CN104200110B - Decoupling-based two-dimensional beam scanning angle measurement method - Google Patents

Abstract

The invention discloses a decoupling-based two-dimensional beam scanning angle measurement method. The problem that a traditional two-dimensional beam scanning method for existing large phased array radar is large in calculation amount and cannot meet the real-time performance requirement. The method comprises the steps that 1, antenna array parameters and angle scanning information are set; 2, steering vectors in the y axis and z axis directions are created and weighing signals in the y axis and z axis directions are calculated according to the antenna array parameters and the angle scanning information; 3, weight vector matrixes in the y axis and z axis directions are built according to the antenna array parameters and the angle scanning information, digital beam forming is carried out on the weighing signals in the y axis and z axis directions according to the weight vector matrixes in the y axis and z axis directions, and beam scanning signals in the y axis and z axis directions are obtained; 4, a tested azimuthal angle and a tested pitch angle are calculated according to the beam scanning signals in the y axis and z axis directions respectively. The decoupling-based two-dimensional beam scanning angle measurement method reduces the traditional two-dimensional beam scanning calculation amount, improves the calculation speed and can be used for target angle measurement.

Description

Two dimensional beam based on uncoupling scans angle-measuring method

Technical field

The invention belongs to the radar exploration technique field, specifically a kind of radar beam scanning angle-measuring method, can be used for The measurement to angle on target for the Large Phased Array Radar.

Background technology

Because beam sweeping method principle is simple, it is easy to accomplish, beam angle is narrow, antenna receiving signal signal to noise ratio In the case that relatively higher and aerial array minor level is relatively low, beam sweeping method has good angle measurement performance, therefore wave beam Scan method is widely used in radar angle measurement.The general principle of beam sweeping method is by the weights according to change antenna, Obtain array antenna in different beam positions, the output to same snap, the maximum obtained in output result is just permissible Obtain the angle information of target.For beam sweeping method, its operand and bay number, angle scanning scope, angle The factors such as the interval of scanning are relevant, and in the timing of other condition one, bay number is bigger, and operand is bigger, for large-scale phase Control battle array radar, its array number is very big, typically up to thousand of or even up to ten thousand, therefore, for Large Phased Array Radar, ripple The operand of beam scanning is very big.In the case of one-dimensional beam scanning, because its angle scanning is only in pitching dimension or azimuth dimension Scanning, even so in the face of a lot of Large Phased Array Radar of array number, operand also will not arrive greatly the real-time of impact system Property stage, but in the case of two-dimentional for, because pitching peacekeeping azimuth dimension has a coupling, need simultaneously in azimuth dimension with bow Face upward dimension and carry out two dimensional beam scanning, its operand is theoretically azimuth dimension and the product of operand, therefore operand are tieed up in pitching More much greater than one-dimensional beam scanning it is impossible to meet the requirement of real-time, affect practical application.

Content of the invention

Present invention aims to the deficiency of above-mentioned prior art is it is proposed that a kind of two dimensional beam based on uncoupling Scanning radar angle-measuring method, to reduce the operand of two dimensional beam scanning, improves the angular velocity of two dimensional beam scanning.

The technical thought realizing the object of the invention is：By azimuth dimension and pitching dimension are carried out uncoupling, couple original Azimuth dimension and pitching dimension separate so that two dimensional beam scanning be decomposed into two one-dimensional beam scannings, to reduce two dimensional beam and to sweep The operand retouched, improves the speed that two dimensional beam scans angle measurement.Implementation step includes as follows：

(1) set aerial array as two-dimensional array, arbitrarily specify one-dimensional for y-axis direction, as line direction, another dimension is z Direction of principal axis, as column direction, the element number of array in y-axis direction is set to N_y, array element distance is set to d_y, the element number of array in z-axis direction sets For N_z, array element distance is set to d_z；

(2) set a datum plane P, and a three-dimensional coordinate system I is set up on datum plane, randomly select certain sky Linear array unit, as the initial point of this coordinate system I, constitutes deflection angle beta between aerial array normal and datum plane normal；

(3) target is detected, antenna beam center pitching angle theta, azimuth are obtained according to the transmitting data of emitter

(4) according to transmission signal wavelength X, the element number of array N in y-axis direction_y, array element distance d_yEstimate the wave beam width in y-axis direction Degree B_y；According to transmission signal wavelength X, the element number of array N in z-axis direction_z, array element distance d_zEstimate the beam angle B in z-axis direction_z；

(5) utilize the beam angle B in y-axis direction_yWith antenna beam center hold angleCalculate on beam scanning azimuth LimitAnd lower limitBeam angle B using z-axis direction_zWith antenna beam center pitching angle theta, calculate the beam scanning angle of pitch Upper limit θ_uWith lower limit θ_d, set azimuth angle sweep spacingAngle of pitch angle scanning is spaced θ_z；

(6) according to antenna beam center hold angleAntenna beam center pitching angle theta, the element number of array N in y-axis direction_y, Array element distance d_y, obtain the steering vector a in y-axis direction_y；According to antenna beam center hold angleThe antenna beam center angle of pitch θ, the element number of array N in z-axis direction_z, array element distance d_z, deflect angle beta, obtain the steering vector a in z-axis direction_z；

(7) set the target echo signal of antenna array receiver as： Wherein s_kThe signal receiving for aerial array row k, is a N_yThe vector of dimension,The signal receiving for aerial array m row, For a N_zThe vector of dimension, k=1,2 ..., N_z, m=1,2 ..., N_y, N_yFor the element number of array in y-axis direction, N_zFor z-axis direction Element number of array；Steering vector a using z-axis direction_zAs digital beam froming, y-axis direction is obtained to target echo signal R Weighted signal s_y；Steering vector a using y-axis direction_yObtain z-axis direction to target echo signal R as digital beam froming to add Power signal s_z；

(8) according to beam scanning azimuth boundWith azimuth angle sweep spacingObtain y-axis direction Weight vector matrix W_y；According to beam scanning angle of pitch bound θ_u, θ_dIt is spaced θ with angle of pitch angle scanning_z, obtain z-axis direction Weight vector matrix W_z；Weight vector matrix W using y-axis direction_yWeighted signal s to above-mentioned y-axis direction_yMake digital beam shape Become, calculate the beam scanning signal y in y-axis direction₁；Weight vector matrix W using z-axis direction_zWeighting letter to above-mentioned z-axis direction Number s_zMake digital beam froming, calculate the beam scanning signal z in z-axis direction₁；

(9) the beam scanning signal y to y-axis direction₁Do beam scanning, calculate the azimuth of testTo z-axis direction Beam scanning signal z₁Do beam scanning, calculate the angle of pitch of test

The invention has the advantages that：

1. the present invention first resolves into two one-dimensional signals the 2D signal of antenna array receiver by uncoupling, then to two Individual one-dimensional signal carries out beam scanning respectively, thus reducing the operand that two dimensional beam scans angle measurement, improves two dimensional beam The speed of scanning angle measurement.

2. the present invention during the 2D signal of antenna array receiver is changed into two one-dimensional signals, collect mail by docking Number carrying out digital beam froming, receipt signal having been accumulated, thus ensure that the precision of the inventive method angle measurement.

Brief description

Fig. 1 is existing large-scale antenna array radar antanna schematic diagram；

Fig. 2 is the implementing procedure figure of the present invention；

The angle measurement root-mean-square error curve map of Fig. 3 target alignment；

The angle measurement root-mean-square error curve map at inclined 2 degree of Fig. 4 azimuth；

The angle measurement root-mean-square error curve map of inclined 2 degree of Fig. 5 angle of pitch；

Fig. 6 angle of pitch, the angle measurement root-mean-square error curve map at inclined 2 degree of azimuth；

Fig. 7 present invention and the operand comparison diagram of conventional two-dimensional beam sweeping method.

Specific embodiment

With reference to Fig. 1, large-scale antenna array is made up of equally distributed aerial array, and the frame of reference is three-dimensional coordinate system Xyz, o are coordinate origin, and datum plane P is yoz coordinate system place plane, and the target detecting is T, between the array element of y-axis direction Away from for d_y, z-axis direction array element distance is d_z, the real angle of pitch of target is θ_t, azimuth isAerial array face normal L and x The angle of axle is deflection angle beta.

With reference to Fig. 2, the present invention to realize step as follows：

Step 1：Set aerial array parameter.

From two-dimensional antenna array, arbitrarily specify one-dimensional as line direction, another dimension is then z-axis direction for y-axis direction, As column direction；

Set the element number of array N in y-axis direction according to actual requirement of engineering_y, array element distance d_y；The element number of array in z-axis direction N_z, array element distance d_z.

Step 2：Set a datum plane P, and a three-dimensional coordinate system I is set up on datum plane, randomly select certain Individual bay, as the initial point of this coordinate system I, obtains the angle between aerial array normal and datum plane normal, is denoted as partially Corner β.

Step 3：Target is detected, antenna beam center pitching angle theta, orientation are obtained according to the transmitting data of emitter Angle

Step 4：Estimate the beam angle B in y-axis direction_yBeam angle B with z-axis direction_z.

(4a) according to transmission signal wavelength X, the element number of array N in y-axis direction_y, array element distance d_y, estimate the wave beam in y-axis direction Width B_y：

(4b) according to transmission signal wavelength X, the element number of array N in z-axis direction_z, array element distance d_z, estimate the wave beam in z-axis direction Width B_z：

Step 5:Calculate the beam scanning azimuth upper limitAnd lower limitBeam scanning angle of pitch upper limit θ_uWith lower limit θ_d, And set azimuth angle sweep spacingIt is spaced θ with angle of pitch angle scanning_z.

(5a) utilize the beam angle B in y-axis direction_yWith antenna beam center hold angleCalculate on beam scanning azimuth LimitAnd lower limit

(5b) utilize the beam angle B in z-axis direction_zWith antenna beam center pitching angle theta, calculate on the beam scanning angle of pitch Limit θ_uWith lower limit θ_d：

θ_u=θ+B_z/2

θ_d=θ-B_z/2.

(5c) azimuth angle sweep spacing is set according to angle measurement accuracy and angular velocity compromiseSweep with angle of pitch angle Retouch interval θ_z, in the case that other specification is constant,And θ_zLess, angle measurement accuracy is bigger, but operand is also bigger.

Step 6：The steering vector a in construction y-axis direction_y, the steering vector a in z-axis direction_z.

(6a) according to antenna beam center hold angleAntenna beam center pitching angle theta, transmission signal wavelength X, y-axis direction Element number of array N_y, array element distance d_y, the steering vector a in construction y-axis direction_y：

Wherein T represents transposition, and j is imaginary unit；

(6b) according to antenna beam center hold angleAntenna beam center pitching angle theta, transmission signal wavelength X, z-axis direction Element number of array N_z, array element distance d_z, deflect angle beta, the steering vector a in construction z-axis direction_z：

Step 7：Antenna array receiver target echo signal, and calculate the weighted signal s in y-axis direction_yWith adding of z-axis direction Power signal s_z.

(7a) target echo signal of antenna array receiver is： Wherein s_kThe signal receiving for aerial array row k, is a N_yThe vector of dimension,The signal receiving for aerial array m row, For a N_zThe vector of dimension, k=1,2 ..., N_z, m=1,2 ..., N_y, N_yFor the element number of array in y-axis direction, N_zFor z-axis direction Element number of array；

(7b) utilize the steering vector a in z-axis direction_zAs digital beam froming, y-axis direction is obtained to target echo signal R Weighted signal s_y：

Wherein H represents conjugate transposition；

(7c) utilize the steering vector a in y-axis direction_yAs digital beam froming, z-axis direction is obtained to target echo signal R Weighted signal s_z：

Step 8：Obtain the beam scanning signal y in y-axis direction₁Beam scanning signal z with z-axis direction₁.

(8a) according to transmission signal wavelength X, antenna beam center pitching angle theta, beam scanning azimuth bound The element number of array N in y-axis direction_y, array element distance d_yWith azimuth angle sweep spacingThe weight vector matrix in construction y-axis direction W_y：

Wherein,Q represents and rounds Operation,

(8b) according to transmission signal wavelength X, antenna beam center hold angleDeflection angle beta, the beam scanning angle of pitch is upper and lower Limit θ_u, θ_d, the element number of array N in z-axis direction_z, array element distance d_zIt is spaced θ with angle of pitch angle scanning_z, the power arrow in construction z-axis direction Moment matrix W_z：

Wherein,M=((θ_u- θ_d)/θ_z)^q, θ_k=θ_d+(k-1)θ_z；

(8c) utilize the weight vector matrix W in y-axis direction_yWeighted signal s to y-axis direction_yMake digital beam froming, calculate y Axial beam scanning signal y₁：

(8d) utilize the weight vector matrix W in z-axis direction_zWeighted signal s to z-axis direction_zMake digital beam froming, calculate z Axial beam scanning signal z₁:

Step 9：Calculate the azimuth of testAnd the angle of pitch

(9a) find the beam scanning signal y in y-axis direction₁Line number n that modulus value maximum point is located_m, and calculate the orientation of test Angle

WhereinFor beam scanning azimuth lower limit,For azimuth angle sweep spacing；

(9b) find the beam scanning signal z in z-axis direction₁Line number m that modulus value maximum point is located_m, and calculate the pitching of test Angle

Wherein θ_dFor beam scanning angle of pitch lower limit, θ_zFor angle of pitch angle scanning interval.

The effect of the present invention can be further illustrated by following emulation:

1) simulated conditions

In emulation experiment of the present invention, software platform is MATLAB R2010a, sets the element number of array N in y-axis direction_yAnd z-axis The element number of array N in direction_zIdentical, it is N_y=N_z=16.Transmission signal wavelength X=1m, array element distance d in y-axis direction_y=λ/2, z Axial array element distance d_z=λ/2, aerial array normal and datum plane normal angle β=0 degree.The true pitching angle theta of target_t =2 degree, true bearing angleDegree, the azimuth angle scouting intervalIt is spaced θ with angle of pitch angle searching_zAll it is set to 0.15 Degree, Monte Carlo number of times M_c=1000.

2) emulation content and result：

Emulation 1, under these conditions, the signal to noise ratio snr excursion of sets target echo-signal is that -10dB arrives 10dB, Change is spaced apart 2dB, antenna beam center pitching angle theta=2 degree, azimuthDegree, using the inventive method and tradition two Dimension beam sweeping method calculates test azimuth and the test angle of pitch respectively, simulates two according to the test angle of pitch of two methods Plant the change with target echo signal signal to noise ratio for the method angle of pitch mean square error；Simulated according to the test azimuth of two methods , with the change of target echo signal signal to noise ratio, result is as shown in Figure 3 for two methods azimuth mean square error：

From the figure 3, it may be seen that in the case of the fully aligned target of antenna, the inventive method and conventional two-dimensional beam sweeping method Angle of pitch mean square error and azimuth mean square error all reduce with the increase of target echo signal signal to noise ratio, and reduce speed Very nearly the same, when target echo signal signal to noise ratio is higher, the angle of pitch mean square error of the inventive method and azimuth mean square error Difference all drops to 0.2 degree, has been able to meet actual angle measurement demand, and precision and conventional two-dimensional beam sweeping method difference are no Several.

Emulation 2, under these conditions, the signal to noise ratio snr excursion of sets target echo-signal is that -10dB arrives 10dB, Change is spaced apart 2dB, the inventive method antenna beam center pitching angle theta=0 degree, azimuthDegree, conventional two-dimensional wave beam The scan method antenna beam center angle of pitch and azimuth, with emulation 1, are divided using the present invention and conventional two-dimensional beam sweeping method Azimuth and the test angle of pitch Ji Suan not tested, the two methods angle of pitch is simulated according to the test angle of pitch of two methods all square Error is with the change of target echo signal signal to noise ratio；Two methods azimuth is simulated according to the test azimuth of two methods equal , with the change of target echo signal signal to noise ratio, result is as shown in Figure 4 for square error：

As shown in Figure 4, when the antenna beam center angle of pitch deviates 2 degree of target, simulation result and the fully aligned target of antenna Situation essentially identical, the angle of pitch mean square error of the inventive method and conventional two-dimensional beam sweeping method and azimuth mean square error Difference all reduce with the increase of target echo signal signal to noise ratio, and reduce speed very nearly the same, simply signal to noise ratio than relatively low when, The angle of pitch mean square error of the inventive method all can be slightly larger than the angle of pitch mean square error of conventional two-dimensional beam sweeping method, works as mesh When mark echo-signal signal to noise ratio is higher, the angle of pitch mean square error of the inventive method and azimuthal mean square error all drop to 0.2 degree, have been able to meet actual angle measurement demand, and precision and conventional two-dimensional beam sweeping method very nearly the same.

Emulation 3, under these conditions, the signal to noise ratio snr excursion of sets target echo-signal is that -10dB arrives 10dB, Change is spaced apart 2dB, the inventive method antenna beam center pitching angle theta=2 degree, azimuthDegree, conventional two-dimensional wave beam The scan method antenna beam center angle of pitch and azimuth, with emulation 1, are divided using the present invention and conventional two-dimensional beam sweeping method Azimuth and the test angle of pitch Ji Suan not tested, the two methods angle of pitch is simulated according to the test angle of pitch of two methods all square Error is with the change of target echo signal signal to noise ratio；Two methods azimuth is simulated according to the test azimuth of two methods equal , with the change of target echo signal signal to noise ratio, result is as shown in Figure 5 for square error：

As shown in Figure 5, when 2 degree of target is deviateed at antenna beam center hold angle, simulation result and the fully aligned target of antenna Situation essentially identical, the angle of pitch mean square error of the inventive method and conventional two-dimensional beam sweeping method and azimuth mean square error Difference all reduce with the increase of target echo signal signal to noise ratio, and reduce speed very nearly the same, simply signal to noise ratio than relatively low when, The azimuth mean square error of the inventive method can be slightly larger than the azimuth mean square error of conventional two-dimensional beam sweeping method, works as echo When Signal-to-Noise is higher, the angle of pitch mean square error of the inventive method and azimuth mean square error all drop to 0.2 degree, Disclosure satisfy that actual angle measurement demand, and precision and conventional two-dimensional beam sweeping method very nearly the same.

Emulation 4, under these conditions, sets target echo-signal noise is that -10dB arrives 10dB than SNR excursion, Change is spaced apart 2dB, the inventive method antenna beam center pitching angle theta=0 degree, azimuthDegree, conventional two-dimensional wave beam The scan method antenna beam center angle of pitch and azimuth, with emulation 1, are divided using the present invention and conventional two-dimensional beam sweeping method Azimuth and the test angle of pitch Ji Suan not tested, the two methods angle of pitch is simulated according to the test angle of pitch of two methods all square Error is with the change of target echo signal signal to noise ratio；Two methods azimuth is simulated according to the test azimuth of two methods equal , with the change of target echo signal signal to noise ratio, result is as shown in Figure 6 for square error：

It will be appreciated from fig. 6 that when antenna beam center hold angle and the angle of pitch all deviate 2 degree of target, simulation result is complete with antenna Scopodromic situation is essentially identical entirely, the angle of pitch mean square error of the inventive method and conventional two-dimensional beam sweeping method and side Parallactic angle mean square error all reduces with the increase of echo-signal signal to noise ratio, and decrease speed is very nearly the same, simply in signal to noise ratio ratio When relatively low, the azimuth mean square error of the inventive method and angle of pitch mean square error all can be slightly larger than conventional two-dimensional beam scanning side The azimuth mean square error of method and angle of pitch mean square error, when echo-signal signal to noise ratio is higher, the angle of pitch of the inventive method Mean square error and azimuth mean square error all drop to 0.2 degree, have been able to meet actual angle measurement demand, and precision and tradition two Dimension beam sweeping method is very nearly the same.

Emulation 5, changes the element number of array N in y-axis direction_yElement number of array N with z-axis direction_z, set N_y, N_zIdentical and successively Become and turn to 200,400,800,1600,3200, in the case that other simulated conditions above-mentioned are constant, simulate side of the present invention respectively Method operand and conventional two-dimensional beam scanning orientation operand are with bay N_y, N_zThe logarithmic curve of change, wherein logarithmic curve With 10 as the truth of a matter, result is as shown in Figure 7：

From figure 7 it can be seen that in the case that other conditions are certain, the operand of the inventive method is much smaller than conventional two-dimensional The operand of beam sweeping method.

In summary, the method for the present invention can be used for the angle letter using beam scanning method to target for the Large Phased Array Radar Breath measures.

Claims (8)

1. a kind of two dimensional beam scanning angle-measuring method based on uncoupling, comprises the steps：

(1) set aerial array as two-dimensional array, arbitrarily specify one-dimensional for y-axis direction, as line direction, another dimension is z-axis side To as column direction, the element number of array in y-axis direction is set to N_y, array element distance is set to d_y, the element number of array in z-axis direction is set to N_z, Array element distance is set to d_z；

(2) set a datum plane P, and a three-dimensional coordinate system I is set up on datum plane, randomly select certain antenna array Unit, as the initial point of this coordinate system I, constitutes deflection angle beta between aerial array normal and datum plane normal；

(3) target is detected, antenna beam center pitching angle theta, azimuth are obtained according to the transmitting data of emitter

(4) according to transmission signal wavelength X, the element number of array N in y-axis direction_y, array element distance d_yEstimate the beam angle in y-axis direction B_y；According to transmission signal wavelength X, the element number of array N in z-axis direction_z, array element distance d_zEstimate the beam angle B in z-axis direction_z；

(5) utilize the beam angle B in y-axis direction_yWith antenna beam center hold angleCalculate the beam scanning azimuth upper limitWith Lower limitBeam angle B using z-axis direction_zWith antenna beam center pitching angle theta, calculate beam scanning angle of pitch upper limit θ_uWith Lower limit θ_d, set azimuth angle sweep spacingAngle of pitch angle scanning is spaced θ_z；

(6) according to antenna beam center hold angleAntenna beam center pitching angle theta, the element number of array N in y-axis direction_y, between array element Away from d_y, obtain the steering vector a in y-axis direction_y；According to antenna beam center hold angleAntenna beam center pitching angle theta, z-axis The element number of array N in direction_z, array element distance d_z, deflect angle beta, obtain the steering vector a in z-axis direction_z；

(7) set the target echo signal of antenna array receiver as：Wherein s_k The signal receiving for aerial array row k, is a N_yThe vector of dimension, s,_mThe signal receiving for aerial array m row, is one N_zThe vector of dimension, k=1,2 ..., N_z, m=1,2 ..., N_y, N_yFor the element number of array in y-axis direction, N_zArray element for z-axis direction Number；Steering vector a using z-axis direction_zTarget echo signal R is obtained as digital beam froming with the weighted signal in y-axis direction s_y；Steering vector a using y-axis direction_yTarget echo signal R is obtained as digital beam froming with the weighted signal in z-axis direction s_z；

(8) according to beam scanning azimuth bound With azimuth angle sweep spacingObtain the weight vector in y-axis direction Matrix W_y；According to beam scanning angle of pitch bound θ_u, θ_dIt is spaced θ with angle of pitch angle scanning_z, obtain the weight vector in z-axis direction Matrix W_z；Weight vector matrix W using y-axis direction_yWeighted signal s to above-mentioned y-axis direction_yMake digital beam froming, calculate y Axial beam scanning signal y₁；Weight vector matrix W using z-axis direction_zWeighted signal s to above-mentioned z-axis direction_zCount Word Wave beam forming, calculates the beam scanning signal z in z-axis direction₁；

(9) the beam scanning signal y to y-axis direction₁Do beam scanning, calculate the azimuth of testThe wave beam in z-axis direction is swept Retouch signal z₁Do beam scanning, calculate the angle of pitch of test

2. the two dimensional beam scanning angle-measuring method based on uncoupling according to claim 1, in wherein said step (4) Estimate the beam angle B in y-axis direction_y, carry out as follows；

$B_y=\frac{50.1\mathrm{\λ}}{(N_y-1)d_y}$

Wherein λ is transmission signal wavelength, d_yFor the array element distance in y-axis direction, N_yElement number of array for y-axis direction.

3. the two dimensional beam scanning angle-measuring method based on uncoupling according to claim 1, in wherein said step (4) Estimate the beam angle B in z-axis direction_z, carry out as follows：

$B_z=\frac{50.1\mathrm{\λ}}{(N_z-1)d_z}$

Wherein λ is transmission signal wavelength, d_zFor the array element distance in z-axis direction, N_zElement number of array for z-axis direction.

4. the two dimensional beam scanning angle-measuring method based on uncoupling according to claim 1, in wherein said step (5) Calculate the beam scanning azimuth upper limitAnd lower limitBeam scanning angle of pitch upper limit θ_uWith lower limit θ_d, respectively as follows Carry out：

θ_u=θ+B_z/2

θ_d=θ-B_z/2

Wherein, B_yFor the beam angle in y-axis direction,For antenna beam center hold angle, B_zFor the beam angle in z-axis direction, θ is The antenna beam center angle of pitch.

5. the two dimensional beam scanning angle-measuring method based on uncoupling according to claim 1, in wherein said step (6) The steering vector a in y-axis direction_y, the steering vector a in z-axis direction_z, it is expressed as follows respectively

Wherein, T represents transposition, and λ is transmission signal wavelength, and j is imaginary unit, d_yFor the array element distance in y-axis direction, d_zFor z-axis side To array element distance, N_yFor the element number of array in y-axis direction, N_zFor the element number of array in z-axis direction, θ is the pitching of antenna beam center Angle,For antenna beam center hold angle, β is deflection angle.

6. the two dimensional beam scanning angle-measuring method based on uncoupling according to claim 1, in wherein said step (7) The weighted signal s in y-axis direction_y, the weighted signal s in z-axis direction_z, it is calculated as follows respectively：

$s_y=a_z^H{R}^T$

$s_z=a_y^{H}R,$

Wherein H represents conjugate transposition, and T represents transposition, a_yFor the steering vector in y-axis direction, a_zFor the steering vector in z-axis direction, R Target echo signal for antenna array receiver.

7. the two dimensional beam scanning angle-measuring method based on uncoupling according to claim 1, in wherein said step (8) Calculate the beam scanning signal y in y-axis direction₁, the beam scanning signal z in z-axis direction₁, carry out as follows：

(7a) construct the weight vector matrix W in y-axis direction_y：

$W_y=\[w_{y_1},...,w_{y_k},...,w_{y_n}\],k=1,2,...,n,$

Wherein Q represents floor operation,WithBeam scanning azimuth bound,For azimuth angle sweep spacing, T represents transposition, and λ is Transmission signal wavelength, j is imaginary unit, d_yFor the array element distance in y-axis direction, N_yFor the element number of array in y-axis direction, θ is antenna ripple The beam center angle of pitch；

(7b) construct the weight vector matrix W in z-axis direction_z：

$W_z=\[w_{z_1},...,w_{z_k},...,w_{z_m}\],k=1,2,...,m,$

WhereinM=((θ_u-θ_d)/θ_z )^q, q represents floor operation, θ_k=θ_d+(k-1)θ_z, θ_uAnd θ_dFor beam scanning angle of pitch bound, θ_zFor angle of pitch angle scanning Interval, T represents transposition, and λ is transmission signal wavelength, and j is imaginary unit, d_zFor the array element distance in z-axis direction, N_zFor z-axis direction Element number of array,For antenna beam center hold angle, β is deflection angle；

(7c) calculate the beam scanning signal y in y-axis direction as follows respectively₁, the beam scanning signal z in z-axis direction₁：

$y_1=W_y^H{s}_y^T,$

$z_1=W_z^H{s}_z^T,$

Wherein H represents conjugate transposition, and T represents transposition, W_yFor the weight vector matrix in y-axis direction, s_yFor the weighted signal in y-axis direction, W_zFor the weight vector matrix in z-axis direction, s_zWeighted signal for z-axis direction.

8. the two dimensional beam scanning angle-measuring method based on uncoupling according to claim 1, in wherein said step (9) Calculate the azimuth of testAnd the angle of pitchCarry out as follows：

(8a) find the beam scanning signal y in y-axis direction₁Line number n that modulus value maximum point is located_m, it is calculated as follows test Azimuth

WhereinFor beam scanning azimuth lower limit,For azimuth angle sweep spacing；

(8b) find the beam scanning signal z in z-axis direction₁The columns m that modulus value maximum point is located_m, it is calculated as follows test The angle of pitch

$\widetilde{\mathrm{\θ}}={\mathrm{\θ}}_d+(m_m-1){\mathrm{\θ}}_z,$

Wherein θ_dFor beam scanning angle of pitch lower limit, θ_zFor angle of pitch angle scanning interval.