CN109917345B - Method and device for calibrating directional sensitivity of monopulse radar - Google Patents
Method and device for calibrating directional sensitivity of monopulse radar Download PDFInfo
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Abstract
The invention discloses a method and a device for calibrating the directional sensitivity of a monopulse radar, and relates to the field of radar calibration. The method comprises the following steps: detecting a calibration source through a monopulse radar, and enabling an antenna of the monopulse radar to sequentially rotate through n preset sampling points; calculating the antenna angle S collected at each sampling pointi(ii) a Calculating the actual angle error SEiObtaining a detection angle error RE of the monopulse radari(ii) a According to actual angle error SE at all sampling pointsiAnd detecting the angle error REiAnd obtaining the directional sensitivity of the monopulse radar. The method and the device for calibrating the directional sensitivity of the monopulse radar have higher sampling precision, are most helpful for observing the symmetry of the directional sensitivity of the radar and the actually measured angle error when the real angle error is close to 0, and can ensure that the calibration task is successfully completed when the sampling precision is insufficient due to the fact that the speed index of a servo system does not meet the requirement.
Description
Technical Field
The invention relates to the field of radar calibration, in particular to a method and a device for calibrating the directional sensitivity of a monopulse radar.
Background
The directional sensitivity of the monopulse radar is divided into an azimuth directional sensitivity and a pitch directional sensitivity, which need to be determined separately.
The existing method for calibrating the directional sensitivity of the monopulse radar is as follows: taking the orientation sensitivity as an example, the monopulse radar tracks a fixed calibration source target with a known position, the orientation of the calibration source is CenterA, the pitching is CenterE, the pitching of the antenna is kept to be directed to the CenterE, and the orientation of the antenna is controlled from-theta of the CenterAADirection is rotated to thetaADirection of which thetaAIs a half-wave beam width of single-pulse radar azimuthDegree of [ CenterA-theta ]A，CenterA+θA]The method comprises the steps of averagely setting n sampling points in the range, and recording the real azimuth error of a target and the azimuth error measured by the monopulse radar when the azimuth of the monopulse radar antenna reaches a preset sampling point. After n sampling point data are recorded, the true azimuth angle error sequence of the target is taken as an X axis, the azimuth angle error sequence measured by the single pulse radar is taken as a Y axis, a single pulse radar azimuth directional sensitivity curve can be obtained, the azimuth directional sensitivity curve is fitted, and the slope of the obtained straight line is the azimuth directional sensitivity of the single pulse radar.
Similarly, the pitching directional sensitivity of the monopulse radar can be obtained by keeping the orientation of the antenna pointing to CenterA, rotating the pitching of the monopulse radar and repeating the processes.
However, the existing calibration method has a great problem. The servo system for controlling the rotation of the monopulse radar antenna is a feedback control system, when the antenna rotates to the end position from the initial position to n sampling points in turn according to the preset speed, the actual movement speed of the antenna is characterized by slow starting, gradual acceleration, and being larger than the preset speed, and then gradually approaching to the preset speed, and finally gradually slowing down until the antenna stops at the end position.
Disclosure of Invention
The invention aims to solve the technical problem of providing a method and a device for calibrating the directional sensitivity of a monopulse radar, aiming at the defects of the prior art.
The technical scheme for solving the technical problems is as follows:
a method for calibrating the directional sensitivity of a monopulse radar comprises the following steps:
detecting a calibration source through a monopulse radar, enabling an antenna of the monopulse radar to sequentially rotate through n preset sampling points, and collecting m antenna angles of the antenna at the ith sampling point, wherein n is more than or equal to 3, m is more than or equal to 3, i is 1, 2, …, n;
respectively calculating the difference value of each antenna angle and the angle of the ith sampling point, and taking the antenna angle with the minimum absolute value of the difference value as the antenna angle S acquired by the ith sampling pointi；
According to the antenna angle SiCalculating the actual angle error SE of the antenna at the ith sampling pointiAnd calculating the angle S of the antenna during the collectioniThen, the single pulse radar detects the detected angle error RE at the ith sampling pointi；
According to the actual angle error SE at all sampling pointsiAnd the detected angle error REiAnd obtaining the directional sensitivity of the monopulse radar.
The invention has the beneficial effects that: according to the calibration method for the directional sensitivity of the monopulse radar, provided by the invention, through sampling at each sampling point for multiple times, and then determining the proper antenna angle according to the angle difference value between each antenna angle and the sampling point, the obtained antenna angle is the antenna angle closest to the angle of the preset sampling point, the method has the advantage of higher sampling precision, and is most helpful for observing the symmetry of the directional sensitivity of the radar and the actual angle error when the actual angle error is close to 0, and if the speed index of a servo system does not meet the requirement, the calibration task can be ensured to be successfully completed when the sampling precision is insufficient.
Another technical solution of the present invention for solving the above technical problems is as follows:
a kind of monopulse radar directional sensitivity calibration device, including:
a memory for storing a computer program;
and the processor is used for executing the computer program to realize the calibration method of the single-pulse radar directional sensitivity.
The invention has the beneficial effects that: the calibration device for the directional sensitivity of the monopulse radar provided by the invention has the advantages that the device carries out sampling for many times at each sampling point through the processor, then determines a proper antenna angle according to the angle difference value between each antenna angle and the sampling point, can ensure that the obtained antenna angle is the antenna angle closest to the angle of the preset sampling point, has higher sampling precision, and is most helpful for observing the symmetry of the directional sensitivity of the radar and the actually measured angle error when the real angle error is close to 0, and can also ensure that the calibration task is successfully completed if the speed index of the servo system is not in accordance with the requirement and the sampling precision is not enough.
Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1 is a schematic flow chart of a method for calibrating the directional sensitivity of a monopulse radar according to an embodiment of the present invention;
fig. 2 is a structural framework diagram provided by an embodiment of the calibration apparatus for directional sensitivity of a monopulse radar of the present invention.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth to illustrate, but are not to be construed to limit the scope of the invention.
The directional sensitivity of the monopulse radar is divided into azimuth directional sensitivity and pitch directional sensitivity, and the two directional sensitivities need to be calibrated respectively. For the method, the antenna angle comprises an azimuth angle and a pitch angle, when the azimuth directional sensitivity needs to be calibrated, the pitch of the antenna can be pointed to the pitch of the calibration source, the pitch is kept unchanged, then the azimuth of the antenna is rotated, and the method provided by the invention is used for sampling to obtain the azimuth directional sensitivity.
Similarly, when the pitching directional sensitivity needs to be calibrated, the direction of the antenna can be pointed to the direction of the calibration source, the direction is kept unchanged, then the pitching of the antenna is rotated, and the pitching directional sensitivity is obtained by sampling through the method provided by the invention.
Therefore, the antenna angle, the actual angle error, the detection angle error and the like in the application refer to an azimuth angle, an actual azimuth angle error and a detection azimuth angle error, or a pitch angle, an actual pitch angle error and a detection pitch angle error, when the azimuth directional sensitivity is calibrated, the pitching of the monopulse radar antenna is kept pointing to the pitching of the calibration source, the pitching is kept unchanged, and the azimuth of the antenna is rotated; when the pitching directional sensitivity is calibrated, the azimuth of the monopulse radar antenna is kept pointing to the azimuth of the calibration source, the azimuth is kept unchanged, the pitching of the antenna is rotated, and the subsequent explanation is omitted.
As shown in fig. 1, a schematic flow chart is provided for an embodiment of a method for calibrating the directional sensitivity of a monopulse radar of the present invention, and the method includes:
and S1, detecting the calibration source through the monopulse radar, enabling the antenna of the monopulse radar to sequentially rotate through n preset sampling points, and acquiring m antenna angles of the antenna at the ith sampling point, wherein n is more than or equal to 3, m is more than or equal to 3, and i is 1, 2, … and n.
It should be noted that the calibration source is a fixed calibration source, and the azimuth angle and the pitch angle of the fixed calibration source are known. The number n of sampling points can be set according to actual requirements, and preferably, the number n of sampling points is an odd number. And performing m times of sampling at each sampling point, wherein each time of sampling obtains one antenna angle. It should be understood that in order to ensure sampling accuracy, the m sampling points should cover the sampled data before and after the antenna rotates past the sampling point, and the antenna angle can be obtained by reading the servo system angular encoder.
It should be understood that the angle step between any two adjacent sampling points, the control amount of the movement speed of the antenna, and the like can be preset according to actual requirements.
It should be appreciated that when the antenna is rotated through the sample point at the m-th sample of the ith sample point, then the sampling at the ith sample point ends for a total of m samples.
S2, respectively calculating the difference value between each antenna angle and the angle of the ith sampling point, and taking the antenna angle with the minimum absolute value of the difference value as the antenna angle S acquired by the ith sampling pointi。
It should be noted that the antenna angle is obtained by sampling at each sampling point, and then the difference may be obtained by only subtracting the antenna angle from the angle of the corresponding sampling point.
For example, assume that there are 3 samples, each F1、F2、F3The antenna angle is acquired 3 times at each sampling point, then at sampling point F1The collected 3 antenna angles are S respectively11、S12、S13(ii) a At sampling point F2The collected 3 antenna angles are S respectively21、S22、S23(ii) a At sampling point F3The collected 3 antenna angles are S respectively31、S32、S33。
Then for sample point F1In other words, S may be used separately11、S12、S13And F1Taking the difference to obtain 3 difference values, assuming that the difference values are compared, S12And F1Is smallest in absolute value, i.e. the antenna angle S12Angle F to the actual sampling point1Nearest, then S may be12As at sampling point F1Collected antenna angle S1. The antenna angle determination methods of other sampling points are the same as above, and are not described again.
S3, according to the antenna angle SiCalculating the actual angle error SE of the antenna at the ith sampling pointiAnd calculating the angle S of the collecting antennaiDetecting the detected angle error RE detected by the monopulse radar at the ith sampling pointi。
Note that, the actual angle error SEiCan be measured by the antenna angle SiIs obtained by subtracting the actual angle of the calibration source and detects the angle error REiIs detected by a monopulse radar.
It should be understood that at the acquisition antenna angle SiTime, the collection time is TijAt TijAt the moment, the angular error detected by the monopulse radar is the detection angular error REi。
For example, assume that i is 3, i.e., at the third sampling point, the 2 nd antenna angle S is acquired32Collecting antenna angles for the antenna angles closest to the angle of the sampling pointDegree S32Has a collection time T32Then, the detected angle error RE detected by the monopulse radar at the third sampling point3That is, the monopulse radar is at T32The detected angle error detected at a moment.
S4, according to actual angle errors SE at all sampling pointsiAnd detecting the angle error REiAnd obtaining the directional sensitivity of the monopulse radar.
For example, the actual angle error SE at all sampling points may be comparediAnd detecting the angle error REiFitting into a straight line, and determining the slope of the fitted straight line, namely the directional sensitivity.
The calibration method for the directional sensitivity of the monopulse radar provided by the embodiment comprises the steps of sampling at each sampling point for multiple times, determining a proper antenna angle according to the angle difference between each antenna angle and the sampling point, ensuring that the obtained antenna angle is the antenna angle closest to the preset sampling point angle, having the advantage of higher sampling precision, and ensuring that the calibration task is successfully completed when the symmetry of the directional sensitivity of the radar and the actual angle error are close to 0 are maximally helped, and if the speed index of a servo system is not in accordance with the requirement, the sampling precision is not enough.
Alternatively, in some embodiments, the difference may be calculated according to the following formula:
ξij＝MinSpan(Fi-Sij)
wherein, FiIs the angle of the ith sample point, SijFor the antenna angle acquired at the jth sampling point, j is 1, 2, …, m, ξijFor differences, MinSpan refers to scaling the angle values to a range of (-180, 180) degrees, or to a range of (- π, π).
Optionally, in some embodiments, the antenna angle with the smallest absolute value of the difference is used as the antenna angle S acquired by the ith sampling pointiThe method comprises the following steps:
when ξij≤0，ξij-1> 0, and- ξij＜ξij-1Then, the day of the j-th collection is determinedLine angle SijThe absolute value of the difference value of the angle of the ith sampling point is minimum, and the antenna angle S acquired at the jth time is calculatedijAntenna angle S collected as ith sampling pointi；
When ξij≤0，ξij-1> 0, and- ξij≥ξij-1Then, the antenna angle S acquired at the j-1 th time is determinedij-1The absolute value of the difference value of the angle of the ith sampling point is minimum, and the antenna angle S acquired at the j-1 th time is calculatedij-1Antenna angle S collected as ith sampling pointi。
It should be understood that when ξijNot more than 0 and ξij-1When the sampling point is greater than 0, the antenna just rotates the ith sampling point when the jth sampling point of the ith sampling point is sampled, and at the moment, if- ξij＜ξij-1Then, the antenna angle S is compared with the adjacent last sampling, that is, the j-1 th sampling of the ith sampling point is not yet rotated by the antenna, and the j-th sampling of the ith sampling point is just rotated by the antennaijFrom a predetermined sampling point FiMore recently, the antenna angle S acquired at the jth time is determinedijAntenna angle S collected as ith sampling pointi。
Similarly, if- ξij≥ξij-1Then, it means that the antenna angle S is compared with the j-th sampling of the ith sampling point just rotated by the antenna, and the adjacent last sampling, that is, the j-1 th sampling of the ith sampling point not rotated by the antenna yetij-1From a predetermined sampling point FiMore recently, the antenna angle S acquired at the j-1 th time is determinedij-1Antenna angle S collected as ith sampling pointi。
By the method, sampling is carried out on each sampling point for multiple times, and then the antenna angle closest to the preset sampling point in the sampling process is selected through the judgment process, so that the problem of reduction of sampling precision caused by non-uniform rotation speed of the antenna can be effectively solved.
Alternatively, in some embodiments, the actual angle error SE may be calculated according to the following equationi：
SEi＝MinSpan(C-Si)
Where C is the actual angle of the calibration source, and MinSpan represents the conversion of the angle value to the (-180, 180) degree range, or to the (- π, π) range.
Alternatively, in some embodiments, the number of sample points n may be determined according to the following formula:
wherein, the preset value of the radar sampling precision is thetaAIs the azimuth half-beamwidth, theta, of monopulse radarEIs the pitch half beamwidth of the monopulse radar.
The number of the sampling points is determined by the method, and the obtained number of the sampling points can reduce the operation times and improve the calibration efficiency of the directional sensitivity under the condition of meeting the sampling requirement.
Alternatively, in some embodiments, the angular step between any two adjacent sample points may be determined according to the following formula:
or the like, or, alternatively,
wherein, thetaAIs the azimuth half-beamwidth, theta, of monopulse radarEIs the pitch half beam width of the monopulse radar, Step is the angle Step.
It will be appreciated that when calibrating the azimuth sensitivity of the radar, a first formula is used to determine the angular step between any two adjacent sample points, and when calibrating the pitch sensitivity of the radar, a second formula is used to determine the angular step between any two adjacent sample points.
Alternatively, in some embodiments, the angle of the ith sample point may be determined according to the following equation:
Fi＝C+Step×(i-1)-θA
or the like, or, alternatively,
Fi＝C+Step×(i-1)-θE
wherein C is the actual angle of the calibration source, FiThe angle of the ith sample point, i ═ 1, 2, …, n.
It will be appreciated that the angle of the ith sample point is determined using a first formula when calibrating the azimuth sensitivity of the radar and a second formula when calibrating the elevation sensitivity of the radar.
Preferably, when the azimuth directional sensitivity of the radar is calibrated, the antenna angle of the monopulse radar is moved to C-thetaAStep, as the starting position of the antenna; when the pitching directional sensitivity of the radar is calibrated, the antenna angle of the monopulse radar is moved to C-thetaEStep, as the starting position of the antenna.
Preferably, when the azimuth directional sensitivity of the radar is calibrated, the antenna angle of the monopulse radar is moved to C + thetaA+ Step, as the end position of the antenna; when the pitching directional sensitivity of the radar is calibrated, the antenna angle of the monopulse radar is moved to C + thetaE+ Step is the end position of the antenna.
It should be understood that, taking the calibration of the azimuth sensitivity of the radar as an example, when the angle of the sampling point is calculated by the above method, the first sampling point F is1Angle of (C-theta)AThen by setting the starting position of the antenna at C-thetaAStep, i.e. moving the antenna forward by Step at the first sampling point, can reduce the problem of uneven speed of the antenna caused by unstable speed when starting, and can make the speed of the antenna approach to the predetermined speed when reaching the real sampling interval.
Meanwhile, the same judgment can be carried out at the first sampling point and the last sampling point during judgment, and calculation is facilitated. For example, if the start position is not moved forward and the first sampling point is moved, the data sampled before the first sampling point is lacked, and the data collected by the first sampling point is not accurate enough.
Alternatively, in some embodiments, the control amount of the moving speed of the antenna may be determined according to the following formula:
wherein t is a sampling time interval, V is a control quantity of the moving speed of the antenna, and sigma% is a speed error band range of the servo system and is a radar sampling precision preset value.
It should be understood that the controlled amount of the moving speed of the antenna is the predetermined speed.
The control quantity of the moving speed of the antenna is set in the mode, so that the antenna angle can be guaranteed to be sampled for at least 2 times between two adjacent sampling points, and the sampling precision is improved.
Alternatively, in some embodiments, the actual angle error SE at all sampling points is based oniAnd detecting the angle error REiObtaining directional sensitivity of the monopulse radar may include:
with actual angle error SE at all sampling pointsiFor the X-axis, with the detected angle error RE at all sampling pointsiObtaining a directional sensitivity curve of the monopulse radar as a Y axis;
and fitting the directional sensitivity curve, and calculating the slope of the fitted directional sensitivity curve to obtain the directional sensitivity.
Preferably, when calibrating the azimuth sensitivity of the radar, data within a precision range of the center of the directional sensitivity curve can be taken, for example, the data can be
Data within range, i.e.
The data in the range can obtain more accurate directional sensitivity.
When calibrating the pitch directional sensitivity of the radar, data within a precision range of the center of the directional sensitivity curve can be taken, for example, the data can be
Data within range, i.e.
The data in the range can obtain more accurate directional sensitivity.
The following is a description of a sample data example.
Assuming that V is 0.625, C is 0, Step is 0.06, and Step is 0.003, in the following sampling data, the first column is the sampling point number, the second column is the actual moving speed of the antenna, the third column is the antenna angle, and the fourth column is the actual angle error of the closest point to the ith sampling point at the jth sampling point of the ith sampling point.
50，0.625522，-0.062072，0.062072
50，0.625521，-0.057068，0.062072
51，0.625521，-0.052064，0.052064
51，0.625521，-0.047059，0.047059
51，0.625521，-0.042055，0.042055
51，0.625520，-0.037051，0.037051
51，0.625520，-0.032047，0.032047
51，0.625519，-0.027043，0.027043
51，0.625519，-0.022039，0.022039
51，0.625519，-0.017034，0.017034
51，0.625519，-0.012030，0.012030
51，0.625518，-0.007026，0.007026
51，0.625518，-0.002022，0.002022
51，0.625518，0.002982，0.002022
52，0.625518，0.007986，-0.007986
It can be seen that at sample 1 of the 51 st sample point, the closest to the predetermined point 0 is-0.052064, and the actual angle error of the output is 0.052064.
At the 2 nd sample of the 51 st sample point, the closest to the predetermined point 0 is-0.047059, and the actual angle error of the output is 0.047059.
……
At the 11 th sampling of the 51 st sampling point, the antenna does not rotate by the predetermined point 0, which is the closest angle, and at the 12 th sampling point, the antenna just rotates by 0, but not the closest angle, and therefore, the final actual angle error SE is output51Is 0.002022.
It is understood that some or all of the alternative embodiments described above may be included in some embodiments.
As shown in fig. 2, in another embodiment of the present invention, there is provided a single-pulse radar directional sensitivity calibration apparatus, including:
a memory 1 for storing a computer program;
and the processor 2 is used for executing a computer program to realize the calibration method of the single-pulse radar directional sensitivity of any embodiment.
The utility model provides a monopulse radar directional sensitivity calibration device, carry out a lot of samplings at every sampling point through the treater, then confirm suitable antenna angle according to the difference of the angle of every antenna angle and sampling point, the antenna angle that can guarantee to obtain is the antenna angle that is the closest with predetermined sampling point angle, the advantage that sampling precision is higher has, and it is the biggest to surveying radar directional sensitivity's symmetry and real angle error actual measurement angle error when being close to 0, if the unsatisfactory appears in servo system speed index, when leading to sampling precision not enough, also can ensure to mark the task and accomplish smoothly.
It should be noted that this embodiment is a product embodiment corresponding to each of the above method embodiments, and for the description of each optional implementation in this embodiment, reference may be made to corresponding descriptions in each of the above method embodiments, and details are not repeated here.
The reader should understand that in the description of this specification, reference to the description of the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed.
While the invention has been described with reference to specific embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A method for calibrating the directional sensitivity of a monopulse radar is characterized by comprising the following steps:
detecting a calibration source through a monopulse radar, enabling an antenna of the monopulse radar to sequentially rotate through n preset sampling points, and collecting m antenna angles of the antenna at the ith sampling point, wherein n is more than or equal to 3, m is more than or equal to 3, i is 1, 2, …, n;
respectively calculating the difference value of each antenna angle and the angle of the ith sampling point, and taking the antenna angle with the minimum absolute value of the difference value as the antenna angle S acquired by the ith sampling pointi；
According to the antenna angle SiCalculating the actual angle error SE of the antenna at the ith sampling pointiAnd calculating the angle S of the antenna during the collectioniThen, the single pulse radar detects the detected angle error RE at the ith sampling pointi；
According to the actual angle error SE at all sampling pointsiAnd the detected angle error REiAnd obtaining the directional sensitivity of the monopulse radar.
2. The method for calibrating the directional sensitivity of the monopulse radar as claimed in claim 1, wherein the difference is calculated according to the following formula:
ξij＝MinSpan(Fi-Sij)
wherein, FiIs the angle of the ith sample point, SijFor the antenna angle acquired at the jth sampling point, j is 1, 2, …, m, ξijFor differences, MinSpan refers to scaling the angle values to a range of (-180, 180) degrees, or to a range of (- π, π).
3. The method for calibrating the directional sensitivity of the monopulse radar as claimed in claim 2, wherein the antenna angle with the smallest absolute value of the difference is used as the antenna angle S acquired by the ith sampling pointiThe method specifically comprises the following steps:
when ξij≤0，ξij-1> 0, and- ξij＜ξij-1Then, the antenna angle S acquired at the j-th time is determinedijThe absolute value of the difference value of the angle of the ith sampling point is minimum, and the antenna angle S acquired at the jth time is calculatedijAs the ith sampling pointCollected antenna angle Si；
When ξij≤0，ξij-1> 0, and- ξij≥ξij-1Then, the antenna angle S acquired at the j-1 th time is determinedij-1The absolute value of the difference value of the angle of the ith sampling point is minimum, and the antenna angle S acquired at the j-1 th time is measuredij-1An antenna angle S collected as the ith sampling pointi。
4. The calibration method for the directional sensitivity of the monopulse radar as claimed in claim 1, wherein the actual angle error SE is calculated according to the following formulai：
SEi＝MinSpan(C-Si)
Where C is the actual angle of the calibration source, and MinSpan represents the conversion of the angle value to the (-180, 180) degree range, or to the (- π, π) range.
5. The method for calibrating the directional sensitivity of the monopulse radar as claimed in claim 1, wherein the number n of the sampling points is determined according to the following formula:
wherein, the preset value of the radar sampling precision is thetaAIs the azimuth half-beamwidth, theta, of monopulse radarEIs the pitch half beamwidth of the monopulse radar.
6. The method for calibrating the directional sensitivity of the monopulse radar as claimed in claim 1, wherein the angular step length between any two adjacent sampling points is determined according to the following formula:
or the like, or, alternatively,
wherein, thetaAIs the azimuth half-beamwidth, theta, of monopulse radarEIs the pitch half beam width of the monopulse radar, Step is the angle Step.
7. The method for calibrating the directional sensitivity of the monopulse radar as claimed in claim 6, wherein the angle of the ith sampling point is determined according to the following formula:
Fi＝C+Step×(i-1)-θA
or the like, or, alternatively,
Fi＝C+Step×(i-1)-θE
wherein C is the actual angle of the calibration source, FiIs the angle of the ith sample point.
8. The method for calibrating the directional sensitivity of the monopulse radar as claimed in claim 6, wherein the control quantity of the moving speed of the antenna is determined according to the following formula:
wherein t is a sampling time interval, V is a control quantity of the moving speed of the antenna, and sigma% is a speed error band range of the servo system and is a radar sampling precision preset value.
9. The calibration method for the directional sensitivity of the monopulse radar as claimed in any one of claims 1 to 8, wherein the actual angle error SE at all sampling points is used as the basisiAnd the detected angle error REiObtaining the directional sensitivity of the monopulse radar specifically includes:
with said actual angle error SE at all sampling pointsiFor the X-axis, with the detected angular error RE at all sampling pointsiObtaining a directional sensitivity curve of the single pulse radar as a Y axis;
and fitting the directional sensitivity curve, and calculating the slope of the fitted directional sensitivity curve to obtain the directional sensitivity.
10. A kind of monopulse radar directional sensitivity calibration device, characterized by that, including:
a memory for storing a computer program;
a processor for executing the computer program to implement the method of single pulse radar directional sensitivity calibration as claimed in any one of claims 1 to 9.
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