CN103744077B - The angle-measuring method of metre wave radar under multi-target condition swept by machine - Google Patents
The angle-measuring method of metre wave radar under multi-target condition swept by machine Download PDFInfo
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- CN103744077B CN103744077B CN201410018152.4A CN201410018152A CN103744077B CN 103744077 B CN103744077 B CN 103744077B CN 201410018152 A CN201410018152 A CN 201410018152A CN 103744077 B CN103744077 B CN 103744077B
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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
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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
- 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 a kind of machine and sweep the angle-measuring method of metre wave radar under multi-target condition, the machine that mainly solves sweeps metre wave radar under multiple goal by the problem that traditional single pulse method angle measurement accuracy is low.Implementation step is: 1) antenna is divided into two submatrixs, connects a receiver and form left and right two paths under each submatrix; 2) pulse signal launched by left and right two-way receiving cable difference receiving radar; 3) clutter target is carried out to the echo signal data received and offset process; 4) by the two paths of data coherent accumulation after clutter cancellation; 5) obtained and wave beam and difference beam by the two paths of data after accumulating; 6) utilize traditional single pulse method to measure the off-axis angle of expectation target, and off-axis angle is added with reference angle, obtain the precise angle of expectation target; 7) step 3)-6 is repeated) obtain the precise angle of all targets successively.It is high that the present invention has angle measurement accuracy, and robustness is good, can differentiate the advantage of multiple target, can be used for machine and sweep metre wave radar multi-target detection.
Description
Technical field
The invention belongs to Radar Technology field, particularly Metrewave radar angle measurement under multi-target condition, can be used for mechanical scanning radar when multiple target exists simultaneously, eliminate influencing each other between each target, improve the Monopulse estimation precision to multiple target.
Background technology
Metre wave radar due to signal attenuation little, detection range is far away, has unique advantage in over-the-horizon detection, Anti-amyloid-β antibody etc., but simultaneously because the wavelength of metre wave radar is longer, wave beam is wider, and make its angle-resolved rate variance, angle measurement accuracy is low.Mechanical scanning radar is low due to cost, 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 sweeps metre wave radar for machine.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, Monopulse estimation technology can be adopted.
Zhang Guangyi academician gives Monopulse estimation method in " phased-array radar principle [M], Beijing: National Defense Industry Press, 1994 " book.Monopulse estimation method refers to the class angle-measuring method utilizing the echoed signal of individual pulse just can measure target actual position.Sweep in metre wave radar at machine and utilize the accurate location obtaining target that width phase He er bu tong single pulse method can be very fast.Width phase He er bu tong single pulse method refers to that each pulse echo that radar is received is after treatment, obtain each pulse with wave beam and difference beam, by calculating difference and ratio, the off-axis angle of 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 recorded all pulses is averaged.
Because width phase He er bu tong single pulse method realizes conveniently, calculated amount is little, and angle measurement accuracy is high, and tool has great advantage in actual applications.But it is wider to sweep metre wave radar wave beam by machine, the impact of the shortcomings such as central beam misalignment target, although width phase He er bu tong Monopulse estimation method precision is higher than maximum-signal method, but there is multiobject situation in same beam angle or same range unit under, influence each other owing to existing between multiple goal, thus the angle measurement accuracy of traditional width phase Monopulse estimation method is reduced, especially when two targets are nearer apart, traditional single pulse angle-measuring method cannot resolution target, do not reach the object to the accurate 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 He er bu tong Monopulse estimation method, propose a kind of machine and sweep the angle-measuring method of metre wave radar under multi-target condition, to eliminate influencing each other between multiple target, improve the Monopulse estimation precision under multi-target condition.
The present invention is achieved in that for achieving the above object
One, technical thought
The antenna surface that antenna equivalence becomes to be made up of two submatrixs swept by machine by the present invention, according to the Doppler frequency of each target that priori obtains, using one of them target as expectation target, other targets are considered as the clutter moved, by custom-designed moving target indication MTI canceller, other clutter targets are eliminated, only retain the data of expectation target, then traditional width phase He er bu tong single pulse method is utilized to carry out angle measurement to expectation target, obtain the off-axis angle of expectation target, after adding reference angle, obtain the precise angle of expectation target.
Two, performing step
According to above-mentioned technical thought, performing step of the present invention is as follows:
(1) machine is swept antenna and be equivalent to the antenna array be made up of N number of array element, antenna array is divided into two submatrixs in left and right, 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 be 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, the left passage being obtained this ripple position by N/2 array element of left passage synthesizes wave beam B
l, the right passage being obtained this ripple position by N/2 array element of right passage synthesizes wave beam B
r, by these two synthesis wave beam B
land B
robtain the mirror angular curve of this ripple position, preserve the data of the mirror angular curve of all ripple positions, obtain mirror angular curve table;
(3) there is the target of M motion in the beam angle being located at mechanic scan radar, is U by this M target number consecutively
1..., U
k..., U
m, obtain the Doppler frequency of each target
wherein f
0represent the centre frequency of radar emission signal, c represents the light velocity, V
krepresent the radial velocity of each target relative to radar, k=1,2 ..., M;
(4) mechanic scan radar is when antenna scanning works, and launches a pulse, launch L pulse in a beam angle altogether at interval of 0.25 °; During by transmitting i-th pulse, the angle of center of antenna normal and horizontal reference plane is as reference angle
i, i=1,2 ..., L;
(5) L the pulse of being launched when antenna scanning works by N/2 array element reception mechanic scan radar of left passage, obtains left passage echo data
Wherein: left passage echo data T
1in contain the echo information of all targets,
represent the echo data that i-th pulse of left channel reception obtains, i=1,2 ..., L; A
ik=[a (θ
k1) ..., a (θ
ki) ..., a (θ
kL)] represent the angle information of a left channel reception kth 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 the kth target that i-th packet of pulses of left channel reception contains, θ
kiduring expression reception i-th pulse, the angle of a kth target and antenna normal, is called off-axis angle; Exp represents with e to be the exponential depth at the end, 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 that mechanic scan radar antenna receives the complex envelope information of a kth target, s in formula
ki=exp (j2 π f
k(i-1) complex envelope of the kth target that i-th packet of pulses contains t) is represented, f
krepresent the Doppler frequency of a kth target, the t indicating impulse repetition period;
N
1represent the noise that left passage N/2 array element receives, wherein n
1be average be 0, variance is the rank random Gaussian white noise of 1;
(6) L the pulse of being launched when antenna scanning works by N/2 array element reception mechanic scan radar of right passage, obtains right passage echo data
Wherein, right passage echo data T
2in contain the echo information of all targets,
represent the echo data that i-th pulse of right channel reception obtains, i=1 in formula, 2 ..., L, G
ik=[g (θ
k1) ..., g (θ
ki) ..., g (θ
kL)] represent the angle information of a kth target of right channel reception,
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 the kth target comprised in i-th pulse of right channel reception;
N
2represent the noise that right passage N/2 array element receives, wherein n
2be average be 0, variance is the random Gaussian white noise of 1;
(7) clutter target is done to the data received and offsets process:
7a) by a kth target U
kbe labeled as expectation target, and all the other targets all seen 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, namely utilize moving target to know and clutter target offseted successively the display MTI device that disappears, 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 and offset clutter target U
mfront l column data, W
lrepresent and offset clutter target U
mafter the l column data that obtains, p represents and offsets number of times and 1≤p≤M;
7c) reuse step 7b) described in MTI canceller all clutter targets are eliminated, only comprised expectation target U
kleft channel data Y
1only comprise expectation target U
kright channel data Y
2;
(8) expectation target U will only be comprised
kleft channel data Y
1whole N/2 capablely carry out coherent accumulation, obtain the data Z after the accumulation of left passage
1, will only comprise expectation target U
kright channel data Y
2whole N/2 capablely carry out coherent accumulation, 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
2utilize He er bu tong single pulse method to carry 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
klwith the reference angle of l pulse
l is added, and obtains the take measurement of an angle ψ of l pulse to target
kl;
(11) to the L-M obtained by step (10) the ψ that takes measurement of an angle
klbe averaged, obtain expectation target U
kprecise angle Φ
k,
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 the clutter target of moving, and by MTI canceller, clutter target is eliminated successively, only comprised the echo data of expectation target, thus eliminated influencing each other between target, multi-target detection is reduced to the measurement of angle to single goal, improve multiobject angular accuracy, relative to traditional single pulse method, the present invention has better robustness.
Accompanying drawing explanation
Fig. 1 is realization flow figure of the present invention;
Fig. 2 is the sub-process figure setting up mirror angular curve table in the present invention;
Fig. 3 is the He er bu tong curve map of left and right passage in the present invention;
Fig. 4 is the mirror angular curve of 0 ° of ripple position;
Fig. 5 is the root-mean-square error correlation curve adopting the inventive method and traditional width phase single pulse method when there is multiple target, a target to be carried out to angle measurement.
Embodiment
With reference to Fig. 1, specific embodiment of the invention step is as follows:
Step 1, is equivalent to the array antenna be made up of array element by the antenna of mechanic scan radar.
1a) equivalence of the antenna of mechanic scan radar is become the uniform line-array that is made up of N number of array element, the array element distance d namely between any two adjacent array elements is all equal, and the half of the wavelength X transmitted for metre wave radar, d=λ/2;
1b) antenna array is divided into left and right two submatrixs, each submatrix array element number is N/2, and N be more than or equal to 4 even number;
1c) respectively connect a receiver under two submatrixs in left and right, 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, wave beam B is synthesized on half gust, the left side being obtained this ripple position by N/2 the array element on half gust, a left side
l, wave beam B is synthesized on half gust, the right side being obtained this ripple position by N/2 the array element on half gust, the right side
r;
2c) synthesize wave beam B by half gust, a left side for any one ripple position
lwith half gust, right side synthesis wave beam B
r, obtain half gust, left and right and the wave beam B of this ripple position respectively
Σwith half gust, left and right difference beam B
Δ: B
Σ=B
l+ B
r, B
Δ=B
l-B
r;
2d) according to half gust, left and right difference beam B
Δwith half gust, left and right and wave beam B
Σ, calculate difference and the ratio of this ripple position:
wherein imaginary-part operation is got in imag () expression;
2e) with the angular range of this ripple position for horizontal ordinate, with difference with than for ordinate, the difference corresponding by this ripple position measurable angle range and than the mirror angular curve drawing this ripple position;
2f) repeat step 2a) to 2e), obtain the mirror angular curve of all ripple positions, as Fig. 4, preserve the data of all mirror angular curves, obtain mirror angular curve table.
Step 3, there is the target of M motion in the beam angle being located at mechanic scan radar, is U by this M target number consecutively
1..., U
k..., U
m, obtain the Doppler frequency of each target
wherein f
0represent the centre frequency of radar emission signal, c represents the light velocity, and Vk represents the radial velocity of each target relative to radar, k=1, and 2 ..., M.
Step 4, mechanic scan radar, when antenna scanning works, is launched a pulse at interval of 0.25 °, is launched L pulse in a beam angle altogether; During by transmitting i-th pulse, the angle of center of antenna normal and horizontal reference plane is as reference angle
i, i=1,2 ..., L.
Step 5, L the pulse of being launched when antenna scanning works by N/2 array element reception mechanic scan radar of left passage, obtains left passage echo data
Wherein: left passage echo data T
1in contain the echo information of all targets,
represent the echo data that i-th pulse of left channel reception obtains, i=1 in formula, 2 ..., L; A
ik=[a (θ
k1) ..., a (θ
ki) ..., a (θ
kL)] represent the angle information of a kth target of left channel reception,
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 the kth target that i-th packet of pulses of left channel reception contains, θ
kiduring expression reception i-th pulse, the angle of a kth target and antenna normal, is called off-axis angle; Exp represents with e to be the exponential depth at the end, 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 that mechanic scan radar antenna receives the complex envelope information of a kth target, s in formula
ki=exp (j2 π f
k(i-1) complex envelope of the kth target that i-th packet of pulses contains t) is represented, f
krepresent the Doppler frequency of a kth target, the t indicating impulse repetition period;
N
1represent the noise that left passage N/2 array element receives, wherein n
1be average be 0, variance is the random Gaussian white noise of 1.
Step 6, L the pulse of being launched when antenna scanning works by N/2 array element reception mechanic scan radar of right passage, obtains right passage echo data
Wherein, right passage echo data T
2in contain the echo information of all targets,
represent the echo data that i-th pulse of right channel reception obtains, i=1 in formula, 2 ..., L, G
ik=[g (θ
k1) ..., g (θ
ki) ..., g (θ
kL)] represent the angle information of a kth target of right channel reception,
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 the kth target comprised in i-th pulse of right channel reception;
N
2represent the noise that right passage N/2 array element receives, wherein n
2be average be 0, variance is the random Gaussian white noise of 1.
Step 7, carries out clutter target to the data received and offsets process.
7a) by a kth target U
kbe labeled as expectation target, and all the other targets all seen 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, namely utilize moving target indication MTI canceller clutter target to be 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 and offset clutter target U
mfront l column data, W
lrepresent and offset clutter target U
mafter the l column data that obtains, p represents and offsets number of times and 1≤p≤M;
7c) repeat step 7b) all clutter targets are offseted, only comprised expectation target U
kleft channel data Y
1only comprise expectation target U
kright channel data Y
2.
Step 8, carries out Subarray coherent accumulation to the two paths data after clutter target offsets.
8a) to only comprising expectation target U
kleft channel data Y
1whole N/2 capablely to sue for peace, 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
2whole N/2 capablely to sue for peace, obtain the data Z after the accumulation of right passage
2, Z
2it is 1 × (L-M) rank matrix.
Step 9, carries out He er bu tong Monopulse estimation to the data after coherent accumulation.
Data Z after 9a) being accumulated by left passage
1with the data Z after right passage accumulation
2, only comprised expectation target U
kand wave beam: P
Σ=Z
1+ Z
2;
Data Z after 9b) being accumulated by left passage
1with the data Z after right passage accumulation
2, only comprised 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 difference and ratio:
by differing from and obtaining looking into mirror angular curve table by query steps 2 than the value of P, obtain expectation target U
kthe target off-axis angle θ of l pulse
kl, l=1,2 ... L-M, wherein imaginary-part operation is got in imag () expression.
Step 10, according to expectation target U
kthe target off-axis angle θ of l pulse
klwith the reference angle of l pulse
l, obtains l pulse to expectation target U
ktake measurement of an angle
l=1,2 ... L-M.
Step 11, to the L-M obtained by step 10 ψ that takes measurement of an angle
klbe averaged, obtain expectation target U
kaccurate angle Φ
k:
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, each submatrix 4 array elements, the beam angle of antenna is about 12 °, antenna carries out rotation sweep with the speed of 1.25rad/s, and radar launches a pulse signal every 3.5ms, and the centre frequency of radar emission signal is 300MHz,, antenna is each in a beam angle receives 49 pulse signals;
Suppose existence two targets, and the real angle of first aim is 20 °, the real 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 the signal to noise ratio (S/N ratio) of single array element gets-10dB to 20dB.
Two, emulation content
Emulation 1, according to Fig. 2 flow process, utilize simulated conditions to produce He er bu tong curve and the mirror angular curve of traditional single pulse angle-measuring method respectively, respectively as shown in Figure 3 and Figure 4, wherein Fig. 3 horizontal ordinate is angle, and ordinate is amplitude; Fig. 4 horizontal ordinate is angle, and ordinate is difference 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, the difference of He er bu tong and than being 0, this and the situation shown in Fig. 3 match, and contrast Fig. 3 can find, when heart normal aims at the mark in antennas, the difference beam amplitude of echo is 0, then its difference and than must be 0; Similarly, if when center of antenna normal does not aim at the mark, then poor and than having deviation, in addition, the mirror angular curve shown in Fig. 4 can as the foundation of tabling look-up of the inventive method.
Emulation 2, utilizes above-mentioned condition to deposit in multiple goal and carries out angle measurement in case, obtain 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, be the root-mean-square error curve to first aim angle measurement in Fig. 5, 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 when signal to noise ratio (S/N ratio) is low, effect clearly.When mechanic scan radar exists multiple target, traditional single pulse method is larger by the impact of other target.Because when high s/n ratio, the impact of noise on first aim diminishes, but still there is impact to first aim in second target, so the echo data root-mean-square error curve of traditional single pulse can level off to straight, the method that the present invention proposes is deposited in case in multiple target, the echo data of expectation target is obtained by MTI canceller, again angle measurement is carried out to expectation target, influencing each other of existing between multiple goal can be eliminated, improve Monopulse estimation precision, and no matter there are how many targets, can differentiate and angle measurement target, there is good robustness.
Claims (4)
1. the angle-measuring method of metre wave radar under multi-target condition swept by machine, comprises the steps:
(1) machine is swept antenna and be equivalent to the antenna array be made up of N number of array element, antenna array is divided into two submatrixs in left and right, 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 be 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, the left passage being obtained this ripple position by N/2 array element of left passage synthesizes wave beam B
l, the right passage being obtained this ripple position by N/2 array element of right passage synthesizes wave beam B
r, by these two synthesis wave beam B
land B
robtain the mirror angular curve of this ripple position, preserve the data of the mirror angular curve of all ripple positions, obtain mirror angular curve table;
(3) there is the target of M motion in the beam angle being located at mechanic scan radar, is U by this M target number consecutively
1..., U
k..., U
m, obtain the Doppler frequency of each target
wherein f
0represent the centre frequency of radar emission signal, c represents the light velocity, V
krepresent the radial velocity of each target relative to radar, k=1,2 ..., M;
(4) mechanic scan radar is when antenna scanning works, and launches a pulse, launch L pulse in a beam angle altogether at interval of 0.25 °; During by transmitting i-th pulse, the angle of center of antenna normal and horizontal reference plane is as reference angle
i=1,2 ..., L;
(5) L the pulse of being launched when antenna scanning works by N/2 array element reception mechanic scan radar of left passage, obtains left passage echo data
Wherein: left passage echo data T
1in contain the echo information of all targets,
represent the echo data that i-th pulse of left channel reception obtains, i=1,2 ..., L; A
ik=[a (θ
k1) ..., a (θ
ki) ..., a (θ
kL)] represent the angle information of a left channel reception kth 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 the kth target that i-th packet of pulses of left channel reception contains, θ
kiduring expression reception i-th pulse, the angle of a kth target and antenna normal, is called off-axis angle; Exp represents with e to be the exponential depth at the end, 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 that mechanic scan radar antenna receives the complex envelope information of a kth target, s in formula
ki=exp (j2 π f
k(i-1) complex envelope of the kth target that i-th packet of pulses contains t) is represented, f
krepresent the Doppler frequency of a kth target, the t indicating impulse repetition period;
N
1represent the noise that left passage N/2 array element receives, wherein n
1be average be 0, variance is the random Gaussian white noise of 1;
(6) L the pulse of being launched when antenna scanning works by N/2 array element reception mechanic scan radar of right passage, obtains right passage echo data
Wherein, right passage echo data T
2in contain the echo information of all targets,
represent the echo data that i-th pulse of right channel reception obtains, i=1 in formula, 2 ..., L, G
ik=[g (θ
k1) ..., g (θ
ki) ..., g (θ
kL)] represent the angle information of a kth target of right channel reception,
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 the kth target comprised in i-th pulse of right channel reception;
N
2represent the noise that right passage N/2 array element receives, wherein n
2be average be 0, variance is the random Gaussian white noise of 1;
(7) clutter target is done to the data received and offsets process:
7a) by a kth target U
kbe labeled as expectation target, and all the other targets all seen 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, namely utilize moving target indication MTI canceller clutter target to be 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 and offset clutter target U
mfront l column data, W
lrepresent and offset clutter target U
mafter the l column data that obtains, p represents and offsets number of times and 1≤p≤M;
7c) reuse step 7b) described in MTI canceller all clutter targets are eliminated, only comprised expectation target U
kleft channel data Y
1only comprise expectation target U
kright channel data Y
2;
(8) expectation target U will only be comprised
kleft channel data Y
1whole N/2 capablely carry out coherent accumulation, obtain the data Z after the accumulation of left passage
1, will only comprise expectation target U
kright channel data Y
2whole N/2 capablely carry out coherent accumulation, 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
2utilize He er bu tong single pulse method to carry 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
klwith the reference angle of l pulse
be added, obtain the take measurement of an angle ψ of l pulse to target
kl;
(11) to the L-M obtained by step (10) the ψ that takes measurement of an angle
klbe averaged, obtain expectation target U
kprecise angle Φ
k,
2. the angle-measuring method of metre wave radar under multi-target condition swept by machine according to claim 1, it is characterized in that, antenna of being swept by machine described in step (1) is equivalent to the antenna array be made up of N number of array element, first by equivalent for the antenna of the mechanic scan radar uniform line-array becoming to be made up of N number of array element, namely the array element distance d between any two adjacent array elements is all equal, and the half of the wavelength X transmitted for metre wave radar, d=λ/2; Uniform line-array is divided into two and half gusts, left and right, left half gust is N/2 with the array number on half gust, the right side, and respectively connect a receiver under each half gust, form left and right two-way receiving cable, wherein N is total array number, and value is the even number of N >=4 again.
3. the angle-measuring method of metre wave radar under multi-target condition swept by machine according to claim 1, it is characterized in that, synthesizes wave beam B in described step (2) by half gust, a left side for any one the ripple position after dividing
lwith half gust, right side synthesis wave beam B
r, obtain the mirror angular curve of this ripple position, carry out as follows:
2a) synthesize wave beam B by half gust, a left side for any one ripple position
lwith half gust, right side synthesis wave beam B
r, obtain half gust, left and right and the wave beam B of this ripple position respectively
Σwith half gust, left and right difference beam B
Δ: B
Σ=B
l+ B
r, B
Δ=B
l-B
r;
2b) according to half gust, left and right difference beam B
Δwith half gust, left and right and wave beam B
Σ, calculate difference and the ratio of this ripple position:
wherein imaginary-part operation is got in imag () expression;
2c) with the angular range of this ripple position for horizontal ordinate, with difference with than for ordinate, the difference corresponding by this ripple position measurable angle range and than the mirror angular curve drawing this ripple position.
4. the angle-measuring method of metre wave radar under multi-target condition swept by machine according to claim 1, 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
2utilize He er bu tong single pulse method to carry out angle measurement, carry out as follows:
Data Z after 9a) being accumulated by left passage
1with the data Z after right passage accumulation
2only comprised expectation target U
kand wave beam: P
Σ=Z
1+ Z
2;
Data Z after 9b) being accumulated by left passage
1with the data Z after right passage accumulation
2only comprised 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, obtain difference and ratio:
by differ from and than the value of P by looking into mirror angular curve table, obtain the target off-axis angle θ of expectation target k l pulse
kl, wherein imag () expression gets imaginary-part operation, l=1,2 ... L-M.
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| CN104155647B (en) * | 2014-08-22 | 2016-08-24 | 西安电子科技大学 | The method sweeping the estimation azimuth of target of meter wave array radar based on machine |
| CN104237844B (en) * | 2014-09-15 | 2017-01-18 | 西安电子科技大学 | Distributed meter wave planar array radar azimuth angle measuring method based on phase compensation |
| CN105974390B (en) * | 2016-06-30 | 2018-06-05 | 西安电子科技大学 | Ji Sao metre wave radars mass centre angle-measuring method based on doppler information |
| CN106125058B (en) * | 2016-06-30 | 2019-01-11 | 西安电子科技大学 | The improvement mass centre angle-measuring method of metre wave radar is swept based on machine |
| CN106646346B (en) * | 2016-09-12 | 2019-02-19 | 西安电子科技大学 | To the measurement of elevation method of the high elevation angle target when metre wave radar has a multipath reflection |
| CN109061594B (en) * | 2018-08-03 | 2022-10-28 | 中国航空工业集团公司雷华电子技术研究所 | Angle measuring method based on subarray space-time adaptive processing in strong clutter environment |
| CN109633577A (en) * | 2018-11-30 | 2019-04-16 | 上海无线电设备研究所 | A kind of test method and device of missile-borne phased-array radar two dimension S curve |
| CN113777415A (en) * | 2021-08-24 | 2021-12-10 | 中电科思仪科技股份有限公司 | Method for quickly aligning electric axis in antenna housing test based on phase sum-difference method |
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