CN106443659B - A kind of low-altitude low-velocity small targets detection radar device and its detection method - Google Patents
A kind of low-altitude low-velocity small targets detection radar device and its detection method Download PDFInfo
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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
- G01S13/06—Systems determining position data of a target
- G01S13/42—Simultaneous measurement of distance and other co-ordinates
- G01S13/426—Scanning radar, e.g. 3D radar
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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
- 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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/933—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
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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
- G01S2013/0236—Special technical features
- G01S2013/0245—Radar with phased array antenna
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- Aviation & Aerospace Engineering (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses a kind of low-altitude low-velocity small targets detection radar device and its detection methods.Described device includes cylindrical surface Phased Array Radar Antenna, integrated controller, transmitted waveform generation unit, several emitting modules, several amplitude-phase weighted units, digital signal processing unit.The integrated controller, signal generation unit, transmitted waveform generate unit and are sequentially connected with, and each emitting module connection generates unit with transmitted waveform and connect.The present invention realizes cylindrical surface phased array radar antenna beam orientation electric scanning using switching mode, amplitude-phase weighted units realize radar beam pitching multi-beam antenna, multi-channel back wave is received obtains orientation and difference beam, pitching multi-beam with digital beam froming, realizes the three-dimensional quickly positioning of low-altitude low-velocity small targets.
Description
Technical field
The present invention relates to radar scanning technic field more particularly to a kind of low-altitude low-velocity small targets detection radar device and its
Detection method.
Background technology
Birds are one of the natural enemies of aircraft safety, and since aircraft occurs, bird hits event and just frequently occurs, and makes
At the painful disease of loss it is first.Currently, the bird event of hitting is classified as " A classes " aviation disaster by Federation Aeronautic International.According to system
Meter, north America region birds navigate army, year loss caused by civil aviaton is up to billions of, and every ten thousand average birds of Europlane landing hit number
Reach 5.7 times, CONTINENTAL AREA OF CHINA, the bird occurred hits event just more than 500 within 1 year, caused by direct economic loss be more than five
Ten million RMB.
In addition, the serious lag that the fast development of small drone is managed with it in recent years, allows unmanned plane is black to fly to become
Another threat of aircraft safety.The end of the year 2013, a frame unmanned plane rush in Capital Airport spatial domain, multiple flights are caused to prolong
Accidentally.In July, 2014, one frame unmanned plane of London are brushed past with Air Passenger A320, lead to aviation disaster narrowly.It is counted according to FAA, 2015
The event that year unmanned plane influence is flown is more than 1000, is 4 times in 2014.
Currently, the low-altitude low-velocity small targets such as flying bird, small drone it is current detection means it is limited, it is expensive, it is difficult to
Reach quick three-dimensional positioning, High Data Rate, round-the-clock all weather operations requirement.
Invention content
To solve the above problems, the present invention provides a kind of low-altitude low-velocity small targets detection radar device, including cylindrical surface
Phased Array Radar Antenna, integrated controller, transmitted waveform generate unit, several emitting modules, several amplitude-phase weighted units,
Digital signal processing unit.
The integrated controller, signal generation unit, transmitted waveform generate unit and are sequentially connected with, each emitting module connection
Unit is generated with transmitted waveform to connect.
Scan pattern is arranged for sending control instruction to signal generation unit in the integrated controller, according to difference
The scan pattern target that controls each emitting module and inductive switch, array element are worked, and digital signal processing unit formed
Point flight path message is exported.
M*L array elements are distributed in the surface of the cylindrical surface Phased Array Radar Antenna, wherein cylinder surface antenna has M alignment
Gust, there is L array element in each alignment battle array；Described M, L are positive integer, and each array element has the transmission that can carry out electromagnetic wave signal
With reception, each array element is to receive a channel of radar return, each alignment battle array corresponds to the channels a L echo down coversion list
Member.
The emitting module has the alignment battle array number N number of, the N works for cylindrical surface phased-array radar synchronization,
Each emitting module has Q switch, the Q=M/N；Each switch is correspondingly connected with an amplitude-phase weighted units；It is described
Emitting module is controlled for generating transmitting signal, and by the opening and closing of switch, is selected one of alignment battle array to work, is passed through width
Phase weighting unit is spent, the power and phase of control transmitting signal emit radar electromagnetic wave signal by array element.
Amplitude-phase weighted units include an adjustable attenuators and an adjustable phase shifter, for controlling respective column
The power and phase of the radar signal of linear array output, form spatial emission wave beam, realize that different pitch angles have different wave beams to cover
Lid.
The signal generation unit is used to generate local oscillation signal and reference signal according to the control instruction of integrated controller.
The transmitted waveform generates unit and generates radar emission radiofrequency signal according to local oscillation signal and reference signal, and will hair
It penetrates signal and is divided into the roads N signal, be separately input to N number of emitting module.
Digital Beam Formation Unit parses array element baseband signal according to different array element echo datas and the serial number of array element
Alignment, then carries out digital beam froming, is respectively synthesized pitching orientation multi-beam and difference beam, and by the digital beam of synthesis
It is output to digital signal processing unit.
Digital signal processing unit is used to handle the digital beam echo-signal of synthesis, extracts target information,
And target point flight path message is formed, and by message transmissions to integrated controller.
Further, the scan pattern includes sequential scan pattern, stares scan pattern；The sequential scan pattern is
It is numbered along azimuth beam and carries out sequential scanning, the scan pattern of staring is according to specified azimuth beam number and sweep time
Carry out jump scanning.
The target acquisition process of above-mentioned low-altitude low-velocity small targets detection radar device includes the following steps：
Step 1：The cylindrical surface phased-array radar each column array element is known as an alignment battle array, antenna array linear array is in order
Respectively number be 1,2,3.....M；It is respectively azimuth beam by each azimuth beam number according to alignment battle array serial number direction
1, azimuth beam 2........ azimuth beams M, all directions wave beam correspond to different working line linear arrays.
Step 2：It is T1, T2, T3.......TN that each emitting module is numbered respectively, and by each emitting module and its
Q switch, Q alignment battle array number be mapped.
Wherein, the switch of T1 is KT1-1、KT1-2、…、KT1-Q, corresponding alignment battle array number be respectively 1, N+1,2N+1 ...,
(Q-1)N+1；The switch of T2 is KT2-1、KT2-2、…、KT2-Q, corresponding alignment battle array number be respectively 2, N+2,2N+2 ..., (Q-1)
N+2；…；The switch of TN is KTN-1、KTN-2、…、KTN-Q, corresponding alignment battle array number be respectively N, 2N, 3N ..., QN.
Step 3：Determine that the operating mode of radar is sequential scan pattern or stares scan pattern, according to the side of scanning
Position wave bit number adjusts the corresponding scanning sequency in each orientation wave position, scanning residence time.
Step 4：The scan mode determined by step 3 starts to scan.
Scan position wave beam 1 is such as needed, in the duration scanning of azimuth beam 1, the switch closed is：KT1-1、
KT2-1、…、KTN-1, rest switch is in off-state, and number 1,2 ..., N number of alignment battle array normal work of N obtains orientation
Wave beam 1 is directed toward.
Scan position wave beam 2 is such as needed, in the duration scanning of azimuth beam 2, close a switch KT2-1、…、KTN-1、
KT1-2, rest switch is in off-state, and number 2,3 ..., N number of alignment battle array normal work of N+1 obtains azimuth beam 2
It is directed toward.
Scan position wave beam 3 is such as needed, in the duration scanning of azimuth beam 3, close a switch KT3-1…、KTN-1、
KT1-2、KT2-2, rest switch is in off-state, and number 3,4 ..., N number of alignment battle array normal work of N+2 obtains orientation
Wave beam 3 is directed toward.
Scan position wave beam 4 is such as needed, in the duration scanning of scan position wave beam 4, close a switch KT4-1…、
KTN-1、KT1-2、KT2-2、KT3-2, rest switch is in off-state, number 4,5 ..., N number of normal work of alignment battle array of N+3
Make, obtains the direction of azimuth beam 4.
……
Scan position wave beam M-1 is such as needed, in the duration scanning of scan position wave beam M-1, is closed a switch
KT(N-1)-Q、KTN-Q、KT1-1、…、KT(N-2)-1, rest switch is in off-state, number M-1, M, 1 ..., N number of row of N-2
Linear array works normally, and obtains azimuth beam M-1 and is directed toward.
Scan position wave beam M is such as needed, in the duration scanning of scan position wave beam M, close a switch KTN-Q、KT1-1、
KT2-1、…、KT(N-1)-1, rest switch is in off-state, and N number of alignment battle array normal work of number M, 1 ..., N-1 obtain
It is directed toward to azimuth beam M.
Further, in step 4, amplitude-phase weighted units corresponding to the switch that each closes are by input signal point
It for the roads L signal, is directed toward according to different direction, the covering of pitching wave beam power requires, and adjusts the amplitude and phase per road signal so that
The wave beam of output can form multiple fixed beams in pitch orientation, to realize that different pitch angles have different wave covers.
Further, in step 3, the alignment battle array of work goes out the electromagnetic wave letter generated by transmitting network to space radiation
Number, it can be reflected when electromagnetic wave signal encounters target, each array element individually receives the target echo from space.
Further, further include step 5：The alignment battle array of work receives target echo, is input to digital beam froming list
Member, Digital Beam Formation Unit parse array element baseband signal and are aligned according to different array element echo datas and the serial number of array element,
Then digital beam froming is carried out, is respectively synthesized pitching multi-beam, orientation and difference beam, and the digital beam echo of synthesis is believed
Number it is output to digital signal processing unit.
Further, further include step 6：Digital signal processing unit to the digital beam echo-signal of synthesis at
Reason, from pitching multi-beam, orientation and wave beam, difference beam, extracts target information.
Further, in step 6, target information includes the pitch angle of target, azimuth, distance, orientation, speed.
Further, in step 6, digital signal processing unit also extracts Targets Dots, flight path information, is formed
The point flight path information of target.
Further, further include step 7：Digital signal processing unit is by the target information extracted or target information
A message is formed with flight path information, is transferred to integrated controller, and by integrated controller by outgoing message.
Beneficial effects of the present invention are：
The present invention realizes cylindrical surface phased array radar antenna beam orientation electric scanning, amplitude-phase weighting using on-off mode
Unit realizes radar beam pitching multi-beam antenna, multi-channel back wave receive with digital beam froming obtain orientation and difference beam,
Pitching multi-beam realizes the three-dimensional quickly positioning of low-altitude low-velocity small targets.
Description of the drawings
Fig. 1 is low-altitude low-velocity small targets detection radar functional block diagram.
Fig. 2 is low-altitude low-velocity small targets detection radar functional block diagram.
Fig. 3 is cylindrical surface Phased Array Radar Antenna schematic three dimensional views.
Specific implementation mode
As shown in Figure 1, low-altitude low-velocity small targets detection radar device of the present invention includes cylindrical surface phased-array radar day
Line, integrated controller, transmitted waveform generate unit, several emitting modules, several amplitude-phase weighted units, Digital Signal Processing
Unit.The integrated controller, signal generation unit, transmitted waveform generate unit be sequentially connected with, transmitted waveform generate unit with
Each emitting module connection.
The function of various pieces is introduced below.
1. cylindrical surface Phased Array Radar Antenna
Cylindrical surface Phased Array Radar Antenna appearance M*L array element of EDS maps.Wherein, the circle distribution of circular cross section M
Array element, each alignment battle array has L array element on vertical direction；Described M, L are prespecified integer, and each array element has can
It carries out electromagnetic wave signal to send and receive, each array element individually receives radar signal, and each column linear array corresponds under the channels a L echo
Converter unit.
Fig. 2 is the 3 dimensional drawing of cylindrical surface Phased Array Radar Antenna, and pointing object indicates bay in figure, is sequentially distributed
It is each to be classified as a linear array on periphery.Fig. 3 is section of this radar antenna in the sectional view and the faces XOZ in the faces XOY
The sectional view of figure, bay XOY plane is a circle, and alignment battle array number consecutively is 1,2,3 ..., and M-1, M, bay exist
The sectional view in the faces XOZ is an alignment battle array, and array element number consecutively is 1,2 ..., L.Described M, L are prespecified integer, Mei Gezhen
Member tool can carry out signal and send and receive, and each column array element corresponds to the channels a L echo down-converter unit.
When the alignment battle array of work is in emission state, the electromagnetic wave signal generated by transmitting network is gone out to space radiation.When
Signal can be reflected back electromagnetic wave when encountering unmanned plane, flying bird target, and target can be modulated electromagnetic wave echo.Work as alignment
When battle array is in reception state, each array element individually receives the target echo from space.
2. emitting module
The emitting module number is N, and the N is the alignment battle array number of cylindrical surface phased-array radar synchronization work,
Each emitting module has Q switch；Each switch is correspondingly connected with an amplitude-phase weighted units.
Synchronization antenna has N alignment battle arrays to work at the same time, and has N*L array element to work at the same time.Each emitting module is corresponding with Q
A switch, the Q=M/N, each switch are disconnected by rule, are closed.
In order to facilitate understanding, it is T1, T2, T3.......TN that the present invention numbers N number of emitting module respectively.Wherein, it switchs
The corresponding switch numbers of T1 are KT1-1、KT1-2、…、KT1-Q, corresponding alignment battle array number be respectively 1, N+1,2N+1 ..., (Q-1) N
+1；The corresponding switch numbers of switch T2 are KT2-1、KT2-2、…、KT2-Q, corresponding alignment battle array number is respectively 2, N+2,2N+
2、…、(Q-1)N+2；…；The corresponding switch numbers of switch TN are KTN-1、KTN-2、…、KTN-Q, corresponding alignment battle array number difference
For N, 2N, 3N ..., QN.Any one emitting module Tn (n=1,2 ..., N) has in synchronization and only there are one switches to close
On, other switches are in off-state, and the switch closed has electromagnetic wave signal emission function.
3. amplitude-phase weighted units
Each emitting module corresponds to Q switch, each corresponding amplitude-phase weighted units of switch.Amplitude-phase adds
Quan Dan is divided into the roads L signal by the electromagnetic wave signal to be exported is switched, and is directed toward according to different direction, and the covering of pitching wave beam power is wanted
It asks, adjusts the amplitude and phase per road signal so that the wave beam of output can form multiple fixed beams in pitch orientation, with reality
Existing different pitch angles have different wave covers.Wherein the number of pitch orientation wave beam, beam angle, coverage area can be set
It sets.
Each array element corresponds to one and receives converter unit channel, and each alignment battle array corresponds to a L channel echo down coversion list
Member, entire radar antenna have the echo down-converter unit in the M channel L, but the channels the L echo down-converter unit worked at the same time is only
It is N number of.One moment of one emitting module corresponds to only there are one the work of alignment battle array, and also only there are one the channels L echo down-converter units
Work.Each array element echo-signal of linear array is down-converted to base band by the channels L echo down-converter unit respectively, and to echo samples number
Change is handled, and the digital echo signal after sampling is transferred to Digital Beam Formation Unit.Amplitude-phase weighted units, alignment battle array, L
Channel echo down-converter unit constitutes a submatrix.
4. integrated controller
Scan pattern is arranged for sending control instruction to signal generation unit in the integrated controller, according to difference
Scan pattern control each emitting module and work inductive switch, array element, and digital signal processing unit is transmitted
Message is exported.
Scan pattern includes sequential scan pattern, stares scan pattern.
The scanning successively carries out sequential scanning to be numbered along azimuth beam, and each azimuth beam sweep time is identical.
The jump scanning is to be scanned according to preassigned azimuth beam number and sweep time, each orientation wave
The beam scanning time is not necessarily identical.Different moments can allow the same direction of beam position, and beam position is not in scanning process
Be by wave beam 1, wave beam 2 ..., wave beam M continuous scannings successively, but can arbitrary jump scanning.
5. signal generation unit
The signal generation unit is used to generate local oscillation signal and reference signal according to the control instruction of integrated controller.
6. transmitted waveform generates unit
The transmitted waveform generates unit and is used to generate transmitting signal, the transmitting letter according to local oscillation signal and reference signal
Number it is divided into the roads N signal, is separately input to N number of emitting module.
7. Digital Beam Formation Unit
Digital Beam Formation Unit is used for the serial number according to different array element echo datas and array element, to array element baseband signal
Parsing alignment, then carries out digital beam froming, is respectively synthesized pitching multi-beam, orientation and difference beam, and by the number of synthesis
Wave beam is output to digital signal processing unit.
8. digital signal processing unit
Using digital signal processing unit, the digital beam echo-signal of synthesis is handled, clutter is inhibited
With filter out, from pitching multi-beam, orientation and wave beam, difference beam, pitch angle, the azimuth information of target are extracted, by phase
Dry, incoherent processing, extracts flying bird, the unmanned plane distance of Small object, orientation and velocity information at a slow speed, realizes the three-dimensional of target
Positioning and flying speed accurately measure, while being extracted to Targets Dots, flight path, form the point flight path information of target.
Above- mentioned information is respectively formed message, is transferred to integrated controller.
The working method of this system is introduced below.
Step 1：Cylindrical surface Phased Array Radar Antenna is distinguished in order along each array member that outer surface circumferencial direction arranges
Number is 1,2,3.....M, each column array element is known as alignment battle array；According to alignment battle array serial number direction, respectively by each orientation wave
Beam number is azimuth beam 1, azimuth beam 2........ azimuth beams M；
Step 2：It is T1, T2, T3.......TN that each emitting module is numbered respectively, and by each emitting module and its
Q switch, Q alignment battle array number are mapped；
Wherein, the switch of T1 is KT1-1、KT1-2、…、KT1-Q, corresponding alignment battle array number be respectively 1, N+1,2N+1 ...,
(Q-1)N+1；The switch of T2 is KT2-1、KT2-2、…、KT2-Q, corresponding alignment battle array number be respectively 2, N+2,2N+2 ..., (Q-1)
N+2；…；The switch of TN is KTN-1、KTN-2、…、KTN-Q, corresponding alignment battle array number be respectively N, 2N, 3N ..., QN；
Step 3：It determines and needs the azimuth beam scanned number and the corresponding scanning sequency of each azimuth beam in advance, sweeps
Retouch the duration.
Step 4：The scan mode determined by step 3 starts to scan.
As previously mentioned, sequential scan pattern is to number to carry out sequential scanning along azimuth beam, when each azimuth beam scans
Between it is identical.Jump scanning pattern is that basis does not number scanning according to azimuth beam, and each azimuth beam sweep time differs
It is fixed identical.The detection method of both of which is introduced separately below.
Schema successively：
Orientation scans successively, and each orientation residence time is equal, and each emitting module switch is closed is with the rule disconnected：
As shown in Fig. 2, all switches 5 are arranged in order, expressed with the mode of matrix (1), it is easier to understand that antenna is swept
The rule for disconnecting and being closed with switch is retouched, matrix (1) indicates the corresponding switch number of each emitting module per a line, with a period of time
It carves, per a line, one and only one switch is selected.
Scan the moment 1：The switch closed is：KT1-1、KT2-1、…、KTN-1, rest switch is in off-state, and number is
N number of alignment battle array of 1,2 ..., N work normally, and obtain the direction of azimuth beam 1；
Scan the moment 2：Disconnect switch KT1-1, close a switch KT2-1、…、KTN-1、KT1-2, rest switch is in disconnection shape
State, number 2,3 ..., N number of alignment battle array normal work of N+1 obtain the direction of azimuth beam 2；
Scan the moment 3：Disconnect switch KT2-1, close a switch KT3-1…、KTN-1、KT1-2、KT2-2, rest switch is in disconnection
State, number 3,4 ..., N number of alignment battle array normal work of N+2 obtain the direction of azimuth beam 3；
Scan the moment 4:Switch KT3-1 is disconnected, close a switch KT4-1…、KTN-1、KT1-2、KT2-2、KT3-2, rest switch locates
In off-state, number 4,5 ..., N number of alignment battle array normal work of N+3 obtains the direction of azimuth beam 4；
……
Scan moment M-1:Disconnect switch KT(N-2)-Q, close a switch KT(N-1)-Q、KTN-Q、KT1-1、…、KT(N-2)-1, remaining is opened
Pass is in off-state, number M-1, M, 1 ..., and N number of alignment battle array normal work of N-2 obtains azimuth beam M-1 and is directed toward；
Scan moment M:Disconnect switch KT(N-1)-Q, close a switch KTN-Q、KT1-1、KT2-1、…、KT(N-1)-1, rest switch is equal
It is off, N number of alignment battle array normal work of number M, 1 ..., N-1 obtain azimuth beam M and is directed toward；
Scan moment M+1:Disconnect switch KTN-Q, close a switch KT1-1、KT2-1、…、KTN-1, rest switch is in disconnection
State, number 1,2 ..., N number of alignment battle array normal work of N obtain the direction of azimuth beam 1；
Different moments are closed using one group of switch, are obtained the wave beam in an orientation, are realized orientation electric scanning successively,
Be radar bearing to the scan period with M azimuth beam sweep time, realize beam positional intermittent scanning successively, wave beam by
N number of adjacent alignment battle array generates, and stares scan pattern
Orientation jump scanning, each orientation residence time differ, and different moments can allow the same direction of beam position,
In scanning process beam position be not by wave beam 1, wave beam 2 ..., wave beam M continuous scannings successively, but can arbitrarily jump and sweep
It retouches.Switch is closed when scanning is with disconnection rule：
Scan moment T:Beam position is m beam positions (0<m<M+1), the wave beam producing method that m is directed toward and scanning
It is identical when pattern, i.e.,
Azimuth beam 1, which is directed toward, to be generated：The switch K closedT1-1、KT2-1、…、KTN-1, rest switch is in off-state,
Number is 1,2 ..., N number of alignment battle array normal work of N；
Azimuth beam 2, which is directed toward, to be generated：Close a switch KT2-1、…、KTN-1、KT1-2, rest switch is in off-state, compiles
Number it is 2,3 ..., N number of alignment battle array of N+1 normal work；
……
Azimuth beam M-1, which is directed toward, to be generated：Close a switch KT(N-1)-Q、KTN-Q、KT1-1、…、KT(N-2)-1, rest switch is in
Off-state, number M-1, M, 1 ..., N number of alignment battle array normal work of N-2；
Azimuth beam M, which is directed toward, to be generated：Close a switch KTN-Q、KT1-1、…、KT(N-1)-1, rest switch disconnects, number M,
1 ..., N number of alignment battle array normal work of N-1.
It stares Mode scans to be mainly used for carrying out target search within the scope of designated flying zone, by increasing in each orientation
Residence time obtains more echo quantity, and then obtains high accumulation gain, increases the detection accuracy of target and to small and weak mesh
Target detection probability.The scanning beam at each moment is generated by N number of adjacent column linear array.
It should be noted that staring the direction wave beam for differing only in scanning of scan pattern and sequential scan pattern not
It is centainly continuous, and sweep time is differed, but when being scanned on each direction wave beam, the work of emitting module and its switch
Pattern is identical.
In step 4, the alignment battle array of work goes out the electromagnetic wave signal generated by transmitting network to space radiation, works as electromagnetism
Wave signal can reflect when encountering target, and each array element individually receives the target echo from space.
Before transmission, input signal is divided into the roads L signal by amplitude-phase weighted network corresponding to the switch each closed,
It is directed toward according to different direction, the covering of pitching wave beam power requires, and adjusts the amplitude and phase per road signal so that the wave beam of output
Multiple fixed beams can be formed in pitch orientation, to realize that different pitch angles have different wave covers.
Step 5：The alignment battle array of work receives target echo, is input to Digital Beam Formation Unit, digital beam froming list
Member parses array element baseband signal and is aligned, then carry out digital beam according to different array element echo datas and the serial number of array element
It is formed, is respectively synthesized pitching multi-beam, orientation and difference beam, and the wave beam of synthesis is output to digital signal processing unit.
Step 6：Digital signal processing unit handles the digital beam echo-signal of synthesis, presses down to clutter
It makes and filters out, from pitching multi-beam, orientation and wave beam, difference beam, extract pitch angle, the azimuth information of target, pass through
Relevant, incoherent processing, extracts flying bird, the unmanned plane distance of Small object, orientation and velocity information at a slow speed, realizes the three of target
Dimension positioning and flying speed accurately measure.Preferably, also Targets Dots, flight path information are extracted simultaneously, forms target
Point flight path information.
Step 7：Digital signal processing unit navigates the distance of the target extracted, speed, azimuth, pitch angle, point
Mark infomational message is transferred to integrated controller, and is exported object message by integrated controller.
Claims (10)
1. a kind of low-altitude low-velocity small targets detection radar device, which is characterized in that including cylindrical surface Phased Array Radar Antenna, synthesis
Controller, transmitted waveform generate unit, several emitting modules, several amplitude-phase weighted units, digital signal processing unit,
The integrated controller, signal generation unit, transmitted waveform generate unit and are sequentially connected with, the connection of each emitting module with
Transmitted waveform generates unit connection；
Scan pattern is arranged for sending control instruction to signal generation unit in the integrated controller, is swept according to different
The target point retouched each emitting module of scheme control and inductive switch, array element are worked, and digital signal processing unit formed navigates
Mark message is exported；
M*L array elements are distributed in the surface of the cylindrical surface Phased Array Radar Antenna, wherein cylinder surface antenna has M alignment battle array, often
There is L array element in a alignment battle array；Described M, L are positive integer, and each array element has and can carry out the transmission of electromagnetic wave signal and connect
It receives, each array element is to receive a channel of radar return, and each alignment battle array corresponds to the channels a L echo down-converter unit；
The emitting module has the alignment battle array number N number of, the N works for cylindrical surface phased-array radar synchronization, each
Emitting module has Q switch, the Q=M/N;Each switch is correspondingly connected with an amplitude-phase weighted units；The transmitting
Component is controlled for generating transmitting signal, and by the opening and closing of switch, is selected one of alignment battle array to work, is passed through amplitude phase
Position weighted units, the power and phase of control transmitting signal, emit radar electromagnetic wave signal by array element；
Amplitude-phase weighted units include an adjustable attenuators and an adjustable phase shifter, for controlling respective column linear array
The power and phase of the radar signal of output form spatial emission wave beam, realize that different pitch angles have different wave covers；
The signal generation unit is used to generate local oscillation signal and reference signal according to the control instruction of integrated controller；
The transmitted waveform generates unit and generates radar emission radiofrequency signal according to local oscillation signal and reference signal, and transmitting is believed
Number it is divided into the roads N signal, is separately input to N number of emitting module；
Digital Beam Formation Unit is according to different array element echo datas and the serial number of array element, to the parsing pair of array element baseband signal
Together, digital beam froming is then carried out, is respectively synthesized pitching orientation multi-beam and difference beam, and the digital beam of synthesis is defeated
Go out to digital signal processing unit;
Digital signal processing unit extracts target information, and shape for handling the digital beam echo-signal of synthesis
At target point flight path message, and by message transmissions to integrated controller.
2. low-altitude low-velocity small targets detection radar device as described in claim 1, which is characterized in that the scan pattern includes
Sequential scan pattern stares scan pattern；The sequential scan pattern is to number to carry out sequential scanning along azimuth beam, described solidifying
Scan pattern is regarded to carry out jump scanning according to specified azimuth beam number and sweep time.
3. the object detection method of low-altitude low-velocity small targets detection radar device as described in claim 1, which is characterized in that packet
Include following steps：
Step 1：The cylindrical surface phased-array radar each column array element is known as an alignment battle array, antenna array linear array is distinguished in order
Number is 1,2,3.....M；It is respectively azimuth beam 1, side by each azimuth beam number according to alignment battle array serial number direction
Position wave beam 2........ azimuth beam M, all directions wave beam correspond to different working line linear arrays；
Step 2：It is T1, T2, T3....... TN that each emitting module is numbered respectively, and each emitting module and its Q is a
It switchs, the number of Q alignment battle array is mapped；
Wherein, the switch of T1 is KT1-1、KT1-2、…、KT1-Q, corresponding alignment battle array number be respectively 1, N+1,2N+1 ..., (Q-1)
N+1；The switch of T2 is KT2-1、KT2-2、…、KT2-Q, corresponding alignment battle array number be respectively 2, N+2,2N+2 ..., (Q-1) N+
2；…；The switch of TN is KTN-1、KTN-2、…、KTN-Q, corresponding alignment battle array number be respectively N, 2N, 3N ..., QN；
Step 3：Determine that the operating mode of radar is sequential scan pattern or stares scan pattern, according to the orientation wave of scanning
Bit number adjusts the corresponding scanning sequency in each orientation wave position, scanning residence time；
Step 4：The scan mode determined by step 3 starts to scan：
Scan position wave beam 1 is such as needed, in the duration scanning of azimuth beam 1, the switch closed is：KT1-1、KT2-1、…、
KTN-1, rest switch is in off-state, and number 1,2 ..., N number of alignment battle array normal work of N obtains the finger of azimuth beam 1
To；
Scan position wave beam 2 is such as needed, in the duration scanning of azimuth beam 2, close a switch KT2-1、…、KTN-1、KT1-2,
Rest switch is in off-state, number 2,3 ..., and N number of alignment battle array normal work of N+1 obtains the direction of azimuth beam 2；
Scan position wave beam 3 is such as needed, in the duration scanning of azimuth beam 3, close a switch KT3-1…、KTN-1、KT1-2、
KT2-2, rest switch is in off-state, and number 3,4 ..., N number of alignment battle array normal work of N+2 obtains azimuth beam 3
It is directed toward；
Scan position wave beam 4 is such as needed, in the duration scanning of scan position wave beam 4, close a switch KT4-1…、KTN-1、
KT1-2、KT2-2、KT3-2, rest switch is in off-state, and number 4,5 ..., N number of alignment battle array normal work of N+3 obtains
Azimuth beam 4 is directed toward；
……
Scan position wave beam M-1 is such as needed, in the duration scanning of scan position wave beam M-1, close a switch KT(N-1)-Q、
KTN-Q、KT1-1、…、KT(N-2)-1, rest switch is in off-state, and number M-1, M, 1 ..., N number of alignment battle array of N-2 is just
Often work obtains azimuth beam M-1 and is directed toward；
Scan position wave beam M is such as needed, in the duration scanning of scan position wave beam M, close a switch KTN-Q、KT1-1、
KT2-1、…、KT(N-1)-1, rest switch is in off-state, and N number of alignment battle array normal work of number M, 1 ..., N-1 obtain
It is directed toward to azimuth beam M.
4. the detection method of low-altitude low-velocity small targets detection radar device as claimed in claim 3, which is characterized in that in step
In four, input signal is divided into the roads L signal by amplitude-phase weighted units corresponding to the switch that each closes, is referred to according to different direction
To the covering of pitching wave beam power requires, and adjusts the amplitude and phase per road signal so that the wave beam of output can be in pitch orientation
Multiple fixed beams are formed, to realize that different pitch angles have different wave covers.
5. the detection method of low-altitude low-velocity small targets detection radar device as claimed in claim 3, which is characterized in that step 3
In, the alignment battle array of work goes out the electromagnetic wave signal generated by transmitting network to space radiation, when electromagnetic wave signal encounters target
It can reflect, each array element individually receives the target echo from space.
6. the detection method of low-altitude low-velocity small targets detection radar device as claimed in claim 5, which is characterized in that including step
Rapid five：The alignment battle array of work receives target echo, is input to Digital Beam Formation Unit, Digital Beam Formation Unit is according to difference
The serial number of array element echo data and array element parses array element baseband signal and is aligned, then carries out digital beam froming, close respectively
It is output to digital signal processing unit at pitching multi-beam, orientation and difference beam, and by the digital beam echo-signal of synthesis.
7. the detection method of low-altitude low-velocity small targets detection radar device as claimed in claim 6, which is characterized in that further include
Step 6：Digital signal processing unit handles the digital beam echo-signal of synthesis, from pitching multi-beam, orientation and wave
In beam, difference beam, target information is extracted.
8. the detection method of low-altitude low-velocity small targets detection radar device as claimed in claim 7, which is characterized in that step 6
In, target information includes the pitch angle of target, azimuth, distance, orientation, speed.
9. the detection method of low-altitude low-velocity small targets detection radar device as claimed in claim 8, which is characterized in that step 6
In, digital signal processing unit also extracts Targets Dots, flight path information, forms the point flight path information of target.
10. the detection method of the low-altitude low-velocity small targets detection radar device as described in claim 7 or 8 or 9, feature exist
In further including step 7：Digital signal processing unit is by the target information extracted or target information and puts flight path information shape
At message, it is transferred to integrated controller, and by integrated controller by outgoing message.
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