CN106125058B - The improvement mass centre angle-measuring method of metre wave radar is swept based on machine - Google Patents
The improvement mass centre angle-measuring method of metre wave radar is swept based on machine Download PDFInfo
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- CN106125058B CN106125058B CN201610504678.2A CN201610504678A CN106125058B CN 106125058 B CN106125058 B CN 106125058B CN 201610504678 A CN201610504678 A CN 201610504678A CN 106125058 B CN106125058 B CN 106125058B
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
Abstract
The invention belongs to Radar Technology fields, disclose a kind of improvement mass centre angle-measuring method that metre wave radar is swept based on machine, with reduce centroid algorithm to antenna beam whether the sensibility of alignment target, reduce angle error, improve angle measurement accuracy；It include: that machine sweeps array radar to received echo-signal, carry out phase adjustment, maximum amplitude is taken to the data obtained after processing, and find corresponding angle value, take (L-1)/2 angle value in the left and right of the angle (L is the pulse number that beam pattern three dB bandwidth includes), and corresponding amplitude is found out, angle estimation is carried out using centroid method, obtains an angle estimation value θe.Again in θeLeft and right take (L-1)/2 angle value, and find out corresponding amplitude, reuse centroid method and carry out angle estimation, angle estimation value of getting back then proceedes to repeat above operation, carries out multiple centroid algorithm iterative processing.
Description
Technical field
The present invention relates to Radar Technology field more particularly to a kind of improvement mass centre angle measurements that metre wave radar is swept based on machine
Method can be used for carrying out centroid algorithm angle measurement to target when center of antenna normal in mechanical scanning radar is not aligned with target.
Background technique
For metre wave radar since signal is decayed small, detection range is remote, over-the-horizon detection, in terms of have it is only
Special advantage, but simultaneously because the wavelength of metre wave radar is longer, wave beam is wider, so that its angular resolution is poor, angle measurement accuracy is low.
Due at low cost, the factors such as realization is simple are widely applied by people always mechanical scanning radar.Mechanic scan radar angle-measuring method is general
Using maximum-signal method, but the precision of this method is poor, sweeps metre wave radar especially for machine.Its electric size is smaller, wave beam
Wider, maximum-signal method angle measurement accuracy is not high.And although traditional centroid algorithm is higher than maximum-signal method angle measurement accuracy,
But it is not able to satisfy our demand to precision still, and especially when antenna centre normal is not aligned with target, traditional quality
Center method angle measurement accuracy can be lower.
Traditional quality center method is simple to system requirements, only needs a signal path and a scanning beam, and this
The operand of kind of angle-measuring method is few, at low cost, from these from the aspect of, centroid algorithm is a kind of important method.
The angle measurement method of centroid method is one kind of amplitude of vibration method angle measurement, and basic principle is the same as the basic of maximum-signal method
Principle is substantially the same, the difference is that no longer by the corresponding antenna beam of the maximum point of individual amplitude when determining target direction
It is directed toward and is used as target direction, but by determining that the mass center of each echo pulse signal determines target angle.
But the disadvantages of being swept wider metre wave radar wave beam, central beam misalignment target by machine is influenced, and centroid algorithm is surveyed
Angular accuracy acceptor center wave beam whether alignment target influence it is very big, to influence resolving power and the detection, tracking target of radar
Accuracy, precision needs further increase.
Summary of the invention
For the deficiency of above-mentioned prior art, the embodiment of the present invention provides a kind of improvement matter that metre wave radar is swept based on machine
Amount center angle-measuring method, with reduce centroid algorithm to antenna beam whether the sensibility of alignment target, reduce angle error, mention
High angle measurement accuracy.
The technical solution of the present invention is as follows: machine sweeps array radar to received echo-signal, phase adjustment is carried out, after processing
Obtained data take maximum amplitude, and find corresponding angle value, and taking (L-1)/2 angle value in the left and right of the angle, (L is
The pulse number that beam pattern three dB bandwidth includes), and corresponding amplitude is found out, angle estimation is carried out using centroid method, is obtained
One angle estimation value θe.Again in θeLeft and right take (L-1)/2 angle value, and find out corresponding amplitude, reuse centroid method
Angle estimation is carried out, angle estimation value of getting back then proceedes to repeat above operation, carries out multiple centroid algorithm and change
Generation processing.
In order to achieve the above objectives, the embodiment of the present invention adopts the following technical scheme that
A kind of improvement mass centre angle-measuring method for sweeping metre wave radar based on machine, described method includes following steps:
Step 1, set machine and sweep the antenna of metre wave radar as the uniform line-array that is made of N number of array element, wherein N be greater than or
Person is equal to 4 even number；
Step 2, machine sweeps metre wave radar K pulse of transmitting, is spaced fixed preset angle between adjacent pulse；And it determines i-th
The reference angle of pulseI=1,2 ..., K；Wherein, reference angle is the angle of center of antenna normal and horizontal reference plane；
Step 3, machine sweeps the echo-signal X that metre wave radar receives K pulse by antenna array, determines the mesh of i-th of pulse
Off-axis angle, i=1,2 ..., K are marked, and phase adjustment is carried out to echo-signal X, the echo-signal Y after obtaining phase adjustment is obtained
The corresponding pulse of maximum amplitude and the corresponding target off-axis angle of the pulse in echo-signal Y after taking phase adjustment are denoted as
One target off-axis angle；Angle of the target off-axis angle between target and center of antenna normal；
Step 4, (L-1)/2 angle value is each side taken in first object off-axis angle, and from returning after phase adjustment
The corresponding range value of each angle value is obtained in wave signal Y, forms new echo data；L includes in 3dB beam angle
Pulse number；
Step 5, target angle estimation is carried out using mass centre's angle-measuring method to the new echo data, obtains target
First angle estimated values thetae；
Step 6, by the first angle estimated values theta of the targeteThe first object off-axis angle being assigned in step 3；
Step 7, it is repeated in and executes step 4 to step 6, until the angle estimation value of target meets preset error bars
Part, and the angle estimation value obtained for the last time is determined as to the final angle of target.
The present invention has the advantage that the present invention carries out multiple centroid algorithm to data are received compared with prior art, will
The advantages of centroid algorithm successive ignition, so as to center of antenna, whether alignment target is very sensitive by traditional quality center method
Disadvantage weakens, to improve the angle measurement accuracy of centroid algorithm.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of reality of improvement mass centre's angle-measuring method that metre wave radar is swept based on machine provided in an embodiment of the present invention
Existing flow diagram；
Fig. 2 be the root-mean-square error for carrying out angle measurement to a target using the method for the present invention and traditional width centroid algorithm
Correlation curve schematic diagram.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
A kind of improvement mass centre angle-measuring method for sweeping metre wave radar based on machine, referring to Fig.1, the method includes walking as follows
It is rapid:
Step 1, set machine and sweep the antenna of metre wave radar as the uniform line-array that is made of N number of array element, wherein N be greater than or
Person is equal to 4 even number.
The antenna that machine sweeps metre wave radar is equivalent to the array antenna being made of array element.By the antenna of mechanic scan radar it is equivalent at
Array element spacing d between the adjacent array element of the uniform line-array being made of N number of array element, i.e. any two is equal, and is metre wave radar
Emit the half of the wavelength X of signal, λ/2 d=.
Step 2, machine sweeps metre wave radar K pulse of transmitting, is spaced fixed preset angle between adjacent pulse；And it determines i-th
The reference angle of pulseI=1,2 ..., K；Wherein, reference angle is the angle of center of antenna normal and horizontal reference plane.
Specifically, mechanic scan radar is with reference to 0 ° of angle with horizontal plane, mechanic scan radar is when antenna scanning works, at interval of solid
Determine preset angle and emit a pulse, there is L pulse in 3dB beam angle, when angle measurement, transmitting antenna emits K pulse, and K is a
L pulse is contained in pulse, when by emitting i-th of pulse, the angle of center of antenna normal and horizontal reference plane is as benchmark
AngleI=1,2 ..., K.
In step 2, machine sweeps metre wave radar and emits K pulse, fixed preset angle is spaced between adjacent pulse specifically: machine is swept
Metre wave radar emits a pulse when antenna scanning works, at interval of fixed preset angle △ Φ, and wraps in 3dB beam angle
Containing L pulse；Wherein, △ Φ=360*tT, t are the pulse repetition period, and T is the revolving speed that machine sweeps metre wave radar.
Since the mechanical radar moment is rotating, so center of antenna normal is variation.
Step 3, machine sweeps the echo-signal X that metre wave radar receives K pulse by antenna array, determines the mesh of i-th of pulse
Off-axis angle, i=1,2 ..., K are marked, and phase adjustment is carried out to echo-signal X, the echo-signal Y after obtaining phase adjustment is obtained
The corresponding pulse of maximum amplitude and the corresponding target off-axis angle of the pulse in echo-signal Y after taking phase adjustment are denoted as
One target off-axis angle；Angle of the target off-axis angle between target and center of antenna normal.
Step 3 specifically:
(3a) machine sweeps the echo-signal X=AS+n that metre wave radar receives K pulse by antenna array, wherein A=[a
(θ1),...a(θi)...,a(θK)] indicate the target phase information that echo-signal includes, a (θi)=[1, exp (j2 π d/ λ sin
θi),...,exp(j2π(N-1)d/λsinθi)]TFor the target off-axis angle vector of i-th of pulse, i=1,2 ..., K；D is battle array
Member interval, λ is signal wavelength, indicates the transposition of vector；
S=[S1,...Si...,SK]TIndicate the complex envelope of echo-signal, SiIndicate the complex envelope information of i-th of pulse,Wherein fdIndicate the Doppler frequency of target, fd=2Vf0/ c, V indicate that target sweeps metre wave radar with respect to machine
Radial velocity, f0Indicate the centre frequency of radar emission signal, c represents the light velocity, and t is the pulse repetition period；N represent mean value as
0, N × K rank white Gaussian noise matrix that variance is 1；Exp indicates that j represents imaginary unit using e as the exponential depth at bottom.
(3b) carries out phase adjustment to echo-signal X, the echo-signal Y=a (θ after obtaining phase adjustment0) X, it is assumed that
The actual angle of target is θ0, a (θ0)=[1, exp (j2 π d/ λ sin (θ0)),…,exp(j2π(N-1)d/λsin(θ0))]T；
It should be noted that the actual angle of target described in the present embodiment is the mesh estimated in advance according to prior information
Target angle, belongs to the scope of rough estimate, and the present invention is accurately estimated the angle of target.
(3c) obtains the corresponding pulse of maximum amplitude and pulse corresponding the in the echo-signal Y after phase adjustment
One target off-axis angle θmax。
Step 4, (L-1)/2 angle value is each side taken in first object off-axis angle, and from returning after phase adjustment
The corresponding range value of each angle value is obtained in wave signal Y, forms new echo data；L includes in 3dB beam angle
Pulse number.
Step 5, target angle estimation is carried out using mass centre's angle-measuring method to the new echo data, obtains target
First angle estimated values thetae。
Step 5 specifically:
(5a) takes by (L-1)/2 angle value taken on the left of first object off-axis angle, on the right side of first object off-axis angle
(L-1)/2 angle value and first object off-axis angle be denoted as θl, l=1 ..., L, and its corresponding range value is denoted as al, l
=1 ..., L, to obtain new echo data；
(5b) carries out target angle estimation using mass centre's angle-measuring method to the new echo data, obtains target
First angle estimated values thetae:
Step 6, by the first angle estimated values theta of the targeteThe first object off-axis angle being assigned in step 3.
Step 7, it is repeated in and executes step 4 to step 6, until the angle estimation value of target meets preset error bars
Part, and the angle estimation value obtained for the last time is determined as to the final angle of target.
Angle estimation value in step 7 until target meets preset error condition specifically: until the angle of target is estimated
The root-mean-square error of evaluation is reduced to original 1/5.Root-mean-square error originally refers to root before not carrying out technical solution of the present invention
According to the rough angle for the target that prior information obtains, according to the root-mean-square error of rough angle calculation.
Effect of the invention can be verified by following Computer Simulation:
One, simulated conditions
Simulated conditions: assuming that the antenna surface that antenna is made of 10 array elements, the beam angle of antenna is about 20 °, antenna
Rotary scanning is carried out with the speed of 10s/r, radar emits the pulse that a frequency is 300MHz every 5ms, and antenna receives every time
To 55 pulse signals, center of antenna normal is not aligned with target, and center of antenna deviates 4 pulses of target；Assuming that there are one
Target, the real angle of target are 10 °, and signal-to-noise ratio takes -10dB to 10dB, and signal-to-noise ratio here refers to single array element, single arteries and veins
Punching.
Two, emulation content
When using simulated conditions 1 to only one target, traditional quality center method is respectively adopted and the method for the present invention carries out
Angle measurement obtains the root-mean-square error curve that two methods change with signal-to-noise ratio, as shown in Fig. 2, abscissa is signal-to-noise ratio in Fig. 2,
Ordinate is root-mean-square error.
From Figure 2 it can be seen that the method for the present invention is higher than traditional quality center method precision, and especially when signal-to-noise ratio is low, effect
Clearly, the method for the present invention can reduce the influence of noise, improve angle measurement accuracy.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (3)
1. a kind of improvement mass centre angle-measuring method for sweeping metre wave radar based on machine, which is characterized in that the method includes as follows
Step:
Step 1, it sets machine and sweeps the antenna of metre wave radar as the uniform line-array being made of N number of array element, N is more than or equal to 4
Even number；
Step 2, machine sweeps metre wave radar K pulse of transmitting, is spaced fixed preset angle between adjacent pulse；And determine i-th of pulse
Reference angleI=1,2 ..., K；Wherein, reference angle is the angle of center of antenna normal and horizontal reference plane；
Step 3, machine sweeps the echo-signal X that metre wave radar receives K pulse by antenna array, determines that the target of i-th of pulse is inclined
Shaft angle, i=1,2 ..., K, and phase adjustment is carried out to echo-signal X, the echo-signal Y after obtaining phase adjustment obtains phase
The corresponding pulse of maximum amplitude and the corresponding target off-axis angle of the pulse in the echo-signal Y adjusted of position, are denoted as the first mesh
Mark off-axis angle；Angle of the target off-axis angle between target and center of antenna normal；
Step 4, (L-1)/2 angle value is each side taken in first object off-axis angle, and believed from the echo after phase adjustment
The corresponding range value of each angle value is obtained in number, forms new echo data；L is the pulse for including in 3dB beam angle
Number；
Step 5, target angle estimation is carried out using mass centre's angle-measuring method to the new echo data, obtains the of target
One angle estimation value θe；
Wherein, step 5 specifically:
(the L- that (5a) by take on the left of first object off-axis angle (L-1)/2 angle value, is taken on the right side of first object off-axis angle
1)/2 angle value and first object off-axis angle are successively denoted as θ respectivelyl, l=1 ..., L, and its corresponding range value is denoted as
al, l=1 ..., L, to obtain new echo data；
(5b) carries out target angle estimation using mass centre's angle-measuring method to the new echo data, obtains the first of target
Angle estimation value θe:
Step 6, by the first angle estimated values theta of the targeteThe first object off-axis angle being assigned in step 3；
Step 7, it is repeated in and executes step 4 to step 6, until the angle estimation value of target meets preset error condition, and
The angle estimation value obtained for the last time is determined as to the final angle of target.
2. a kind of improvement mass centre angle-measuring method for being swept metre wave radar based on machine according to claim 1, feature are existed
In in step 2, machine sweeps metre wave radar and emits K pulse, and fixed preset angle is spaced between adjacent pulse specifically:
Machine sweeps metre wave radar in antenna scanning work, emits a pulse at interval of fixed preset angle △ Φ, and in 3dB wave beam
It include L pulse in width；Wherein, △ Φ=360*t/T, t are the pulse repetition period, and T is the revolving speed that machine sweeps metre wave radar.
3. a kind of improvement mass centre angle-measuring method for being swept metre wave radar based on machine according to claim 1, feature are existed
In step 3 specifically:
(3a) machine sweeps the echo-signal X=AS+n that metre wave radar receives K pulse by antenna array, wherein A=[a (θ1),...a
(θi)...,a(θK)] indicate the target phase information that echo-signal includes, a (θi)=[1, exp (j2 π d/ λ sin θi),...,
exp(j2π(N-1)d/λsinθi)]TFor the target off-axis angle vector of i-th of pulse, i=1,2 ..., K；D is array element interval, λ
For signal wavelength, the transposition of vector is indicated；
S=[S1,...Si...,SK]TIndicate the complex envelope of echo-signal, SiIndicate the complex envelope information of i-th of pulse,Wherein fdIndicate the Doppler frequency of target, fd=2Vf0/ c, V indicate that target sweeps metre wave radar with respect to machine
Radial velocity, f0Indicate the centre frequency of radar emission signal, c represents the light velocity, and t is the pulse repetition period；N represent mean value as
0, N × K rank white Gaussian noise matrix that variance is 1；
(3b) carries out phase adjustment to echo-signal X, the echo-signal Y=a (θ after obtaining phase adjustment0) X, wherein θ0For
The actual angle of target, a (θ0)=[1, exp (j2 π d/ λ sin (θ0)),…,exp(j2π(N-1)d/λsin(θ0))]T；
The corresponding pulse of maximum amplitude and the corresponding target of the pulse are inclined in echo-signal Y after (3c) acquisition phase adjustment
Shaft angle is denoted as first object off-axis angle θmax。
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