CN107085198B - A kind of method and apparatus constructing four array element solid arrays - Google Patents
A kind of method and apparatus constructing four array element solid arrays Download PDFInfo
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- CN107085198B CN107085198B CN201710488263.5A CN201710488263A CN107085198B CN 107085198 B CN107085198 B CN 107085198B CN 201710488263 A CN201710488263 A CN 201710488263A CN 107085198 B CN107085198 B CN 107085198B
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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
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
- G01S3/04—Details
- G01S3/12—Means for determining sense of direction, e.g. by combining signals from directional antenna or goniometer search coil with those from non-directional antenna
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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
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
- G01S3/14—Systems for determining direction or deviation from predetermined direction
- G01S3/46—Systems for determining direction or deviation from predetermined direction using antennas spaced apart and measuring phase or time difference between signals therefrom, i.e. path-difference systems
- G01S3/48—Systems for determining direction or deviation from predetermined direction using antennas spaced apart and measuring phase or time difference between signals therefrom, i.e. path-difference systems the waves arriving at the antennas being continuous or intermittent and the phase difference of signals derived therefrom being measured
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Abstract
The invention discloses a kind of method and systems for constructing four array element solid arrays.This method comprises: the three-dimensional cartesian coordinate system where traditional three array element planar arrays is arbitrarily rotated an angle, non-coplanar 4th array element is added, four preliminary array element solid arrays are constructed；Timesharing calculates other phase differences of three array elements relative to the first array element；Phase difference according to other three array elements being calculated relative to the first array element constructs direction finding model；The angle measurement error between the estimated value and actual value in wave direction to be measured is calculated using direction finding model；Choose the 4th array element of several different rotary angles, wave direction to be measured is calculated separately in the direction finding precision of desired pitching angular zone according to angle measurement error, the corresponding rotation angle of the highest direction finding precision being calculated is determined as optimal rotation angle, and the four array element solid arrays final according to optimal rotation angle building.It is able to ascend using the four array element solid arrays that the present invention constructs in the direction finding precision compared with flat attitude region.
Description
Technical field
The present invention relates to array antenna direction finding technology fields, and in particular to it is a kind of construct four array element solid arrays method and
Device.
Background technique
Array antenna direction-finding system is a kind of important passive type direction finding equipment, relative to the radar system of active,
In addition to have many advantages, such as anti-intercepting and capturing, it is anti-interference other than, also have that direction finding precision is high, volume weight is small, at low cost, in recent years
It is taken seriously, and has been applied multiple times in spaceborne equipment.Current common direction finding array antenna is mostly planar array, i.e., at multiple array elements
In same plane.In application process, such planar array often may be used in front normal direction region (usually sub-satellite point position)
To obtain more satisfactory direction finding precision, but deviateing the farther away region in front normal direction orientation (usually compared with flat attitude region)
Direction finding precision is remarkably decreased.However, in some special scenes, in addition to wishing front normal direction position and there is higher direction finding precision,
Direction finding precision with higher is still desired to deviateing the farther away region in normal direction orientation to meet application demand.
In the case where radiation source direction of arrival determines, in order to meet compared with flat attitude region direction finding precision the needs of,
Common practice has front biasing, increasing array element size, increasing baseline length etc..Wherein, front biasing is exactly by by front
Mounting plane rotate by a certain angle to meet application demand, but this way is to sacrifice former front normal direction region direction finding precision
For cost.The essence for increasing array element is the signal-to-noise ratio that signal is received by being promoted, and it is each to be promoted to improve phase difference direction finding precision
The direction finding precision in region, but there is a problem of that array element size is originally just larger for the direction finding battle array of some low-frequency ranges, further plus
Big array element size will bring bigger pressure to the installation of array element, layout.Increasing baseline length also will be helpful to each region survey
Promotion to precision, but the problem that can undoubtedly bring direction finding fuzzy.
Summary of the invention
The present invention provides a kind of method and apparatus for constructing four array element solid arrays, to solve in radiation source direction of arrival
In the case where determination, existing planar array is in the low problem of direction finding precision compared with flat attitude region.
According to an aspect of the invention, there is provided a kind of method for constructing four array element solid arrays, which comprises
Three-dimensional cartesian coordinate system where traditional three array element planar arrays is arbitrarily rotated into an angle, addition one is non-coplanar
4th array element constructs four preliminary array element solid arrays, wherein the first array element is the origin of the three-dimensional cartesian coordinate system；
Other three array elements are calculated relative to first array element based on the four preliminary array element solid array timesharing
Phase difference；
Other three array elements according to being calculated construct direction finding model relative to the phase difference of first array element；
The angle measurement error between the estimated value and actual value in wave direction to be measured is calculated using the direction finding model；
The 4th array element for choosing several different rotary angles calculates separately wave direction to be measured in the phase according to the angle measurement error
The direction finding precision for hoping pitching angular zone, is determined as best rotation angle for the corresponding rotation angle of the highest direction finding precision being calculated
Degree, and the four array element solid arrays final according to optimal rotation angle building.
According to another aspect of the present invention, a kind of device for constructing four array element solid arrays, described device packet are provided
It includes:
Solid array Primary Construction unit, for traditional three array element planar arrays arbitrarily to be rotated an angle, addition one is non-
The 4th coplanar array element constructs four preliminary array element solid arrays, wherein the first array element is the original of the three-dimensional cartesian coordinate system
Point；
Phase difference calculating unit, for calculating other three array element phases based on the four preliminary array element solid array timesharing
For the phase difference of first array element；
Direction finding model construction unit, for other three array elements according to being calculated relative to first array element
Phase difference construct direction finding model；
Angle measurement error computing unit, for calculated using the direction finding model wave direction to be measured estimated value and actual value it
Between angle measurement error；
The final construction unit of solid array, for choosing the 4th array element of several different rotary angles, according to the direction finding
Error calculates separately wave direction to be measured in the direction finding precision of desired pitching angular zone, and the highest direction finding precision being calculated is corresponded to
Rotation angle be determined as optimal rotation angle, and four array element solid arrays final according to optimal rotation angle building.
The beneficial effects of the present invention are: technical solution of the present invention, by by the three-dimensional where traditional three array element planar arrays
Rectangular coordinate system arbitrarily rotates an angle, adds non-coplanar 4th array element, constructs four preliminary array element solid arrays, base
Other phase differences of three array elements relative to the first array element are calculated in the four preliminary array element solid array timesharing, according to calculating
The phase difference building direction finding model arrived, and calculated using the direction finding model between the estimated value and actual value in wave direction to be measured
Angle measurement error；Then it by choosing the 4th array element of several different rotary angles, is calculated separately according to the angle measurement error to be measured
The corresponding rotation angle of the highest direction finding precision being calculated is determined as by wave direction in the direction finding precision of desired pitching angular zone
Optimal rotation angle, and the four array element solid arrays final according to optimal rotation angle building, in radiation source direction of arrival
In the case where determination, the four array element solid arrays finally constructed using the present invention can both guarantee in larger elevation angle region direction finding
Precision is also able to ascend and meets wave direction to be measured in the direction finding precision compared with flat attitude region in the survey of desired pitching angular zone
To precision.In addition, the present invention calculates the phase difference between array element using timesharing, compared to the synchronous side for calculating the phase difference between array element
Formula has saved the computing resource of system.
Detailed description of the invention
Fig. 1 is a kind of flow chart of the method for the four array element solid array of building of one embodiment of the invention；
Fig. 2 is the schematic diagram of the four array element solid right angle battle array coordinate system of one kind of one embodiment of the invention；
Fig. 3 is a kind of structural schematic diagram of the device of the four array element solid array of building of one embodiment of the invention；
Fig. 4 is one embodiment of the invention when γ=45 °, the direction finding precision contour of four array element solid right angle battle arrays
Schematic diagram；
Fig. 5 is one embodiment of the invention when γ=60 °, the direction finding precision contour of four array element solid right angle battle arrays
Schematic diagram；
Fig. 6 is one embodiment of the invention when γ=120 °, the direction finding precision contour of four array element solid right angle battle arrays
Schematic diagram；
Fig. 7 is one embodiment of the invention when γ=135 °, the direction finding precision contour of four array element solid right angle battle arrays
Schematic diagram；
Fig. 8 is the schematic diagram of the direction finding precision contour of three array element plane L-type right angle battle arrays of one embodiment of the invention；
Fig. 9 is the four array element solid right angle battle arrays (γ=120 °) and three array element plane L-type right angles of one embodiment of the invention
The schematic diagram of the contour of battle array direction finding precision ratio.
Specific embodiment
Design concept of the invention is: the three-dimensional cartesian coordinate system where traditional three array element planar arrays is rotated into an angle,
Non-coplanar 4th array element is added, four preliminary array element solid arrays are constructed；Based on four preliminary array element solid arrays point
When calculate other phase differences of three array elements relative to same array element；Direction finding mould is constructed according to three phase differences being calculated
Type；The angle measurement error between the estimated value and actual value in wave direction to be measured is calculated using direction finding model；Choose several different rotaries
4th array element of angle calculates separately wave direction to be measured in the direction finding precision of desired pitching angular zone according to angle measurement error, will count
The corresponding rotation angle of obtained highest direction finding precision is determined as optimal rotation angle, and most according to optimal rotation angle building
Four whole array element solid arrays.
Embodiment one
Fig. 1 is a kind of flow chart of the method for the four array element solid array of building of one embodiment of the invention, such as Fig. 1 institute
Show,
In step s 110, the three-dimensional cartesian coordinate system where traditional three array element planar arrays is arbitrarily rotated into an angle, added
Add non-coplanar 4th array element, construct four preliminary array element solid arrays, wherein the first array element is that the three-dimensional right angle is sat
Mark the origin of system.
In the step s 120, other three array elements are calculated relative to institute based on the four preliminary array element solid array timesharing
State the phase difference of the first array element.
In step s 130, other phase differences of three array elements relative to first array element according to being calculated
Construct direction finding model.
In step S140, the direction finding between the estimated value and actual value in wave direction to be measured is calculated using the direction finding model
Error.
In step S150, the 4th array element of several different rotary angles is chosen, is calculated separately according to the angle measurement error
Wave direction to be measured desired pitching angular zone direction finding precision, the corresponding rotation angle of the highest direction finding precision being calculated is true
It is set to optimal rotation angle, and the four array element solid arrays final according to optimal rotation angle building.
It follows that technical solution of the present invention, by by the three-dimensional cartesian coordinate system where traditional three array element planar arrays
One angle of any rotation, adds non-coplanar 4th array element, constructs four preliminary array element solid arrays, preliminary based on this
Four array element solid array timesharing calculate other phase differences of three array elements relative to the first array element, according to the phase difference being calculated
Direction finding model is constructed, and calculates using the direction finding model angle measurement error between the estimated value and actual value in wave direction to be measured；
Then by choosing the 4th array element of several different rotary angles, wave direction to be measured is calculated separately in the phase according to the angle measurement error
The direction finding precision for hoping pitching angular zone, is determined as best rotation angle for the corresponding rotation angle of the highest direction finding precision being calculated
Degree, and the four array element solid arrays final according to optimal rotation angle building, four array elements finally constructed using the present invention
Solid array can both guarantee also to be able to ascend the direction finding essence compared with flat attitude region in larger elevation angle region direction finding precision
Degree, meets wave direction to be measured in the direction finding precision of desired pitching angular zone.In addition, the present invention calculates the phase between array element using timesharing
Potential difference has saved the computing resource of system compared to the synchronous mode for calculating the phase difference between array element.
In order to be more clear the solution of the present invention, it is explained for a specific example below.In the present invention
One embodiment in,
(1) coordinate system is created
Fig. 2 is the schematic diagram of the four array element solid right angle battle array coordinate system of one kind of one embodiment of the invention, as shown in Fig. 2,
OXYZ is the coordinate system of three array element right angle battle array of conventional planar L-type, and wherein the three of right angle battle array array element is respectively arranged in coordinate origin O
(A1), X-axis (A2), Y-axis (A3), array baseline length are d (it should be noted that array baseline length refers in the present embodiment
It is other distances of three array element relative to the first array element).On this basis, coordinate system OXYZ is rotated in the forward direction into angle around its X-axis
γ then obtains another coordinate system O ' X ' Y ' Z ', and the 4th array element A4 is added on Y ' axis, and array baseline length is similarly d.?
In coordinate system OXYZ, it is assumed that radiation source direction of arrival is β with the plane included angle OXY, is denoted as pitch angle.Moreover, it is assumed that radiation source wave
Up to direction vector OXY plane projection and OX angle be α, be denoted as azimuth.It is for simplicity meter, radiation source direction of arrival is unified
It is denoted as (α, β).
(2) phase difference calculating
In the three-dimensional array coordinate system of Fig. 2 building, on the basis of array element A1, usually consider that baseline length is less than half-wavelength
Situation is (it should be noted that if baseline length is greater than half-wavelength, then it is fuzzy to will lead to direction finding.), then array element A2 and A1 at this time
Phase difference21Are as follows:
λ is the wavelength in wave direction to be measured in (formula 1), and d is array baseline length, Δ φ21For array element A2 and the channel A1 it
Between phase difference measurement error difference.On the other hand, the phase difference of array element A3 and A131Are as follows:
In (formula 2), Δ φ31The difference of phase difference measurement error between the channel array element A3 and A1.In addition, array element A4 with
The phase difference of A141Are as follows:
In (formula 3), Δ φ41The difference of phase difference measurement error between the channel array element A4 and A1.
(formula 1)-(formula 3) is expressed in matrix as:
In (formula 4),It is measurement value matrix,It is theoretical value matrix,For measurement error matrix, and obey mean value be 0, the multi-dimension Normal distribution that covariance matrix is Σ,
Wherein Σ is positive definite matrix.
(3) direction finding model is constructed
Least Square in Processing is carried out to phase difference measurement value matrix (formula 4), obtains direction finding model are as follows:
It should be noted that the transposition of T representing matrix, Σ is positive definite matrix in (formula 5), θ is wave direction arrow to be measured
Amount, and θ=(α, β)；It is the estimated value of wave direction vector to be measured, and It is the azimuthal of wave direction to be measured
Estimated value,It is the estimated value of the pitch angle in wave direction to be measured.
(4) angle measurement error derives
To estimate to estimate obtained radiation source direction of arrival via (formula 5)Levels of precision, base must be provided
The angle measurement error caused by the Direction Finding Algorithm of (formula 5).To remember convenient for subsequent statement:
If IfThen in θ0
PlaceMinimum value is obtained, thusSimilarly, ifI.e.AndThenWhenWhen smaller,In θ0Near, it is represented byIgnore
High-order error, has:
Due toHad according to (formula 7):
For directly can be calculated on the left of (formula 8) equation:
Therefore, have:
In (formula 10),
For directly can be calculated on the left of (formula 8) equation:
In addition, directly calculating in (formula 10) hasSoRow full rank, it is contemplated that Σ-1
It is also positive definite matrix, thereforeIt is reversible.Then obtained according to formula (formula 8):
(formula 12), cov (Δ θ) refer to the covariance matrix of Δ θ.
In one embodiment of the invention, timesharing calculates what other three array elements referred to relative to the phase difference of the first array element
It is that at a time (or certain time period) only measures A2-A1, one group of phase difference in tri- groups of baselines of A3-A1, A4-A1, according to
One group of phase difference in tri- groups of baselines of secondary measurement A2-A1, A3-A1, A4-A1, in other words, as in computer programming language
Tri- groups of phase differences of serial computing A2-A1, A3-A1, A4-A1.It should be noted that assuming the phase difference between measurement A2-A1
When, two test machine are needed, then in entire timesharing measurement process, it is only necessary to which two test machine have saved system
Computing resource.
During timesharing measures phase difference, it is assumed thatCovariance matrix be For phase difference survey
Measure the variance of error, I3It is 3 rank unit matrixs, then:
In (formula 13),
According to (formula 12), have:
σ in (formula 14)α 2As azimuth measurement error variance, σβ 2As elevation measurement error variance, wherein
According to (formula 14) as a result, the angle variance between the estimated value and actual value in the calculating wave direction to be measured is
WhereinIt is the variance of phase difference measurement error, α0It is the azimuthal theoretical value in wave direction to be measured, β0It is wave to be measured
The theoretical value of direction pitch angle, willAs the angle measurement error between the estimated value and actual value in the wave direction to be measured
(5) array element solid array constructs
According to (formula 15) it is found that survey can be calculated in different azimuth angle alphas, pitch angle β in given rotation angle γ
To errorThat is each rotation angle γ is corresponding with the direction finding precision of one group of pitching angular zone.
According to actual application demand, the 4th array element of several different rotary angles is chosen, it is (public according to the angle measurement error
Formula 15) calculating wave direction to be measured is respectively corresponded in the direction finding precision of desired pitching angular zone, the highest direction finding essence that will be calculated
It spends corresponding rotation angle and is determined as optimal rotation angle, and four array element solid arrays are constructed according to the optimal rotation angle.
That is, can meet the angle multiple rotation γ of the array element A4 of application demand by choosing, observation is in its survey of interested region
To precision, final three-dimensional array configuration is determined.
Embodiment two
Fig. 3 is a kind of structural schematic diagram of the device of the four array element solid array of building of one embodiment of the invention, such as Fig. 3
Shown, described device 200 includes:
Solid array Primary Construction unit 210 adds one for traditional three array element planar arrays arbitrarily to be rotated an angle
Non-coplanar 4th array element constructs four preliminary array element solid arrays, wherein the first array element is the three-dimensional cartesian coordinate system
Origin；
Phase difference calculating unit 220, for calculating other three battle arrays based on the four preliminary array element solid array timesharing
Phase difference of the member relative to first array element.
Direction finding model construction unit 230, for other three array elements according to being calculated relative to described first
The phase difference of array element constructs direction finding model；
Angle measurement error computing unit 240, for calculating the estimated value and reality in wave direction to be measured using the direction finding model
Angle measurement error between value；
The final construction unit 250 of solid array, for choosing the 4th array element of several different rotary angles, according to the survey
Wave direction to be measured is calculated separately in the direction finding precision of desired pitching angular zone, the highest direction finding precision pair that will be calculated to error
The rotation angle answered is determined as optimal rotation angle, and the four array element three-dimensional arrays final according to optimal rotation angle building
Column.
It follows that technical solution of the present invention, by by the three-dimensional cartesian coordinate system where traditional three array element planar arrays
One angle of any rotation, adds non-coplanar 4th array element, constructs four preliminary array element solid arrays, preliminary based on this
Four array element solid array timesharing calculate other phase differences of three array elements relative to the first array element, according to the phase difference being calculated
Direction finding model is constructed, and calculates using the direction finding model angle measurement error between the estimated value and actual value in wave direction to be measured；
Then by choosing the 4th array element of several different rotary angles, wave direction to be measured is calculated separately in the phase according to the angle measurement error
The direction finding precision for hoping pitching angular zone, is determined as best rotation angle for the corresponding rotation angle of the highest direction finding precision being calculated
Degree, and the four array element solid arrays final according to optimal rotation angle building, in the situation that radiation source direction of arrival determines
Under, the four array element solid arrays finally constructed using the present invention can both guarantee also can in larger elevation angle region direction finding precision
It is lifted at the direction finding precision compared with flat attitude region, meets wave direction to be measured in the direction finding precision of desired pitching angular zone.In addition,
The present invention calculates the phase difference between array element using timesharing, compared to the synchronous mode for calculating the phase difference between array element, has saved and is
The computing resource of system.
In implementing at of the invention one, the solid array Primary Construction unit 210, for traditional three array elements will to be equalled
Three-dimensional cartesian coordinate system OXYZ where the battle array of face rotates in the forward direction an angle around x-axis, obtains three-dimensional cartesian coordinate system O ' X ' Y ' Z ',
The 4th array element is added on Y ' axis, and the second array element is located at X-axis, third array element is located at Y-axis, second array element, third battle array
Member is equal with the baseline length that the 4th array element is respectively relative to first array element.
In implementing at of the invention one, the phase difference calculating unit 220, for according to formulaCalculate the phase difference between second array element and first array element；
According to formulaCalculate the phase between the third array element and first array element
Potential difference；
According to formulaCalculate the 4th array element and institute
State the phase difference between the first array element；
Wherein, d is the base length that second array element, third array element and the 4th array element are respectively relative to first array element
Degree, λ are the wavelength in wave direction to be measured, and β is the pitch angle in wave direction to be measured, and α is the azimuth in wave direction to be measured, and γ is described the
Rotation angle of four array elements relative to the three-dimensional cartesian coordinate system, Δ φ21Be second array element and first array element it
Between phase difference measurement error difference, Δ φ31It is the phase difference measurement error between the third array element and first array element
Difference, Δ φ41It is the difference of the phase difference measurement error between the 4th array element and first array element.
In one embodiment of the invention, the direction finding model construction unit 230, for according to formulaPhase difference by second array element, third array element and the 4th array element relative to first array element converts
For phase difference measurement value matrix；
Least Square in Processing is carried out to the phase difference measurement value matrix, obtains direction finding model
Wherein, the transposition of T representing matrix, Σ are positive definite matrix, and θ is wave direction vector to be measured, and θ=(α, β)；Be to
The estimated value of wave direction vector is surveyed, and It is azimuthal estimated value in wave direction to be measured,It is wave side to be measured
To pitch angle estimated value；
It is phase difference measurement value matrix；
It is phase difference theory
Value matrix；
It is phase difference measurement error matrix, and it is Σ that obedience mean value, which is 0, covariance matrix,
Multi-dimension Normal distribution.
In one embodiment of the invention, the angle measurement error computing unit 240, for according to the direction finding model and
The phase difference measurement error matrix calculates the angle between the estimated value and theoretical value in wave direction to be measured；
The covariance matrix for calculating the angle between the estimated value and theoretical value in the wave direction to be measured, obtains wave side to be measured
To azimuth measurement error varianceWith the elevation measurement error variance in wave direction to be measured
And
According to formulaCalculate the angle between the estimated value and actual value in the wave direction to be measured
VarianceWhereinIt is the variance of phase difference measurement error, α0It is the azimuthal theoretical value in wave direction to be measured, β0It is wave to be measured
The theoretical value of direction pitch angle, willAs the angle measurement error between the estimated value and actual value in the wave direction to be measured.
It should be noted that the realization of each embodiment of the course of work of device shown in Fig. 3 and method shown in FIG. 1 walks
Suddenly correspond to identical, identical part repeats no more.
Embodiment three
In the present embodiment, with the case study on implementation of a four array element solid right angle battle array of low orbit satellite to demonstrate its applying step
And effect.In the implementation case, using Instrumentation system when phase difference, and phase difference between channels measurement error is 10 °.In reality
In the application of border, except the direction finding precision requirement near to relationship substar (near i.e. 90 ° of pitch angle) it is very high in addition to, for pitch angle
The direction finding precision in 35 ° to 50 ° regions also there are certain requirements.Fig. 4 is one embodiment of the invention when γ=45 °, four array elements
The schematic diagram of the direction finding precision contour of three-dimensional right angle battle array；Fig. 5 is one embodiment of the invention when γ=60 °, four array elements
The schematic diagram of the direction finding precision contour of three-dimensional right angle battle array；Fig. 6 is one embodiment of the invention when γ=120 °, four array elements
The schematic diagram of the direction finding precision contour of three-dimensional right angle battle array；Fig. 7 is one embodiment of the invention when γ=135 °, four array elements
The schematic diagram of the direction finding precision contour of three-dimensional right angle battle array.As shown in figs. 4-7, when γ=45 °, 35 ° of smaller elevation angle region is extremely
The direction finding precision in 50 ° of regions is (5,6.5)；When γ=60 °, the direction finding precision in smaller 35 ° to the 50 ° regions in elevation angle region is
(4.6,5.4)；When γ=120 °, the direction finding precision in smaller 35 ° to the 50 ° regions in elevation angle region is (4.2,4.9)；When γ=
At 135 °, the direction finding precision in smaller 35 ° to the 50 ° regions in elevation angle region is (4.2,5.4), it can be seen that, when rotation angle γ=
At 120 °, direction finding precision highest in 35 ° to 50 ° of smaller elevation angle region region, therefore, when to 35 ° to 50 ° of smaller elevation angle region
When the direction finding precision in region is more demanding, chooses rotation angle γ=120 ° and construct four array element three-dimensional arrays.
In this example, as a comparison, also contemplating three array element L-type planes traditional under same phase difference measurement error condition
Battle array.Fig. 8 is the schematic diagram of the direction finding precision contour of three array element plane L-type right angle battle arrays of one embodiment of the invention, is needed
Bright, what the array element plane L-type right angle battle array in Fig. 8 referred to is exactly the direction finding battle array that A1, A2, A3 array element are constituted in Fig. 2.Fig. 9 is this
The four array element solid right angle battle arrays (γ=120 °) of invention one embodiment and three array element plane L-type right angle battle array direction finding precision ratios etc.
The schematic diagram of high line.By the result of comparative analysis Fig. 8 and Fig. 9 as it can be seen that when pitch angle is 20 ° or so in Fig. 9, four array elements are vertical
The angle measurement error of body right angle battle array is only 20% or so of three array element plane L-type right angle battle arrays, and four array elements that this patent proposes are three-dimensional straight
Angle battle array advantage when pitch angle is lower is significant.It should be noted that number of the Fig. 4 into Fig. 9 represents accuracy.
In conclusion technical solution of the present invention, by by the three-dimensional cartesian coordinate system where traditional three array element planar arrays
One angle of any rotation, adds non-coplanar 4th array element, constructs four preliminary array element solid arrays, preliminary based on this
Four array element solid array timesharing calculate other phase differences of three array elements relative to the first array element, according to the phase difference being calculated
Direction finding model is constructed, and calculates using the direction finding model angle measurement error between the estimated value and actual value in wave direction to be measured；
Then by choosing the 4th array element of several different rotary angles, wave direction to be measured is calculated separately in the phase according to the angle measurement error
The direction finding precision for hoping pitching angular zone, is determined as best rotation angle for the corresponding rotation angle of the highest direction finding precision being calculated
Degree, and the four array element solid arrays final according to optimal rotation angle building, in the situation that radiation source direction of arrival determines
Under, the four array element solid arrays finally constructed using the present invention can both guarantee also can in larger elevation angle region direction finding precision
It is lifted at the direction finding precision compared with flat attitude region, meets wave direction to be measured in the direction finding precision of desired pitching angular zone.In addition,
The present invention calculates the phase difference between array element using timesharing, compared to the synchronous mode for calculating the phase difference between array element, has saved and is
The computing resource of system.
The above is only presently preferred embodiments of the present invention, are not intended to limit the scope of the present invention.It is all in this hair
Any modification, equivalent replacement, improvement and so within bright spirit and principle, are included within the scope of protection of the present invention.
Claims (10)
1. a kind of method for constructing four array element solid arrays, which is characterized in that the described method includes:
Three-dimensional cartesian coordinate system where traditional three array element planar arrays is arbitrarily rotated into an angle, adds one the non-coplanar 4th
Array element constructs four preliminary array element solid arrays, wherein the first array element is the origin of the three-dimensional cartesian coordinate system；
Other phases of three array elements relative to first array element are calculated based on the four preliminary array element solid array timesharing
Difference；
Other three array elements according to being calculated construct direction finding model relative to the phase difference of first array element；
The angle measurement error between the estimated value and actual value in wave direction to be measured is calculated using the direction finding model；
The 4th array element for choosing several different rotary angles calculates separately wave direction to be measured according to the angle measurement error and bows in expectation
The corresponding rotation angle of the highest direction finding precision being calculated is determined as optimal rotation angle by the direction finding precision of elevation angle region,
And the four array element solid arrays final according to optimal rotation angle building.
2. the method as described in claim 1, which is characterized in that the three-dimensional right angle by where traditional three array element planar arrays is sat
Mark system one angle of rotation, adds non-coplanar 4th array element, constructing four preliminary array element solid arrays includes:
Three-dimensional cartesian coordinate system OXYZ where traditional three array element planar arrays is rotated in the forward direction into an angle around x-axis, obtains three-dimensional straight
Angular coordinate system O ' X ' Y ' Z ' adds the 4th array element on Y ' axis, and the second array element is located at X-axis, and third array element is located at Y-axis,
The baseline length that second array element, third array element and the 4th array element are respectively relative to first array element is equal.
3. method according to claim 2, which is characterized in that described based on the four preliminary array element solid array timesharing
Other three array elements, which are calculated, relative to the phase difference of first array element includes:
According to formulaCalculate the phase difference between second array element and first array element；
According to formulaCalculate the phase difference between the third array element and first array element；
According to formulaCalculate the 4th array element and described first
Phase difference between array element；
Wherein, d is the baseline length that second array element, third array element and the 4th array element are respectively relative to first array element, λ
It is the wavelength in wave direction to be measured, β is the pitch angle in wave direction to be measured, and α is the azimuth in wave direction to be measured, and γ is described 4th gust
Rotation angle of the member relative to the three-dimensional cartesian coordinate system, Δ φ21It is between second array element and first array element
The difference of phase difference measurement error, Δ φ31It is the difference of the phase difference measurement error between the third array element and first array element,
Δφ41It is the difference of the phase difference measurement error between the 4th array element and first array element.
4. method as claimed in claim 3, which is characterized in that other described three array elements that the basis is calculated are opposite
Include: in the phase difference building direction finding model of first array element
According to formulaBy second array element, third array element and the 4th array element relative to first array element
Phase difference be converted into phase difference measurement value matrix；
Least Square in Processing is carried out to the phase difference measurement value matrix, obtains direction finding model
Wherein, the transposition of T representing matrix, Σ are positive definite matrix, and θ is wave direction vector to be measured, and θ=(α, β)；It is wave to be measured
The estimated value of direction vector, and It is azimuthal estimated value in wave direction to be measured,It is wave direction to be measured
The estimated value of pitch angle；
It is phase difference measurement value matrix；
It is phase difference theoretical value square
Battle array；
It is phase difference measurement error matrix, and obeying mean value is the height that 0, covariance matrix is Σ
Tie up normal distribution.
5. method as claimed in claim 4, which is characterized in that described to calculate estimating for wave direction to be measured using the direction finding model
Angle measurement error between evaluation and actual value includes:
According to the direction finding model and the phase difference measurement error matrix calculate wave direction to be measured estimated value and theoretical value it
Between angle；
The covariance matrix for calculating the angle between the estimated value and theoretical value in the wave direction to be measured, obtains wave direction to be measured
Azimuth measurement error varianceWith the elevation measurement error variance in wave direction to be measured
And
According to formulaCalculate the angle variance between the estimated value and actual value in the wave direction to be measuredWhereinIt is the variance of phase difference measurement error, α0It is the azimuthal theoretical value in wave direction to be measured, β0It is wave direction to be measured
The theoretical value of pitch angle, willAs the angle measurement error between the estimated value and actual value in the wave direction to be measured.
6. a kind of device for constructing four array element solid arrays, which is characterized in that described device includes:
Solid array Primary Construction unit, for the three-dimensional cartesian coordinate system where traditional three array element planar arrays arbitrarily to be rotated one
Angle adds non-coplanar 4th array element, constructs four preliminary array element solid arrays, wherein the first array element is described three
Tie up the origin of rectangular coordinate system；
Phase difference calculating unit, for based on the four preliminary array element solid array timesharing calculate other three array elements relative to
The phase difference of first array element；
Direction finding model construction unit, for other phases of three array elements relative to first array element according to being calculated
Potential difference constructs direction finding model；
Angle measurement error computing unit, between the estimated value and actual value for calculating wave direction to be measured using the direction finding model
Angle measurement error；
The final construction unit of solid array, for choosing the 4th array element of several different rotary angles, according to the angle measurement error
Wave direction to be measured is calculated separately in the direction finding precision of desired pitching angular zone, the corresponding rotation of highest direction finding precision that will be calculated
Gyration is determined as optimal rotation angle, and the four array element solid arrays final according to optimal rotation angle building.
7. device as claimed in claim 6, which is characterized in that the solid array Primary Construction unit is used for tradition three
Three-dimensional cartesian coordinate system OXYZ where array element planar array rotates in the forward direction an angle around x-axis, obtains three-dimensional cartesian coordinate system O ' X '
Y ' Z ', adds the 4th array element on Y ' axis, and the second array element is located at X-axis, and third array element is located at Y-axis, second array element,
The baseline length that third array element and the 4th array element are respectively relative to first array element is equal.
8. device as claimed in claim 7, which is characterized in that the phase difference calculating unit, for according to formulaCalculate the phase difference between second array element and first array element；
According to formulaCalculate the phase difference between the third array element and first array element；
According to formulaCalculate the 4th array element and described the
Phase difference between one array element；
Wherein, d is the baseline length that second array element, third array element and the 4th array element are respectively relative to first array element, λ
It is the wavelength in wave direction to be measured, β is the pitch angle in wave direction to be measured, and α is the azimuth in wave direction to be measured, and γ is described 4th gust
Rotation angle of the member relative to the three-dimensional cartesian coordinate system, Δ φ21It is between second array element and first array element
The difference of phase difference measurement error, Δ φ31It is the difference of the phase difference measurement error between the third array element and first array element,
Δφ41It is the difference of the phase difference measurement error between the 4th array element and first array element.
9. device as claimed in claim 8, which is characterized in that the direction finding model construction unit, for according to formulaPhase difference by second array element, third array element and the 4th array element relative to first array element converts
For phase difference measurement value matrix；
Least Square in Processing is carried out to the phase difference measurement value matrix, obtains direction finding model
Wherein, the transposition of T representing matrix, Σ are positive definite matrix, and θ is wave direction vector to be measured, and θ=(α, β)；It is wave to be measured
The estimated value of direction vector, and It is azimuthal estimated value in wave direction to be measured,It is wave direction to be measured
The estimated value of pitch angle；
It is phase difference measurement value matrix；
It is phase difference theoretical value square
Battle array；
It is phase difference measurement error matrix, and obeying mean value is the height that 0, covariance matrix is Σ
Tie up normal distribution.
10. device as claimed in claim 9, which is characterized in that
The angle measurement error computing unit, it is to be measured for being calculated according to the direction finding model and the phase difference measurement error matrix
Angle between the estimated value and theoretical value in wave direction；
The covariance matrix for calculating the angle between the estimated value and theoretical value in the wave direction to be measured, obtains wave direction to be measured
Azimuth measurement error varianceWith the elevation measurement error variance in wave direction to be measured
And
According to formulaCalculate the angle variance between the estimated value and actual value in the wave direction to be measuredWhereinIt is the variance of phase difference measurement error, α0It is the azimuthal theoretical value in wave direction to be measured, β0It is wave direction to be measured
The theoretical value of pitch angle, willAs the angle measurement error between the estimated value and actual value in the wave direction to be measured.
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