CN104777478B - A kind of phased-array radar code acquisition mesh calibration method - Google Patents
A kind of phased-array radar code acquisition mesh calibration method Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/68—Radar-tracking systems; Analogous systems for angle tracking only
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Abstract
The present invention discloses a kind of phased-array radar code acquisition mesh calibration method, belongs to tracking radar with phase array field of signal processing.The present invention includes search procedure and acquisition procedure, and wherein search procedure is scanned for by wave beam guidance information according to two kinds of Beam Position Arrangement states to radar signal, if the energy for receiving signal is more than thresholding, judgement, which meets, is transferred to acquisition procedure；Acquisition procedure is compared with common phased-array radar catching method, repeated detection is not only carried out, to reduce false-alarm probability, it also add class pulse and difference beam angle measurement and the angle measurement of α β filtering closed loops and tracking filter process, it is that parameter is adjudicated using angle cosine residual error in innovation process in tracking filter processing procedure, judge whether acquisition success, so that acquisition procedure has a convergent process, when initial beam points to target location and has larger error, the radar signal captured is more stable reliable, may be such that whole phased array automatic tracking system is more sane.
Description
Technical field
The present invention relates to tracking radar with phase array field of signal processing, more particularly to the search of phased array minitrack/
The method of capture, the tenacious tracking stage is transitioned into this.
Background technology
In recent years, mobile communication is continued to develop, and communication system is to communication distance and the requirement more and more higher of scope.It is mobile
Satellite communication system turns into a kind of excellent means of mobile communication, available for automobile, train, naval vessel, aircraft, and guided missile etc. is various to be moved
On dynamic load body, because of its wide coverage, to region require it is insensitive, message capacity is big the advantages of, be widely used in army
Thing and civilian multiple fields.The key equipment of mobile satellite communication system is antenna stabilization tracking system.
Active phase array antenna has the ability that wave beam is quickly scanned, and beam direction, energy are controlled using Electric phase-shift mode
Enough overcome inertia and the thus limitation to systematic function that mechanical scanning antennas beam position is changed.Avoid traditional mechanical radar
The movement velocity of the mechanical servo of antenna is slower, does not catch up with posture and the geographical position change of carrier so that in dynamic feelings
Antenna is directed away from satellite under condition, causes communication quality to decline or causes the situation of communication disruption.
Tracking radar refers to that those automatically continuously can be tracked to target, constantly target component is carried out accurate
Measure and the radar of target coordinate position parameter can be exported, Continuous Closed ring type is tracked automatically, the high accuracy survey of coordinates of targets parameter
Amount and high data output rate are the main features of target following.Monopulse radar tracking accuracy is high, realizes that simply, number is with typical
High precision tracking radar all selects monopulse systems.
Satellite communication phased array antenna autotracking systems, mainly including receiving antenna array, transmitting antenna array, radio frequency before
The parts such as end module, autotracking baseband processing unit, wave beam guiding control unit, external clock and power supply.Autotracking receives system
System by by antenna array partition into 4 submatrixs.The signal of each antenna element synthesizes four submatrixs, carries out 4 road A/D conversion, 4 tunnels
After submatrix signal is changed into intermediate-freuqncy signal through analog down and sampled through ADC, produced first by pretreatment module completion complex signal,
Channel correcting etc. science and engineering is made.Subsequently into code acquisition state, the guidance information provided according to carrier platform completes satellite letter
Number code acquisition.System enters autotracking state after acquisition success, is handled by angular surveying and tracking filter etc. and causes day
Line wave beam is automatic to satelloid, realizes receiving array wave beam to satellite from motion tracking.It will be detected in real time during tracking filter
Whether target be determined as with lose after is then again transferred to code acquisition state with losing.
The satellite position forecast information and realistic objective obtained due to motion platform equipment has certain angle unavoidably to be missed
Difference is, it is necessary to which radar scans for acquisition procedure within the specific limits, and the angular error reduced between target location meets antenna
Track loop tracking mode condition.For code acquisition process, general code acquisition is exactly to pass through Threshold detection and judgement,
A kind of typical technology is to set suitable thresholding so that threshold voltage is sufficiently high, to prevent most of noise spikes from exceeding door
Limit, but it is low again be enough to allow weak signal to pass through, the twice or repeatedly judgement of having done simply having confirms, and the present invention by means of
Closed loop tracking filter method, has used angular surveying and tracking filter so that acquisition procedure has a convergent process, more
Stable, whole algorithm is simply stablized, and with higher search speed, can apply to the autotracking system of the mobile platform of high speed
System, it is ensured that the accuracy of autotracking.
Tracking filtering technique is the core of tracking system.Further investigation has also been carried out to this technology both at home and abroad.Kalman
(Kalman) stochastic linear system is described with state equation, it is proposed that Kalman filtering algorithm.The algorithm is simultaneously suitable for flat
Steady and nonstationary random process.Kalman filtering is optimal method of estimation in linear system, but Kalman filtering needs reality
When solve gain matrix, be related to more complicated matrix inversion process, be that the Project Realization of algorithm adds difficulty, for non-thread
Sexual system, based on the thought that nonlinear equation is carried out to linear approximation, it is proposed that the nonlinear filtering such as EKF is calculated
Method.But this kind of algorithm is easily dissipated, and engineer applied is restricted.Two kinds of newer non-thread of unscented kalman filter and particle filter
Property filtering algorithm, but these methods are still in theoretical research stage at present, are difficult in engineering.Generally alpha-beta is used in engineering
Filtering algorithm, the algorithm is a kind of filtering method of constant gain amplifier, and this method avoid gain matrix complicated in Kalman filtering
Solve problems, it is easy to accomplish, thus obtain in engineering more application.
The content of the invention
The invention provides a kind of phased-array radar code acquisition method based on class pulse and poor measuring angle by comparing amplitude, the party
Method is compared with traditional code acquisition method, and general code acquisition is by Threshold detection and judgement, and what is simply had has done twice
Or repeatedly judgement confirms, and this method by means of angleonly tracking filtering, after search procedure is by Threshold detection to signal, carry out
Class pulse and poor measuring angle by comparing amplitude and the Closed loop track process of alpha-beta filtering cause acquisition procedure to have a convergent process so that
Capture is more stable reliable.
The present invention is specifically adopted the following technical scheme that：
A kind of phased-array radar code acquisition mesh calibration method, its flow is as shown in figure 1, specifically include following steps：
Step 1. phased-array radar Subarray partition；
Phased Array Radar Antenna array is divided into four submatrixs, submatrix 1, submatrix 2, submatrix 3 and submatrix 4 are designated as respectively；
Step 2. setting energy measuring thresholding Et；
Remember n1(n)、n2(n)、n3(n)、n4(n) be respectively four submatrixs do not receive capture target signal when
Corresponding output signal, then now composite signal is designated as nΣ=n1(n)+n2(n)+n3(n)+n4(n)；Thus noise gross energy is obtained：
Solve the average and variance of the noise gross energyσΣ, obtain energy measuring thresholdingIts
Middle k1Value 1.0 to 1.2, k2Value 4 to 5；
Step 3. target search procedure；The guidance information provided from carrier platform is obtained after the initial position of target, is passed through
The beam. position of control phased-array radar points to the initial position, and carries out centered on the initial position beam search；Wave beam
Search is specifically carried out in the following ways：
Step 3-1. builds the ripple position arrangement for beam search of two kinds of different range, and arrangement 1, arrangement 2 are designated as respectively；
The arrangement 1 is as shown in figure 4, including 5 ripple positions：Cnter wave 1, respectively positioned at the upper left side of cnter wave 1, the right side
The ripple position 2,3,4 and ripple position 5 of top, lower left and lower right；The cnter wave 1 overlaps mutually with ripple position 2,3,4,5, the row
Center of the center of the medium wave of row 1 position 2,3,4,5 with ripple position 1 is at a distance of half of beam angle；
The arrangement 2 is as shown in figure 5, nine ripples position including being arranged in nine grids：Ripple position 1 is located at nine grids center, institute
It is respectively ripple position 2,3 and ripple position 4 from left to right to state nine grids first row, and the left and right of ripple position 1 is respectively ripple position 5, ripple position 6, nine palaces
The row of lattice the 3rd is respectively ripple position 7,8,9 from left to right；In arrangement 2 between left and right or neighbouring Liang Gebowei centers apart
One beam angle；
Step 3-2. ripple positions 1 centered on the initial position of target build the beam search arrangement mode shown in arrangement 1, will
The beam position of phased-array radar adjusts the energy that now four submatrix composite signals are calculated to the initial position of target；
The energy of the composite signal is specifically obtained by following methods：
With submatrix 1 to refer to submatrix, Wave beam forming is done to each submatrix respectively, corresponding output signal y is obtained1(n)、y2
(n)、y3And y (n)4(n) four output signals, are synthesized into obtain YΣ(n)=y1(n)+y2(n)+y3(n)+y4(n), thus ask
Solve the energy of four submatrix composite signals：
N represents total sampling number in time domain；
If the energy is not less than the energy measuring thresholding Et, then target search complete, note now phased-array radar
Beam position is capture beam position, performs step 4；Otherwise, the beam position of phased-array radar is sequentially adjusted in ripple position
2nd, 3,4,5 until the energy of four submatrix composite signals is not less than the energy measuring thresholding EtWhen stop；If by phased-array radar
Beam position when adjusting to ripple position 5, the energy of four submatrix composite signals is still less than the energy measuring thresholding Et, perform
Step 3-3；
Step 3-3. ripple positions 1 centered on the initial position of target build the beam search arrangement mode shown in arrangement 2, will
The beam position of phased-array radar adjusts the energy that now four submatrix composite signals are calculated to the initial position of target；
If the energy is not less than the energy measuring thresholding Et, then target search complete, note now phased-array radar
Beam position is capture beam position, performs step 4；Otherwise, the beam position of phased-array radar is sequentially adjusted in ripple position
2nd, 3,4,5,6,7,8,9 until the energy of four submatrix composite signals is not less than the energy measuring thresholding EtWhen stop；If by phase
When the beam position of control battle array radar is adjusted to ripple position 9, the energy of four submatrix composite signals is still less than energy measuring door
Limit Et, then carrier platform reinitialize the newest initial bit for obtaining newest guidance information and target being provided to phased-array radar
Put, and perform step 3-1 to step 3-3 again；
Step 4. target acquistion process；
Initial values of the step 4-1. using the capture beam position obtained by step 3 as class Monopulse estimation, using and it is poor
The azimuth of echo signal at wave beam measuring angle by comparing amplitude method solutionAnd the angle of pitch
The beam permutation that described and poor measuring angle by comparing amplitude method is used is as shown in fig. 6, including 5 ripple positions：Cnter wave 5, point
Wei Yu not the surface of cnter wave 5, surface, the ripple position 1,2,3 and ripple position 4 of left and right；The cnter wave 5 and ripple
Position 1,2,3,4 is overlapped mutually, and center of the center for arranging medium wave position 1,2,3,4 with ripple position 5 is at a distance of half of beam angle；
Step 4-2. obtains measuring angle according to pulse and difference beam measuring angle by comparing amplitudeTry to achieve under corresponding angle
Direction cosines：
Using target in the direction cosines in three directions and its speed of change as state vector：
WhereinThe speed changed for direction cosines, incident angle estimation is obtained using alpha/beta algorithm tracking filter
It is worth the initial angle as angle measurement next time；
Step 4-3. is affected by many factors in filtering, may have partial data and actual value in observation data
Between there is very big error, these data are referred to as outlier, and outlier can produce large effect, it is necessary to reject to tracking performance；
When carrying out alpha-beta filtering, innovation process modulus value is adjudicated with a certain thresholding W, if meeting：
Observe data effectively, using alpha-beta filtering carry out state estimation, and using antitrigonometric function solve filtering after
Azimuth and the angle of pitch as class Monopulse estimation next time initial value；Otherwise, Current observation value is judged to outlier, performed
Step 4-4；
Wherein, threshold value is chosen as W and elects the vector that three respective 3 times of direction observation noise standard deviations are constituted as；
If step 4-4. Current observation values are judged to outlier, estimated in state estimation using the state vector in previous cycle
Evaluation does linear extrapolation, is determined as that tracking target is lost when detecting outlier at continuous 3 observation moment, now should be again
Initialization alpha-beta tracking filter re-executes step 3 to the whole search described in step 4 and acquisition procedure；
By angle cosine residual error in step 4-5. filterings | αt| and | βt| adjudicated with thresholding, threshold value generally takes 1/6
To 1/3 beam angle, when | αt| and | βt| then think that acquisition procedure is restrained when being respectively less than the threshold value, target acquistion is completed can
To be transferred to tracking process, otherwise, step 4-1 to step 4-4 will be repeated until acquisition procedure convergence, completes target acquistion.
The beneficial effects of the invention are as follows：Conventional method carried out after search procedure is by Threshold detection to signal twice or
The process of repeated detection, can not still ensure to enter the beam position of autotracking process every time although it can improve detection probability
The requirement of autotracking condition is met, if beam position information has misunderstanding make it that autotracking resultant error is big or can not use,
Method has carried out Closed loop track process after search procedure is by Threshold detection to signal, in acquisition procedure, and now tracks
The sample rate of wave filter, which is typically 2~5 times of normal tracking mode, can cause acquisition procedure Fast Convergent, into autotracking
Journey beam position information meets its tracking condition, it is ensured that tracking result is accurate, improves autotracking precision.
Brief description of the drawings
The flow chart for the phased-array radar target searching and acquisition method that Fig. 1 provides for the present invention；
Fig. 2 is distributed for the coordinate of Phased Array Radar Antenna；
Fig. 3 is adjacent two wave beams schematic diagram；
Fig. 4 is the arranged distribution 1 of search ripple position；
Fig. 5 is the arranged distribution 2 of search ripple position；
Fig. 6 is and poor measuring angle by comparing amplitude beam permutation.
Embodiment
The code acquisition method of the present invention includes search procedure and acquisition procedure, and system is guided according to the wave beam of platform first
Information carries out target location search, searches and enters acquisition procedure after useful signal.Wherein, search procedure passes through to two kinds of ripple positions
Layout state carries out beam scanning, and energy measuring is carried out to each ripple position, to obtain effective detection signal；Acquisition procedure,
Search condition is detected after target, and array beamses carry out repeating reception and detection to the direction for detecting signal, exclude false-alarm feelings
After condition, carry out the class pulse and poor measuring angle by comparing amplitude and alpha-beta tracking filter of closed loop so that acquisition procedure Fast Convergent, enter
Autotracking state.
The present invention is specifically adopted the following technical scheme that：
A kind of phased-array radar code acquisition mesh calibration method, its flow is as shown in figure 1, specifically include following steps：
Step 1. phased-array radar is divided；
Phased-array radar is divided into four submatrixs, submatrix 1, submatrix 2, submatrix 3 and submatrix 4 are designated as respectively；
Step 2. setting energy measuring thresholding Et；
Remember n1(n)、n2(n)、n3(n)、n4(n) be respectively four submatrixs do not receive capture target signal when
Corresponding output signal, then now composite signal is designated as nΣ=n1(n)+n2(n)+n3(n)+n4(n)；Thus noise gross energy is obtained：
Solve the average and variance of the noise gross energyσΣ, obtain energy measuring thresholdingIts
Middle k1∈[1.0,1.2]、k2∈[4,5]；
Step 3. target search procedure；The guidance information provided from carrier platform is obtained after the initial position of target, is controlled
The beam. position of phased-array radar points to the initial position, and carries out centered on the initial position beam search；Beam search
Specifically carry out in the following ways：
Step 3-1. builds the ripple position arrangement for beam search of two kinds of different range, and arrangement 1, arrangement 2 are designated as respectively；
The arrangement 1 is as shown in figure 4, including 5 ripple positions：Cnter wave 1, respectively positioned at the upper left side of cnter wave 1, the right side
The ripple position 2,3,4 and ripple position 5 of top, lower left and lower right；The cnter wave 1 overlaps mutually with ripple position 2,3,4,5, the row
Center of the center of the medium wave of row 1 position 2,3,4,5 with ripple position 1 is at a distance of half of beam angle；
The arrangement 2 is as shown in figure 5, nine ripples position including being arranged in nine grids：Ripple position 1 is located at nine grids center, institute
It is respectively ripple position 2,3 and ripple position 4 from left to right to state nine grids first row, and the left and right of ripple position 1 is respectively ripple position 5, ripple position 6, nine palaces
The row of lattice the 3rd is respectively ripple position 7,8,9 from left to right；In arrangement 2 between left and right or neighbouring Liang Gebowei centers apart
One beam angle；
Step 3-2. ripple positions 1 centered on the initial position of target build the beam search arrangement mode shown in arrangement 1, will
The beam position of phased-array radar adjusts the energy that now four submatrix composite signals are calculated to the initial position of target；
The energy of the composite signal is specifically obtained by following methods：
With submatrix 1 to refer to submatrix, Wave beam forming is done to each submatrix respectively, corresponding output signal y is obtained1(n)、y2
(n)、y3And y (n)4(n) four output signals, are synthesized into obtain YΣ(n)=y1(n)+y2(n)+y3(n)+y4(n), thus ask
Solve the energy of four submatrix composite signals：
Wherein N is total sampling number in time domain； (2)
If the energy FΣNot less than the energy measuring thresholding Et, then target search complete, note now phased-array radar
Beam position be capture beam position, perform step 4；Otherwise, the beam position of phased-array radar is sequentially adjusted in ripple
Position 2,3,4,5 is until the energy F of four submatrix composite signalsΣNot less than the energy measuring thresholding EtWhen stop；If by phased array
When the beam position of radar is adjusted to ripple position 5, the energy F of four submatrix composite signalsΣStill it is less than the energy measuring thresholding
Et, perform step 3-3；
Step 3-3. ripple positions 1 centered on the initial position of target build the beam search arrangement mode shown in arrangement 2, will
The beam position of phased-array radar adjusts the energy that now four submatrix composite signals are calculated to the initial position of target；
If the energy FΣNot less than the energy measuring thresholding Et, then target search complete, note now phased-array radar
Beam position be capture beam position, perform step 4；Otherwise, the beam position of phased-array radar is sequentially adjusted in ripple
Position 2,3,4,5,6,7,8,9 is until the energy F of four submatrix composite signalsΣNot less than the energy measuring thresholding EtWhen stop；If
When the beam position of phased-array radar is adjusted to ripple position 9, the energy F of four submatrix composite signalsΣStill it is less than the energy
Detection threshold Et, then carrier platform, which is reinitialized, obtains newest guidance information and provides the newest of target to phased-array radar
Initial position, and step 3-1 to step 3-3 is performed again；
Step 4. target acquistion process；
Initial values of the step 4-1. using the capture beam position obtained by step 3 as class Monopulse estimation, using and it is poor
The azimuth of echo signal at wave beam measuring angle by comparing amplitude method solutionAnd the angle of pitchSpecific method for solving is as follows：
Plane where making radar array is that the incoming signal of phased-array radar in x-o-y planes, acquisition procedure initially refers to
It is respectively α to the angle with x-axis and y-axisxAnd αy；Incoming signal and z-axis angle are pitching angle theta, and its span is 0 °~90 °,
Incoming signal is azimuth in the projection of x-o-y planes and x-axis angleIts span be 0 °~360 °, (αx,αy) withThere is following relation：
The signal of output is designated as y respectively after 4 antenna submatrixs are shifted1(n)、y2(n)、y3And y (n)4(n) it is, logical with first
The reception signal y in road1(n) carry out relevant treatment respectively with four signals respectively, so that it may obtain sub-antenna battle array 1 with its complementary submatrix it
Between coefficient correlation：R1,1、R1,2、R1,3And R1,4；Include the angle information in incident source in this four coefficient correlations, specifically：
Total sampling number wherein in N time domains, four coefficient correlations is regarded as the complex magnitude of four submatrix output, can obtain
Arrive and signal：
FΣi=R1,1+R1,2+R1,3+R1,4 (5)
Centered on wave beam 5, wave beam 5 is oriented to (α under angle cosine coordinate system5,β5)=(α0,β0)；Along α coordinate sides
Half of beam angle of each skew direction, sequentially forms wave beam 1 and wave beam 2, two beam positions are respectively to the left and right:
Similarly, wave beam 3 and wave beam 4 are sequentially formed along β coordinate directions, beam position is respectively
In the formula of the above two, α3dBWith β3dBHalf work(of α coordinate directions and β coordinate directions under angle cosine coordinate system is represented respectively
Rate beam angle.With incoming signal direction closer to the signal that receives of wave beam it is stronger, may determine that echo signal is inclined accordingly
From the direction for waiting signal shaft.
5 beam positionals are carried out to receive signals synthesis, can obtain 5 orientation and wave beam receive signal energy FΣ1
~FΣ5.Wherein FΣiWherein tried to achieve according to formula (28), following formula asks for the error voltage in α and β directions：
Remember respectivelyFor the angle cosine value of the off-center beam position of target direction, whereinWithFor target signal direction angle cosine, angular error signal u within the specific limitsαWith αt, uβWith βtApproximately linear relation,
I.e.
Wherein slope kαAnd kβIt can be obtained by experimental fit, in practical application, solve kαWhen assume that β directions are oriented to
Target direction, in α0Correspondence u in one beam angle scope of neighbouring left and right deviationαWith αtValue and use beeline approaching uα-αtPass
It is curve, the slope solution k for obtaining straight line is fitted by measured dataα, the angular error signal in β directions and the pass of angle cosine deviation
It is slope of curve kβWith the k in α directionsαMethod for solving it is identical, and then solve the angle cosine of sense
Final azimuth and the angle of pitch for solving echo signal：
In αt≤α3dB/2,βt≤β3dBWhen/2, uαWith αt, uβWith βtApproximately linear relation, with αt＞ α3dB/2,βt＞
β3dBWhen/2, with αt,βtIncrease uαWith αt, uβWith βtNon-linear relation is showed, nonlinear situation is carried out can now to use
The processing mode or amplitude limiting processing of piecewise fitting are fitted the azimuth for solving echo signal and the angle of pitch.
Step 4-2. obtains measuring angle according to pulse and difference beam measuring angle by comparing amplitudeTry to achieve the side under corresponding angle
It is to cosine：
Using target in the direction cosines in three directions and its speed of change as state vector：
WhereinThe speed changed for direction cosines, incident angle estimation is obtained using alpha/beta algorithm tracking filter
It is worth the initial angle as angle measurement next time；
α-βfilter is a kind of the constant gain filters for uniform motion object module, and gain matrix therein has
Following form：
WhereinWithThe respectively normal filtering gain of the position of dbjective state and velocity component, T
For the sampling period.First define three yaw maneuver indexsFor：
Wherein σ1For process noise andFor the standard deviation of three direction observation noises.WithWithExemplified by
Expression formula such as following formula,WithMethod for solving is identical
State-transition matrix is
Observing matrix is
It is below filtering specific steps, the target state equation of discretization is：
Observational equation is z (n)=[xc,yc,zc], filter step is specific as follows：
State one-step prediction：
Innovation process is calculated by observation signal z (n)：
For alpha-beta filtering algorithm, using K (n), state estimation is carried out：
Obtain after state estimation, extractFirst in vector, the 3rd, the value of the 5th parameter is extracted
Angle cosine after filteringAnd solved by antitrigonometric function relationUnder
The input value of angle measurement, carries out the process of angle measurement and the tracking of closed loop.
Step 4-3. is affected by many factors in filtering, may have partial data and actual value in observation data
Between there is very big error, these data are referred to as outlier；Outlier can produce large effect, it is necessary to reject to tracking performance；
When carrying out alpha-beta filtering, its modulus value should be adjudicated with a certain thresholding W when calculating innovation process, if meeting：
Then think observation data effectively, be otherwise judged to outlier；Usual threshold value is chosen as W and elects three direction observation noises as
The vector that respective 3 times of standard deviation is constituted；
If step 4-4. Current observation values are judged to outlier, estimated in state estimation using the state vector in previous cycle
Evaluation does linear extrapolation, is determined as that tracking target is lost when detecting outlier at continuous 3 observation moment, now should be again
Initialization alpha-beta tracking filter re-executes step 3 to the whole search described in step 4 and acquisition procedure；
By angle cosine residual error in step 4-5. filterings | αt| and | βt| adjudicated with thresholding, threshold value generally takes 1/6
To 1/3 beam angle, when | αt| and | βt| then think that acquisition procedure is restrained when being respectively less than the threshold value, target acquistion is completed can
To be transferred to tracking process, otherwise, step 4-1 to step 4-4 will be repeated until acquisition procedure convergence, completes target acquistion.
Claims (3)
1. a kind of phased-array radar code acquisition mesh calibration method, specifically includes following steps：
Step 1. phased-array radar Subarray partition；
Phased Array Radar Antenna is divided into four submatrixs, submatrix 1, submatrix 2, submatrix 3 and submatrix 4 are designated as respectively；
Step 2. setting energy measuring thresholding Et；
Remember n1(n)、n2(n)、n3(n)、n4(n) be respectively four submatrixs do not receive capture target signal when it is corresponding
Output signal, then now composite signal is designated as n∑=n1(n)+n2(n)+n3(n)+n4(n) noise gross energy, is thus obtained：
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Solve the average and variance of the noise gross energyσ∑, obtain energy measuring thresholdingWherein k1
∈ [1.0,1.2], k2∈ [4,5]；
Step 3. target search procedure；The guidance information provided from carrier platform is obtained after the initial position of target, is controlled phased
The beam. position of battle array radar antenna points to the initial position, and carries out centered on the initial position beam search；Beam search
Specifically carry out in the following ways：
Step 3-1. builds the ripple position arrangement for beam search of two kinds of different range, and arrangement 1, arrangement 2 are designated as respectively；
The arrangement 1 includes 5 ripple positions：Cnter wave 1, respectively positioned at the upper left side of cnter wave 1, upper right side, lower left and
The ripple position 2,3,4 and ripple position 5 of lower right；The cnter wave 1 and ripple position 2,3,4,5 is overlapped mutually, 1 medium wave of arrangement position 2,3,
4th, center of 5 center with ripple position 1 is at a distance of half of beam angle；
The arrangement 2 includes the nine ripples position arranged in nine grids：Ripple position 1 is located at nine grids center, the nine grids first row
Be respectively ripple position 2,3 and ripple position 4 from left to right, the left and right of ripple position 1 is respectively ripple position 5, ripple position 6, the row of nine grids the 3rd by it is left extremely
The right side is respectively ripple position 7,8,9；At a distance of a beam angle between left and right or neighbouring Liang Gebowei centers in arrangement 2；
Step 3-2. ripple positions 1 centered on the initial position of target build the beam search arrangement mode shown in arrangement 1, will be phased
The beam position of battle array radar adjusts the energy F that now four submatrix composite signals are calculated to the initial position of target∑；
The energy of the composite signal is specifically obtained by following methods：
With submatrix 1 to refer to submatrix, Wave beam forming is done to each submatrix respectively, corresponding output signal y is obtained1(n)、y2(n)、
y3And y (n)4(n) four output signals, are synthesized into obtain Y∑(n)=y1(n)+y2(n)+y3(n)+y4(n), thus solve
The energy of four submatrix composite signals：
Wherein N is total sampling number in time domain；
If the energy F∑Not less than the energy measuring thresholding Et, then target search complete, the wave beam of note now phased-array radar
Capture beam position is oriented to, step 4 is performed；Otherwise, by the beam position of phased-array radar be sequentially adjusted in ripple position 2,3,
4th, 5 until the energy F of four submatrix composite signals∑Not less than the energy measuring thresholding EtWhen stop；If by phased-array radar
When beam position is adjusted to ripple position 5, the energy F of four submatrix composite signals∑Still it is less than the energy measuring thresholding Et, perform
Step 3-3；
Step 3-3. ripple positions 1 centered on the initial position of target build the beam search arrangement mode shown in arrangement 2, will be phased
The beam position of battle array radar adjusts the energy that now four submatrix composite signals are calculated to the initial position of target；
If the energy F∑Not less than the energy measuring thresholding Et, then target search complete, the wave beam of note now phased-array radar
Capture beam position is oriented to, step 4 is performed；Otherwise, by the beam position of phased-array radar be sequentially adjusted in ripple position 2,3,
4th, 5,6,7,8,9 until the energy F of four submatrix composite signals∑Not less than the energy measuring thresholding EtWhen stop；If will be phased
When the beam position of battle array radar is adjusted to ripple position 9, the energy F of four submatrix composite signals∑Still it is less than energy measuring door
Limit Et, then carrier platform reinitialize the newest initial bit for obtaining newest guidance information and target being provided to phased-array radar
Put, and perform step 3-1 to step 3-3 again；
Step 4. target acquistion process；
Initial values of the step 4-1. using the capture beam position obtained by step 3 as class Monopulse estimation, using and difference beam
Measuring angle by comparing amplitude method solves the azimuth of echo signalAnd the angle of pitch
Step 4-2. according to and difference beam measuring angle by comparing amplitude obtain measure angleThe direction cosines tried to achieve under corresponding angle are：
Using target in the direction cosines in three directions and its speed of change as state vector：
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WhereinThe speed changed for direction cosines, incident angle estimate conduct is obtained using alpha/beta algorithm tracking filter
The initial angle of angle measurement next time；
Step 4-3. should adjudicate its modulus value with thresholding W when calculating innovation process α (n) when carrying out alpha-beta filtering, if meeting：
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Wherein z (n) is the observation signal in alpha-beta filtering；
H (n) is observing matrix；
F (n-1) is state-transition matrix；
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Then think observation data effectively, and carry out state estimation, solve the initial angle of angle measurement next time；Otherwise innovation process α
(n) it is judged to outlier；Threshold value elects W as, and W elects the vector that three respective 3 times of direction observation noise standard deviations are constituted as；
If step 4-4. Current observation values are judged to outlier, the state vector estimate in previous cycle is utilized in state estimation
Linear extrapolation is done, is determined as that tracking target is lost when detecting outlier at continuous 3 observation moment, now should be again initial
Change alpha-beta tracking filter and re-execute step 3 to the whole search described in step 4 and acquisition procedure；
By angle cosine residual error in step 4-5. filterings | αt| and | βt| adjudicated with thresholding, threshold value generally takes 1/6 to 1/
3 beam angles, when | αt| and | βt| then think that acquisition procedure is restrained when being respectively less than the threshold value, target acquistion completes to turn
Enter tracking process, otherwise, step 4-1 to step 4-4 will be repeated until acquisition procedure convergence, completes target acquistion.
2. phased-array radar code acquisition mesh calibration method according to claim 1, it is characterised in that described in step 4
AzimuthAnd the angle of pitchSpecific method for solving it is as follows：
Wherein,
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2
The beam permutation that described and poor measuring angle by comparing amplitude method is used includes 5 ripple positions：Cnter wave 5, respectively positioned at cnter wave 5
Surface, underface, the ripple position 1,2,3 and ripple position 4 of left and right；The cnter wave 5 intersects with ripple position 1,2,3,4
Folded, center of the center for arranging medium wave position 1,2,3,4 with ripple position 5 is at a distance of half of beam angle；
5 beam positionals are carried out to receive signals synthesis, can obtain 5 orientation and wave beam receive signal energy F∑1~F∑5,
The energy can be according to formula F∑Method for solving try to achieve, ask for error voltage：
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Plane where making phased-array antenna array is that the incoming signal of phased-array radar in x-o-y planes, acquisition procedure initially refers to
It is respectively α to the angle with x-axis and y-axisxAnd αy；Incoming signal and z-axis angle are pitching angle theta, and its span is 0 °~90 °,
Incoming signal is azimuth in the projection of x-o-y planes and x-axis angleIts span be 0 °~360 °, (αx, αy) withThere is following relation：
Wherein, slope kαAnd kβIt can be obtained by experimental fit：Solve kαWhen assume that β directions are oriented to target direction, in α0It is attached
Correspondence u in one beam angle scope of nearly left and right deviationαWith αtValue and use beeline approaching uα-αtRelation curve, by actual measurement number
The slope for obtaining straight line according to fitting solves kα；The angular error signal in β directions and the relation curve slope k of angle cosine deviationβWith it is upper
State method for solving identical.
3. phased-array radar code acquisition mesh calibration method according to claim 1, it is characterised in that the alpha-beta filtering
Method is specific as follows：
The target state equation of discretization is：
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Observation signal is z (n)=[xc, yc, zc], filtering is specific as follows：
State next step is predicted：
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Wherein F (n-1) represents state-transition matrix；
Innovation process is calculated by observation signal z (n)：
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Wherein H (n) represents observing matrix；
α-βfilter is a kind of the constant gain filters for uniform motion object module, and its gain matrix is K (n), utilizes K
(n) state estimation, is carried out：
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ExtractFirst in vector, the value of the 3rd, the 5th parameter, that is, extract the direction cosines after filteringAnd θ ' is solved by antitrigonometric function relation,As the input value of angle measurement next time,
Carry out the process of angle measurement and the tracking of closed loop.
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| CN105785354B (en) * | 2016-03-11 | 2018-02-02 | 中国人民解放军国防科学技术大学 | A kind of search parameter optimization method of phased array radar detection high-speed moving object |
| US10594358B2 (en) * | 2017-04-21 | 2020-03-17 | Futurewei Technologies, Inc. | Leakage signal cancellation |
| CN107329136B (en) * | 2017-06-13 | 2020-12-29 | 电子科技大学 | MIMO radar multi-target self-adaptive tracking method based on variable analysis time |
| CN108038483A (en) * | 2017-10-13 | 2018-05-15 | 西安天和防务技术股份有限公司 | A kind of active-mode intelligent tracking and system, storage medium and electric terminal |
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| CN109949615B (en) * | 2019-04-08 | 2021-03-12 | 中国长江电力股份有限公司 | Ship low-speed early warning detection system and method |
| CN110108301B (en) * | 2019-05-14 | 2020-12-01 | 苏州大学 | Robust alignment method for moving base for modulus detection |
| CN110441748A (en) * | 2019-06-24 | 2019-11-12 | 西安电子科技大学 | A kind of alpha-beta filtering method based on amplitude information |
| CN111077518B (en) * | 2019-12-20 | 2020-11-06 | 哈尔滨工业大学 | Tracking filtering method and device based on distance-Doppler measurement |
| CN111693985B (en) * | 2020-06-24 | 2023-08-04 | 北京无线电测量研究所 | Radar target tracking method, radar, computer device, and storage medium |
| CN111708015B (en) * | 2020-07-13 | 2022-06-21 | 哈尔滨工业大学 | Low-altitude target tracking filtering method under multipath effect |
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| CA2634035A1 (en) * | 2007-06-01 | 2008-12-01 | Intelwaves Technologies Ltd. | Hybrid tracking control system and method for phased-array antennae |
| CN101296018B (en) * | 2008-05-26 | 2011-11-23 | 中国电子科技集团公司第五十四研究所 | Mobile satellite communication phase array antenna beam forming and tracing method |
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