI device that disappears offsets clutter target successively, wherein, MTI canceller computing formula is:
W l=X l+1-exp(j2πtf m)X l，l=1,2...,L-p，
In formula, m represents clutter target U mnumbering, m ≠ k, f mrepresent clutter target U mdoppler frequency, X lrepresent to offset clutter target U mfront l column data, W lrepresent to offset clutter target U mafter the l column data that obtains, p represents to offset number of times and 1≤p≤M;
7c) recycling step 7b) described in MTI canceller all clutter targets are eliminated, obtain only comprising expectation target U kleft channel data Y 1only comprise expectation target U kright channel data Y 2;
(8) will only comprise expectation target U kleft channel data Y 1the capable coherent accumulation that carries out of whole N/2, obtain the data Z after the accumulation of left passage 1, will only comprise expectation target U kright channel data Y 2the capable coherent accumulation that carries out of whole N/2, obtain the data Z after the accumulation of right passage 2, wherein Z 1and Z 2be 1 × (L-M) rank matrix;
(9) to the data Z after left passage accumulation 1with the data Z after right passage accumulation 2utilization and difference beam single pulse method are carried out angle measurement, obtain expectation target U kthe target off-axis angle θ of l pulse kl, l=1,2 ... L-M;
(10) by expectation target U kthe target off-axis angle θ of l pulse klreference angle with l pulse
Figure BDA0000457249560000052
l is added, and obtains the take measurement of an angle ψ of l pulse to target kl;
(11) to the L-M being obtained by step (10) the ψ that takes measurement of an angle klbe averaged, obtain expectation target U kaccurate angle Φ k, Φ k = 1 L - M Σ l = 1 L - M ψ kl .
The present invention compared with prior art has following advantage:
The present invention utilizes moving target indication MTI technology, for an expectation target, other target is all considered as to the clutter target of motion, and by MTI canceller, clutter target is eliminated successively, obtain only comprising the echo data of expectation target, thereby eliminated influencing each other between target, multi-target detection is reduced to the measurement of angle to single goal, improved multiobject angular accuracy, with respect to traditional single pulse method the present invention, there is better robustness.
Accompanying drawing explanation
Fig. 1 is realization flow figure of the present invention;
Fig. 2 is the sub-process figure that sets up mirror angular curve table in the present invention;
Fig. 3 be in the present invention left and right passage with difference beam curve map;
Fig. 4 is the mirror angular curve of 0 ° of ripple position;
Fig. 5 is the root-mean-square error correlation curve that adopts the inventive method and traditional width phase single pulse method a target to be carried out angle measurement when there is multiple target.
Embodiment
With reference to Fig. 1, specific embodiment of the invention step is as follows:
Step 1, is equivalent to the antenna of mechanic scan radar the array antenna being comprised of array element.
The uniform line-array that 1a) the antenna equivalence of mechanic scan radar is become to be comprised of N array element, the array element distance d between any two adjacent array elements is all equal, and the half of the wavelength X transmitting for metre wave radar, d=λ/2;
1b) antenna array is divided into two submatrixs in left and right, each submatrix array element number is N/2, and N is more than or equal to 4 even number;
1c) under two submatrixs in left and right, respectively connect a receiver, form left and right two paths.
Step 2, arranges mirror angular curve table.
With reference to Fig. 2, being implemented as follows of this step:
2a) measurable angle range-90 °～90 ° are divided into a ripple position at interval of 10 °;
2b) for any one ripple position, by N/2 the array element on half gust, a left side, obtained the synthetic wave beam B in half gust, a left side of this ripple position l, by N/2 the array element on half gust, the right side, obtained the synthetic wave beam B in half gust, the right side of this ripple position r;
2c) by the synthetic wave beam B in half gust, a left side of any one ripple position lwith the synthetic wave beam B in half gust, the right side r, obtain respectively half gust of left and right and the wave beam B of this ripple position Σwith half gust of left and right difference beam B Δ: B Σ=B l+ B r, B Δ=B l-B r;
2d) according to half gust of left and right difference beam B Δwith half gust of left and right and wave beam B Σ, calculate difference and the ratio of this ripple position:
Figure BDA0000457249560000061
wherein imag () represents to get imaginary-part operation;
2e) take the angular range of this ripple position as horizontal ordinate, take poor and than as ordinate, by difference corresponding to this ripple position measurable angle range with than the mirror angular curve that draws this ripple position;
2f) repeating step 2a) to 2e), obtain the mirror angular curve of all ripples position, as Fig. 4, preserve the data of all mirror angular curves, angular curve table obtains reflecting.
Step 3, is located at the target that has M motion in a beam angle of mechanic scan radar, by this M target number consecutively, is U 1..., U k..., U m, obtain the Doppler frequency of each target
Figure BDA0000457249560000062
wherein f 0the centre frequency that represents radar emission signal, c represents the light velocity, Vk represents the radial velocity of each target with respect to radar, k=1,2 ..., M.
Step 4, when mechanic scan radar is worked in antenna scanning, at interval of a pulse of 0.25 ° of transmitting, launches L pulse altogether in a beam angle; In the time of will launching i pulse, the angle of center of antenna normal and horizontal reference plane is as reference angle
Figure BDA0000457249560000063
i, i=1,2 ..., L.
Step 5, receives by N/2 array element of left passage L the pulse that mechanic scan radar is launched when antenna scanning is worked, and obtains left passage echo data
Figure BDA0000457249560000071
Wherein: left passage echo data T 1in comprised all targets echo information,
Figure BDA0000457249560000072
represent i the echo data that pulse obtains that left passage receives, i=1 in formula, 2 ..., L; A ik=[a (θ k1) ..., a (θ ki) ..., a (θ kL)] represent the angle information of k the target that left passage receives,
In formula, a (θ ki)=[1, exp (j2 π 1d/ λ sin θ ki) ..., exp (j2 π (N/2-1) d/ λ sin θ ki)] trepresent the direction vector of k the target that i packet of pulses that left passage receives contain, θ kithe angle that represents to receive during i pulse k target and antenna normal, is called off-axis angle; Exp represents the exponential depth take e the end of as, and j represents imaginary unit, and d represents array element distance, λ representation signal wavelength, [] trepresent the non-conjugated transposition of vector;
S ik=[s k1..., s ki..., s kL] trepresent the complex envelope information of k target of mechanic scan radar antenna reception, s in formula ki=exp (j2 π f k(i-1) t) represent the complex envelope of k the target that i packet of pulses contain, f krepresent the Doppler frequency of k target, the t indicating impulse repetition period;
N 1represent the noise that left passage N/2 array element receives, wherein n 1that average is 0, the random Gaussian white noise that variance is 1.
Step 6, receives by N/2 array element of right passage L the pulse that mechanic scan radar is launched when antenna scanning is worked, and obtains right passage echo data
Figure BDA0000457249560000073
Wherein, right passage echo data T 2in comprised all targets echo information, represent i the echo data that pulse obtains that right passage receives, i=1 in formula, 2 ..., L, G ik=[g (θ k1) ..., g (θ ki) ..., g (θ kL)] represent the angle information of k the target that right passage receives,
In formula, g (θ ki)=[exp (j2 π (N/2+1) d/ λ sin θ ki) ..., exp (j2 π (N-1) d/ λ sin θ ki)] trepresent the direction vector of k the target comprising in i pulse of right passage reception;
N 2represent the noise that right passage N/2 array element receives, wherein n 2that average is 0, the random Gaussian white noise that variance is 1.
Step 7, carries out clutter target to the data that receive and offsets processing.
7a) by k target U kbe labeled as expectation target, and all the other targets are all seen to the clutter target of taking exercises;
7b) by left passage echo data T 1with right passage echo data T 2in the clutter target data that comprises all disappear, utilize moving target indication MTI canceller that clutter target is offseted successively, wherein, MTI canceller computing formula is:
W l=X l+1-exp(j2πtf m)X l，l=1,2...,L-p，
In formula, m represents clutter target U mnumbering, m ≠ k, f mrepresent clutter target U mdoppler frequency, X lrepresent to offset clutter target U mfront l column data, W lrepresent to offset clutter target U mafter the l column data that obtains, p represents to offset number of times and 1≤p≤M;
7c) repeating step 7b) all clutter targets are offseted, obtain only comprising expectation target U kleft channel data Y 1only comprise expectation target U kright channel data Y 2.
Step 8, the two paths data after clutter target is offseted are carried out Subarray coherent accumulation.
8a) to only comprising expectation target U kleft channel data Y 1capable summation of whole N/2, obtain the data Z after the accumulation of left passage 1, Z 1it is 1 × (L-M) rank matrix;
8b) to only comprising expectation target U kright channel data Y 2capable summation of whole N/2, obtain the data Z after the accumulation of right passage 2, Z 2it is 1 × (L-M) rank matrix.
Step 9, carries out and the angle measurement of difference beam monopulse the data after coherent accumulation.
9a) by the data Z after left passage accumulation 1with the data Z after right passage accumulation 2, obtain only comprising expectation target U kand wave beam: P Σ=Z 1+ Z 2;
9b) by the data Z after left passage accumulation 1with the data Z after right passage accumulation 2, obtain only comprising expectation target U kdifference beam: P Δ=Z 1-Z 2;
9c) utilize step 9a) obtain with wave beam P Σwith step 9b) the difference beam P that obtains Δ, calculate poor and ratio: by differing from and obtaining looking into mirror angular curve table than the value of P by query steps 2, obtain expectation target U kthe target off-axis angle θ of l pulse kl, l=1,2 ... L-M, wherein imag () represents to get imaginary-part operation.
Step 10, according to expectation target U kthe target off-axis angle θ of l pulse klreference angle with l pulse
Figure BDA0000457249560000093
l, obtains l pulse to expectation target U ktake measurement of an angle
Figure BDA0000457249560000094
l=1,2 ... L-M.
Step 11, to the L-M being obtained by step 10 ψ that takes measurement of an angle klbe averaged, obtain expectation target U kaccurate angle Φ k:
Φ k = 1 L - M Σ l = 1 L - M ψ kl .
Effect of the present invention can be verified by following Computer Simulation:
One, simulated conditions
Simulated conditions: suppose that antenna is equivalent to the antenna array of 8 array element compositions, be divided into two submatrixs, 4 array elements of each submatrix, the beam angle of antenna is about 12 °, antenna is rotated scanning with the speed of 1.25rad/s, and radar is every a pulse signal of 3.5ms transmitting, and the centre frequency of radar emission signal is 300MHz,, antenna is 49 pulse signals of each reception in a beam angle;
Suppose to have two targets, and the true angle of first aim is 20 °, the true angle of second target is 29.5 °, and the radial velocity of the relative radar of first aim is 100m/s, and Doppler frequency is 200Hz; The radial velocity of the relative radar of second target is 300m/s, and Doppler frequency is 600Hz, and get-10dB of the signal to noise ratio (S/N ratio) of single array element is to 20dB.
Two, emulation content
Emulation 1, according to Fig. 2 flow process, utilize that simulated conditions produces respectively traditional monopulse angle-measuring method with difference beam curve and mirror angular curve, respectively as shown in Figure 3 and Figure 4, wherein Fig. 3 horizontal ordinate is angle, ordinate is amplitude; Fig. 4 horizontal ordinate is angle, and ordinate is poor and ratio.
As seen from Figure 3, when antenna centre normal aims at the mark, echoed signal with wave beam at amplitude maximum position, difference beam is at amplitude minimum position.If antenna does not aim at the mark, there will not be this situation.
As seen from Figure 4, when antenna centre normal aims at the mark, and the difference of difference beam and than being 0, situation shown in this and Fig. 3 matches, and contrast Fig. 3 can find, when center of antenna normal aims at the mark, the difference beam amplitude of echo is 0, and it is poor and than must be 0; Similarly, if when center of antenna normal does not aim at the mark, poor and than having deviation, in addition, the mirror angular curve shown in Fig. 4 can be used as the foundation of tabling look-up of the inventive method.
Emulation 2, utilizes above-mentioned condition in the situation that multiple goal exists, to carry out angle measurement, obtains the root-mean-square error curve that two kinds of methods change with signal to noise ratio (S/N ratio), as shown in Figure 5, in Fig. 5, be the root-mean-square error curve to first aim angle measurement, in Fig. 5, horizontal ordinate is signal to noise ratio (S/N ratio), and ordinate is root-mean-square error.
As seen from Figure 5, the inventive method is higher than traditional monopulse arithmetic accuracy, and particularly, in the situation that signal to noise ratio (S/N ratio) is low, effect is very obvious.When mechanic scan radar exists multiple target, traditional single pulse method is subject to the impact of other target larger.Because noise in high s/n ratio diminishes on the impact of first aim, but still there is impact to first aim in second target, so the echo data root-mean-square error curve of traditional monopulse can level off to straight, the method that the present invention proposes is in the situation that multiple targets exist, by MTI canceller, obtain the echo data of expectation target, again expectation target is carried out to angle measurement, can eliminate influencing each other of existing between multiple goal, improve monopulse angle measurement accuracy, and no matter there are how many targets, can differentiate and angle measurement target, there is good robustness.

Claims (4)

1. machine is swept the angle-measuring method of metre wave radar in multiple goal situation, comprises the steps:
(1) machine is swept to antenna and be equivalent to the antenna array being formed by N array element, antenna array is divided into two submatrixs in left and right, and each submatrix array number is N/2, Ge Jie No. mono-receiver under the submatrix of left and right, form left and right two-way receiving cable, wherein N is more than or equal to 4 even number;
(2) measurable angle range-90 °～90 ° are divided into a ripple position at interval of 10 °, for any one ripple position, by N/2 array element of left passage, are obtained the synthetic wave beam B of left passage of this ripple position l, the right passage that is obtained this ripple position by N/2 array element of right passage synthesizes wave beam B r, by these two synthetic wave beam B land B robtain the mirror angular curve of this ripple position, preserve the data of the mirror angular curve of all ripples position, angular curve table obtains reflecting;
(3) being located at the target that has M motion in a beam angle of mechanic scan radar, is U by this M target number consecutively 1..., U k..., U m, obtain the Doppler frequency of each target
Figure FDA0000457249550000011
wherein f 0the centre frequency that represents radar emission signal, c represents the light velocity, V krepresent the radial velocity of each target with respect to radar, k=1,2 ..., M;
(4) mechanic scan radar, when antenna scanning is worked, at interval of a pulse of 0.25 ° of transmitting, is launched L pulse altogether in a beam angle; In the time of will launching i pulse, the angle of center of antenna normal and horizontal reference plane is as reference angle
Figure FDA0000457249550000012
i=1,2 ..., L;
(5) by N/2 array element of left passage, receive L the pulse that mechanic scan radar is launched when antenna scanning is worked, obtain left passage echo data
Wherein: left passage echo data T 1in comprised all targets echo information,
Figure FDA0000457249550000014
represent that left passage receives the echo data that i pulse obtains, i=1,2 ..., L; A ik=[a (θ k1) ..., a (θ ki) ..., a (θ kL)] represent that left passage receives the angle information of k target,
In formula, a (θ ki)=[1, exp (j2 π 1d/ λ sin θ ki) ..., exp (j2 π (N/2-1) d/ λ sin θ ki)] trepresent the direction vector of k the target that i packet of pulses that left passage receives contain, θ kithe angle that represents to receive during i pulse k target and antenna normal, is called off-axis angle; Exp represents the exponential depth take e the end of as, and j represents imaginary unit, and d represents array element distance, λ representation signal wavelength, [] trepresent the non-conjugated transposition of vector;
S ik=[s k1..., s ki..., s kL] trepresent the complex envelope information of k target of mechanic scan radar antenna reception, s in formula ki=exp (j2 π f k(i-1) t) represent the complex envelope of k the target that i packet of pulses contain, f krepresent the Doppler frequency of k target, the t indicating impulse repetition period;
N 1represent the noise that left passage N/2 array element receives, wherein n 1that average is 0, the rank random Gaussian white noise that variance is 1;
(6) by N/2 array element of right passage, receive L the pulse that mechanic scan radar is launched when antenna scanning is worked, obtain right passage echo data
Wherein, right passage echo data T 2in comprised all targets echo information,
Figure FDA0000457249550000022
represent i the echo data that pulse obtains that right passage receives, i=1 in formula, 2 ..., L, G ik=[g (θ k1) ..., g (θ ki) ..., g (θ kL)] represent the angle information of k the target that right passage receives,
In formula, g (θ ki)=[exp (j2 π (N/2+1) d/ λ sin θ ki) ..., exp (j2 π (N-1) d/ λ sin θ ki)] trepresent the direction vector of k the target comprising in i pulse of right passage reception;
N 2represent the noise that right passage N/2 array element receives, wherein n 2that average is 0, the random Gaussian white noise that variance is 1;
(7) data that receive are done to clutter target and offset processing:
7a) by k target U kbe labeled as expectation target, and all the other targets are all seen to the clutter target of taking exercises;
7b) by left passage echo data T 1with right passage echo data T 2in the clutter target data that comprises all disappear, utilize moving target to know showing that the MTI device that disappears offsets clutter target successively, wherein, MTI canceller computing formula is:
W l=X l+1-exp(j2πtf m)X l，l=1,2...,L-p，
In formula, m represents clutter target U mnumbering, m ≠ k, f mrepresent clutter target U mdoppler frequency, X lrepresent to offset clutter target U mfront l column data, W lrepresent to offset clutter target U mafter the l column data that obtains, p represents to offset number of times and 1≤p≤M;
7c) recycling step 7b) described in MTI canceller all clutter targets are eliminated, obtain only comprising expectation target U kleft channel data Y 1only comprise expectation target U kright channel data Y 2;
(8) will only comprise expectation target U kleft channel data Y 1the capable coherent accumulation that carries out of whole N/2, obtain the data Z after the accumulation of left passage 1, will only comprise expectation target U kright channel data Y 2the capable coherent accumulation that carries out of whole N/2, obtain the data Z after the accumulation of right passage 2, wherein Z 1and Z 2be 1 × (L-M) rank matrix;
(9) to the data Z after left passage accumulation 1with the data Z after right passage accumulation 2utilization and difference beam single pulse method are carried out angle measurement, obtain expectation target U kthe target off-axis angle θ of l pulse kl, l=1,2 ... L-M;
(10) by expectation target U kthe target off-axis angle θ of l pulse klreference angle with l pulse
Figure FDA0000457249550000031
be added, obtain the take measurement of an angle ψ of l pulse to target kl;
(11) to the L-M being obtained by step (10) the ψ that takes measurement of an angle klbe averaged, obtain expectation target U kaccurate angle Φ k, Φ k = 1 L - M Σ l = 1 L - M ψ kl .
2. machine according to claim 1 is swept the angle-measuring method of metre wave radar in multiple goal situation, it is characterized in that, the described antenna that machine is swept of step (1) is equivalent to the antenna array being comprised of N array element, it is the uniform line-array that first the antenna equivalence of mechanic scan radar is become to be comprised of N array element, be that array element distance d between any two adjacent array elements all equates, and the half of the wavelength X transmitting for metre wave radar, d=λ/2; Uniform line-array is divided into two and half gusts of left and right, left half gust is N/2 with the array number on half gust, the right side again, respectively connects a receiver under each half gust, forms left and right two-way receiving cable, and wherein N is total array number, the even number that value is N >=4.
3. machine according to claim 1 is swept the angle-measuring method of metre wave radar in multiple goal situation, it is characterized in that, in described step (2) by the synthetic wave beam B in half gust, a left side of any one ripple position after dividing lwith the synthetic wave beam B in half gust, the right side r, obtain the mirror angular curve of this ripple position, carry out as follows:
2a) by the synthetic wave beam B in half gust, a left side of any one ripple position lwith the synthetic wave beam B in half gust, the right side r, obtain respectively half gust of left and right and the wave beam B of this ripple position Σwith half gust of left and right difference beam B Δ: B Σ=B l+ B r, B Δ=B l-B r;
2b) according to half gust of left and right difference beam B Δwith half gust of left and right and wave beam B Σ, calculate difference and the ratio of this ripple position:
Figure FDA0000457249550000041
wherein imag () represents to get imaginary-part operation;
2c) take the angular range of this ripple position as horizontal ordinate, take poor and than as ordinate, by difference corresponding to this ripple position measurable angle range with than the mirror angular curve that draws this ripple position.
4. machine according to claim 1 is swept the angle-measuring method of metre wave radar in multiple goal situation, it is characterized in that, described in step (9) to the data Z after the accumulation of left passage 1with the data Z after right passage accumulation 2utilization and difference beam single pulse method are carried out angle measurement, carry out as follows:
9a) by the data Z after left passage accumulation 1with the data Z after right passage accumulation 2obtain only comprising expectation target U kand wave beam: P Σ=Z 1+ Z 2;
9b) by the data Z after left passage accumulation 1with the data Z after right passage accumulation 2obtain only comprising expectation target U kdifference beam: P Δ=Z 1-Z 2;
9c) by only comprising expectation target U kwith wave beam P Σwith only comprise expectation target U kdifference beam P Δ, differed from and compared: by differ from and than the value of P by looking into mirror angular curve table, obtain the target off-axis angle θ of l pulse of expectation target k kl, wherein imag () represents to get imaginary-part operation, l=1, and 2 ... L-M.
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