CN106980109B - Multi-subarray low-altitude radar - Google Patents
Multi-subarray low-altitude radar Download PDFInfo
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- CN106980109B CN106980109B CN201710305118.9A CN201710305118A CN106980109B CN 106980109 B CN106980109 B CN 106980109B CN 201710305118 A CN201710305118 A CN 201710305118A CN 106980109 B CN106980109 B CN 106980109B
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- 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
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Abstract
The invention discloses a multi-subarray low-altitude radar, which comprises: n evenly distributed antenna subarrays; the main processing module is respectively connected with the N antenna subarrays; the control module is connected with the main processing module; the control module is used for sending a first instruction to the main processing module; and the main processing module is used for responding to the first instruction so as to control P antenna sub-arrays in the N antenna sub-arrays to respond to the first instruction to carry out gaze detection on a first detection area. The technical scheme can solve the problems that most radars adopt a mechanical rotation scanning or phase scanning mode, a servo turntable is needed for mechanical rotation scanning, the size, weight, reliability and the like of the servo turntable have great influence on radar performance, and the cost is high; the azimuth scanning mode generally adopts a large phased array radar with a plurality of area arrays, needs a large number of T/R components to realize and has higher cost.
Description
Technical Field
The invention relates to the field of radar measurement and control, in particular to a multi-subarray low-altitude radar.
Background
With the rapid development of electronic technology and information technology in recent years, radar plays an increasingly important role in battles, and is the 'fiery-eyed gold eye' of modern war. The modern war is an omnibearing, multi-level and large-depth three-dimensional war, and with the development of a modern air defense system, the capability of detecting and destroying flying targets from middle and high altitudes is greatly improved. However, low-altitude intrusion of airplanes, missiles, unmanned aerial vehicles and the like has become one of the main threats of radars, and in recent local wars, an air attack party usually adopts a low-altitude ultra-low altitude penetration mode, penetrates through a medium and long-distance warning radar air defense net by utilizing the sheltering of terrain and ground objects, and dives from a radar detection blind area to carry out the stealing and destruction on an air defense system of an enemy. The small unmanned aerial vehicle, the power delta wing, the power parachute and other aircrafts are simple in comprehensive control, low in cost and difficult to control, the target is high in concealment, easy to acquire, sudden in levitation, easy to control, low in flying height, low in flying speed and small in radar reflection section, and radar equipment is difficult to detect and becomes a key point and a difficult point for airspace prevention and control.
The existing primary radar has the following technical problems when realizing the coverage of circumference or sector scanning in the azimuth: most radars adopt a mechanical rotation scanning or phase scanning mode, a servo turntable is required for mechanical rotation scanning, the size, weight, reliability and the like of the servo turntable have great influence on the performance of the radars, and the cost is high; the azimuth phase scanning mode generally adopts a large phased array radar with multiple area arrays, needs a large number of T/R (Transmitter and Receiver) components to realize, and has high cost.
Disclosure of Invention
The embodiment of the invention provides a multi-subarray low-altitude radar, which is used for solving the problems that in the prior art, most radars adopt a mechanical rotation scanning or phase scanning mode, a servo turntable is required for mechanical rotation scanning, the size, weight, reliability and the like of the servo turntable have large influence on radar performance, and the cost is high; the azimuth scanning mode generally adopts a large phased array radar with a plurality of area arrays, needs a large number of T/R components to realize and has higher cost.
An embodiment of the present invention provides a multi-subarray low-altitude radar, including:
n antenna subarrays, wherein N is an integer greater than 1;
the main processing module is respectively connected with the N antenna subarrays;
the control module is connected with the main processing module;
the N antenna sub-arrays are uniformly distributed in a fan-shaped or circumferential area with a first central angle on a horizontal plane, the first central angle is equal to a first angle corresponding to a total detection area to be covered by the multi-sub-array low-altitude radar on the horizontal plane, and the angle of the first central angle is greater than 0 degree and less than or equal to 360 degrees;
the control module is used for sending a first instruction to the main processing module;
and the main processing module is configured to respond to the first instruction, so as to control P antenna sub-arrays in the N antenna sub-arrays to respond to the first instruction to perform gaze detection on a first detection region, where the first detection region belongs to all or part of the total detection region, a second angle corresponding to the first detection region on the horizontal plane is smaller than the first angle, and P is an integer greater than or equal to 1 and less than or equal to N.
Optionally, a sub-detection area that can be covered by each antenna subarray of the N antenna subarrays corresponds to a third angle on the horizontal plane;
and N is greater than or equal to a first value R, and the first value R is a value obtained by dividing the first angle by the third angle.
Optionally, N is an integer greater than R and less than or equal to R + 1.
Optionally, the pitch angle of each antenna subarray in the N antenna subarrays is a preset angle, and the preset angle is greater than or equal to 0 ° and less than or equal to 20 °.
Optionally, each of the N antenna subarrays includes a sum-difference module, and the sum-difference module is configured to process an echo signal of at least one target received by the antenna subarray corresponding to the sum-difference module, so as to obtain a sum signal and a difference signal.
Optionally, the main processing module is configured to process the sum signal and the difference signal to obtain track information of the at least one target object and send the track information to the control module.
Optionally, the main processing module, configured to respond to the first instruction, so as to control P antenna sub-arrays of the N antenna sub-arrays to perform gaze detection on a first detection region in response to the first instruction, includes:
the main processing module is configured to generate a first transmission modulation signal including an operating timing sequence of each of P antenna sub-arrays of the N antenna sub-arrays in response to the first instruction;
based on the first transmission modulation signal, the main processing module controls P antenna sub-arrays in the N antenna sub-arrays to transmit signals for gaze detection in a time-sharing manner according to the working time sequence, and performs gaze detection on the first detection area.
Optionally, the controlling, by the main processing module, the P antenna sub-arrays in the N antenna sub-arrays to transmit the signal for gaze detection in a time-sharing manner according to the working time sequence based on the first transmission modulation signal, and performing gaze detection on the first detection area includes:
based on the first transmission modulation signal, in a preset time period, the main processing module controls a kth antenna subarray in the P antenna subarrays to transmit a signal for gaze detection, and performs gaze detection on a kth sub detection area corresponding to the kth antenna subarray, wherein the kth sub detection area belongs to the first detection area, and K is an integer greater than or equal to 1 and less than or equal to P;
in the preset time period, when the Kth antenna subarray receives an echo signal K of at least one target object in the Kth sub-detection area, the main processing module receives and processes the echo signal K to obtain track information of the at least one target object;
and the main processing module sends the track information of the at least one target object to the control module.
Optionally, the main processing module includes:
the data processing submodule is connected with the control module;
the data processing submodule is connected with the signal processing submodule and used for responding to the first instruction sent by the control module and controlling the signal processing submodule to generate a first time sequence signal comprising the working time sequence of P antenna subarrays in the N antenna subarrays and a first switch control signal comprising the working time sequence, wherein K is an integer which is greater than or equal to 1 and less than or equal to P;
the signal processing submodule is respectively connected with the transmitting modulation submodule, the receiving submodule and the switch submodule and is used for sending the first time sequence signal to the frequency synthesis and modulation submodule, and the frequency synthesis and modulation submodule processes the first time sequence signal and then generates a first transmitting modulation signal;
the switch submodule is used for responding to the first switch control signal, so that the first transmit modulation signal drives the P antenna sub-arrays in a time-sharing manner, and the P antenna sub-arrays in the N antenna sub-arrays are controlled to respond to the first instruction to perform gaze detection on a first detection area.
Optionally, the switch sub-module includes:
the N first switches are connected with the sum channel of each antenna subarray in the N antenna subarrays in a one-to-one mode, and the N first switches are respectively connected with the transmitting modulation submodule;
the N first switches are connected with P first switches of each of the P antenna sub-arrays and a channel, and are configured to operate in a time-sharing manner in response to the first switch control signal, so that the second transmission modulation signal drives the P antenna sub-arrays in a time-sharing manner through the responsive first switches, thereby controlling the P antenna sub-arrays of the N antenna sub-arrays to transmit signals for gaze detection in a time-sharing manner according to the operating time sequence, and performing gaze detection on the first detection area.
Optionally, the time-sharing driving of the P antenna sub-arrays by the second transmit modulation signal so as to control the P antenna sub-arrays in the N antenna sub-arrays to perform gaze detection on the first detection region in response to the first instruction includes:
based on the working time sequence, in a preset time period, after the second emission modulation signal passes through the switch submodule, driving a Kth antenna subarray to emit a signal for gaze detection, and performing gaze detection on a Kth sub detection area corresponding to the Kth antenna subarray, wherein the Kth sub detection area belongs to the first detection area, and K is an integer greater than or equal to 1 and less than or equal to P;
in the preset time period, when the Kth antenna subarray receives an echo signal K of at least one target object in the Kth sub-detection area, a sum difference module in the Kth antenna subarray processes the echo signal K to generate a sum signal K and a difference signal K;
the sum signal K and the difference signal K are received by the receiving submodule after passing through the switch submodule;
the receiving submodule processes the sum signal K and the difference signal K to obtain a sum intermediate frequency signal K and a difference intermediate frequency signal K;
and the intermediate frequency signal K and the difference intermediate frequency signal K are processed by the signal processing submodule and the data processing submodule in sequence to obtain track information of at least one target object.
Optionally, the switch sub-module includes:
the N first switches are connected with the channel and the sum channel of each antenna subarray in the N antenna subarrays in a one-to-one mode, the N first switches are respectively connected with the transmitting modulation submodule, and the N first switches are respectively connected with the receiving submodule;
the N second switches are connected with the difference channel of each antenna subarray in the N antenna subarrays in a one-to-one mode, and the N second switches are respectively connected with the receiving submodule;
the Kth first switch of the P first switches connected with the sum channel of each antenna subarray in the P antenna subarrays in the N first switches is used for responding to the first switch control signal to work in a time-sharing mode, so that the sum signal K is received by the receiving submodule after passing through the Kth first switch;
and the Kth second switch in the P second switches, which is connected with the difference channel of each antenna subarray in the P antenna subarrays, in the N second switches is used for responding to the first switch control signal to work in a time-sharing mode, so that the difference signal K is received by the receiving submodule after passing through the Kth second switch.
The technical scheme provided in the embodiment of the invention is as follows: a multi-subarray low-altitude radar, comprising: n antenna subarrays, wherein N is an integer greater than 1; the main processing module is respectively connected with the N antenna subarrays; the control module is connected with the main processing module; the N antenna sub-arrays are uniformly distributed in a fan-shaped or circumferential area with a first central angle on a horizontal plane, the first central angle is equal to a first angle corresponding to a total detection area to be covered by the multi-sub-array low-altitude radar on the horizontal plane, and the angle of the first central angle is greater than 0 degree and less than or equal to 360 degrees; the control module is used for sending a first instruction to the main processing module; and the main processing module is configured to respond to the first instruction, so as to control P antenna sub-arrays in the N antenna sub-arrays to respond to the first instruction to perform gaze detection on a first detection region, where the first detection region belongs to all or part of the total detection region, a second angle corresponding to the first detection region on the horizontal plane is smaller than the first angle, and P is an integer greater than or equal to 1 and less than or equal to N. The technical scheme can solve the problems that most radars adopt a mechanical rotation scanning or phase scanning mode, a servo turntable is needed for mechanical rotation scanning, the size, weight, reliability and the like of the servo turntable have great influence on radar performance, and the cost is high; the azimuth scanning mode generally adopts a multi-area array large phased array radar, needs a large number of T/R components to realize the azimuth scanning mode, and has the technical problem of higher cost, so that relatively larger antenna gain is obtained, monopulse and difference amplitude angle measurement can be flexibly realized in different azimuths and different detection ranges, and the detection power and angle measurement precision are improved; meanwhile, the influence of periodic modulation on the detection performance caused by the rotation of an antenna of the traditional radar is changed; the gaze detection technology can be accumulated for a long time.
Drawings
Fig. 1 is a first schematic diagram of a multi-subarray low-altitude radar according to an embodiment of the present invention;
fig. 2 is a schematic diagram of an antenna subarray of a multi-subarray low-altitude radar according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a pitch angle of an antenna subarray according to an embodiment of the present invention;
fig. 4 is a second schematic diagram of a multi-subarray low-altitude radar according to a first embodiment of the present invention.
Detailed Description
The embodiment of the invention provides a multi-subarray low-altitude radar, which is used for solving the problems that in the prior art, most radars adopt a mechanical rotation scanning or phase scanning mode, a servo turntable is required for mechanical rotation scanning, the size, weight, reliability and the like of the servo turntable have large influence on radar performance, and the cost is high; the azimuth scanning mode generally adopts a large phased array radar with a plurality of area arrays, needs a large number of T/R components to realize and has higher cost.
In order to solve the technical problems, the technical scheme in the embodiment of the invention has the following general idea: a multi-subarray low-altitude radar, comprising: n antenna subarrays, wherein N is an integer greater than 1; the main processing module is respectively connected with the N antenna subarrays; the control module is connected with the main processing module; the N antenna sub-arrays are uniformly distributed in a fan-shaped or circumferential area with a first central angle on a horizontal plane, the first central angle is equal to a first angle corresponding to a total detection area to be covered by the multi-sub-array low-altitude radar on the horizontal plane, and the angle of the first central angle is greater than 0 degree and less than or equal to 360 degrees; the control module is used for sending a first instruction to the main processing module; and the main processing module is configured to respond to the first instruction, so as to control P antenna sub-arrays in the N antenna sub-arrays to respond to the first instruction to perform gaze detection on a first detection region, where the first detection region belongs to all or part of the total detection region, a second angle corresponding to the first detection region on the horizontal plane is smaller than the first angle, and P is an integer greater than or equal to 1 and less than or equal to N.
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
Example one
The embodiment of the invention provides a multi-subarray low-altitude radar.
Referring to fig. 1, the multi-subarray low-altitude radar includes:
n antenna subarrays, wherein N is an integer greater than 1; for example, the antenna subarrays 101, 102 to 10N in fig. 1, where the N antenna subarrays are uniformly distributed in a sector or a circumferential area on a horizontal plane, where the sector or the circumferential area has a first central angle, the first central angle is equal to a first angle corresponding to a total detection area on the horizontal plane, which needs to be covered by the multi-subarray low-altitude radar, and the first central angle is greater than 0 ° and equal to or less than 360 °.
A sub-detection area which can be covered by each antenna subarray in the N antenna subarrays corresponds to a third angle on a horizontal plane; the third angle corresponding to the sub-detection area which can be covered by each antenna sub-array on the horizontal plane is generally the azimuth angle of each antenna sub-array, and the azimuth angle is generally the 3dB beam width of the antenna in the azimuth and is influenced by the working frequency band of the radar antenna and the size of the antenna.
In order to realize the full coverage of the total detection area by the multi-subarray low-altitude radar, the N is greater than or equal to a first value R, and the first value R is a value obtained by dividing the first angle by the third angle. Namely, the number N of the antenna sub-arrays is larger than the value of the total angle of the azimuth angle which needs to be covered by the multi-sub-array low-altitude radar in theory divided by the angle of the azimuth angle which can be covered by each antenna sub-array, so that the antenna coverage range of the multi-sub-array low-altitude radar has no blind area.
In order to make the antenna coverage area of the multi-subarray low-altitude radar have no blind area and prevent the waste caused by the excessive number of antenna subarrays, N is preferably an integer greater than R and less than or equal to R + 1.
For example, a specific implementation in which N antenna sub-arrays are uniformly distributed in a sector or a circumferential area having a first central angle on a horizontal plane may include a plurality of cases, but is not limited to the following three cases (see fig. 2 in particular):
in the first case, for example, the sub-detection areas covered by each antenna sub-array correspond to a third angle θ in the horizontal plane3Is 50°. Assuming that the total detection area required to be covered by the multi-subarray low-altitude radar is at a corresponding first angle theta on the horizontal plane1Is 360 deg., then R ═ θ1/θ37.2. The number N of the antenna sub-arrays is limited by the azimuth angle covered by each antenna sub-array and the azimuth angle required to be scanned by the radar, the total azimuth angle required to be covered by the radar in a specific implementation scheme and the azimuth angle covered by a single antenna sub-array are calculated, the size, the weight and the beam crossing among the sub-array antennas are considered, and in order to enable the antenna coverage range of the multi-sub-array low-altitude radar to have no blind area and prevent the waste caused by the excessive number of the antenna sub-arrays, the N is normally and properly increased in design. For example, if N is 8, the 8 antenna sub-arrays 101, 102 … …, 108 are uniformly distributed in a circumferential area of a 360 ° central angle on the horizontal plane. According to the practical engineering application condition of engineering, dividing N into NOther values than 8, greater than 7.2, are possible.
In the second case, or the first angle theta of the total detection area on the horizontal plane, which is required to be covered by the multi-subarray low-altitude radar1Equal to 120 ° for BOD, then equal to θ for R1/θ3Similarly, in order to enable the antenna coverage area of the multi-sub-array low-altitude radar to have no blind area and prevent the waste caused by the excessive number of the antenna sub-arrays, N is appropriately increased to 3, and the 3 antenna sub-arrays 101, 102 and 103 are uniformly distributed in the sector area corresponding to the ═ BOD.
In a third case, or a first angle theta of a total detection area on the horizontal plane, where coverage of the multi-subarray low-altitude radar needs to be realized1When the angle AOD is 180 °, for example, corresponds to the upper half circumference region of the circumference region, then R is θ1/θ3Similarly, in order to avoid the antenna coverage area of the multi-subarray low-altitude radar from having blind areas and prevent the waste caused by the excessive number of antenna subarrays, N is increased appropriately, N is 4, and the 4 antenna subarrays 101, 102, 103, 108 are uniformly distributed in the upper half circumference area corresponding to the ═ BOD.
In addition to the requirement for the scanning angle in the azimuth of each antenna subarray in the N antenna subarrays included in the multi-subarray low-altitude radar, the requirement for the pitch angle of each antenna subarray in the N antenna subarrays included in the multi-subarray low-altitude radar is as follows:
the pitch angle of each antenna subarray in the N antenna subarrays is a preset angle.
The preset value is more than or equal to the angle and is more than or equal to 0 degrees and less than or equal to 20 degrees.
For example, the circumferential region in fig. 2 is taken along the OC line as a vertical cross-section perpendicular to the circumferential region.
Referring to fig. 3, the angle between the antenna subarray 102 and the vertical cross-section is the pitch angle of the antenna subarray
The pitch angle of each antenna subarray in the N antenna subarrays is set according to the actual detection condition to be covered,the pitch angle of each antenna subarray in the N antenna subarrays may be the same or different. For example, the pitch angle of each antenna subarray in the N antenna subarrays is preset, the pitch angle is between 0 ° and 20 °, and for example, the pitch angle of each antenna subarray in the N antenna subarrays is set to 10 ° according to an actual detection condition that needs to be covered.
Referring to fig. 1, the multi-subarray low-altitude radar further comprises:
the main processing module 20 is respectively connected with the N antenna sub-arrays;
a manipulation module 30 connected to the main processing module 20;
the control module 30 is configured to send a first instruction to the main processing module 20;
the main processing module 20 is configured to respond to the first instruction, so as to control P antenna sub-arrays of the N antenna sub-arrays to respond to the first instruction to perform gaze detection on a first detection area, where the first detection area belongs to all or part of the total detection area, a second angle corresponding to the first detection area on the horizontal plane is smaller than the first angle, and P is an integer greater than or equal to 1 and less than or equal to N.
In the first case of the antenna subarray distribution in fig. 2, when N is 8, the 8 antenna subarrays 101, 102 … …, 108 are regularly (or uniformly) distributed in a circumferential area with a central angle of 360 ° on the horizontal plane. If the multi-subarray low-altitude radar needs to scan a first sector area of a 120-degree central angle of a corresponding azimuth of the antenna subarrays 101, 102, and 103, the steering module 30 sends a first instruction to the main processing module 20 based on a range in which the multi-subarray low-altitude radar needs to scan, and the main processing module 20 responds to the first instruction sent by the steering module 30 to control 101, 102, and 103 of the 8 antenna subarrays to perform gaze detection on the first sector area, that is, to implement detection of the first sector area by the multi-subarray low-altitude radar.
In addition, for the three situations of the antenna subarray distribution or other situations except the three situations of the antenna subarray distribution of the multi-subarray low-altitude radar, based on the difference of the scanning required range of the multi-subarray low-altitude radar, the first instructions sent by the steering module are also different, and the main processing module 20 responds to the different first instructions sent by the steering module 30 to control a part of the antenna subarrays or all the antenna subarrays to work, so as to realize the gaze detection of the multi-subarray low-altitude radar on the area required to be scanned.
The gaze detection is carried out, for example, a long-time accumulation gaze detection technology is adopted, when a certain antenna subarray works, the antenna does not rotate mechanically, the gaze detection is carried out on a target, and the low-altitude slow-speed small target detection is facilitated. Specifically, the main processing module 20 of the multi-subarray low-altitude radar is configured to respond to the first instruction, so as to control P antenna subarrays of the N antenna subarrays to perform gaze detection on a first detection area in response to the first instruction, and includes:
the main processing module 20 is configured to respond to the first instruction, so as to generate a first transmission modulation signal including an operation timing of each of P antenna sub-arrays of the N antenna sub-arrays.
Based on the first transmission modulation signal, the main processing module controls P antenna sub-arrays in the N antenna sub-arrays to transmit signals for gaze detection in a time-sharing manner according to the working time sequence, and performs gaze detection on the first detection area. Specifically, based on the first transmission modulation signal, in a preset time period, the main processing module 20 controls a kth antenna sub-array of the P antenna sub-arrays to transmit a signal for gaze detection, and performs gaze detection on a kth sub-detection area corresponding to the kth antenna sub-array, where the kth sub-detection area belongs to the first detection area, and K is an integer greater than or equal to 1 and less than or equal to P; in the preset time period, when the Kth antenna subarray receives an echo signal K of at least one target object in the Kth sub-detection area, the main processing module receives and processes the echo signal K to obtain track information of the at least one target object;
the main processing module 20 sends the track information of the at least one target object to the control module.
For example, in the first case of the antenna subarray distribution described above in fig. 2, the 8 antenna subarrays 101, 102 … …, 108 are uniformly distributed over a circumferential area of 360 ° central angle on the horizontal plane. If the multi-subarray low-altitude radar needs to scan in a first sector area of a 120-degree central angle of a corresponding azimuth of the antenna subarrays 101, 102 and 103, the steering module 30 generates a first transmission modulation signal based on a control instruction sent to the main processing module 20 by the multi-subarray low-altitude radar in a range that needs to be scanned, the main processing module 20 responds to the control instruction sent by the steering module 30 to generate a first transmission modulation signal, and based on the first transmission modulation signal, the main processing module controls the 3 antenna subarrays 101, 102 and 103 to operate in a time-sharing manner according to the operating time sequence, within a first preset time period, the antenna subarray 101 operates, the other antenna subarrays do not operate, the antenna subarray 101 transmits a signal for gaze detection, gaze detection is performed on the first detection area, and an echo signal of a target object is received within the first time period. In a second preset time period, the antenna subarray 102 works, the other antenna subarrays do not work, the antenna subarray 102 transmits a signal for gaze detection, gaze detection is performed on the first detection area, and an echo signal of a target object is received in the second time period. And so on until the 3 antenna sub-arrays 101, 102, 103 finish working in sequence according to the working sequence. In addition, based on the difference of the areas to be scanned by the multi-subarray low-altitude radar, the first instructions sent by the control module are also different, and the main processing module 20 can control all or part of the antenna subarrays to work based on the different first instructions, so as to realize gaze detection of the areas to be scanned by the multi-subarray low-altitude radar.
In addition, for the three situations of the antenna subarray distribution in fig. 2 or other situations except the three situations of the antenna subarray distribution of the multi-subarray low-altitude radar, based on the difference of the ranges to be scanned by the multi-subarray low-altitude radar, the first instruction sent by the steering module is also different, and the main processing module 20 responds to the different first instruction sent by the steering module 30 to control a part of the antenna subarrays or all the antenna subarrays to work, so as to implement the gaze detection of the area to be scanned by the multi-subarray low-altitude radar.
Referring to fig. 4, the multi-subarray low-altitude radar specifically includes:
n antenna subarrays; the specific distribution of the N antenna sub-arrays is also the first case of the antenna sub-array distribution in fig. 2, and if N is 8, the 8 antenna sub-arrays 101, 102 … …, 108 are uniformly distributed in the circumferential area of the 360 ° central angle on the horizontal plane. Each of the 8 antenna subarrays includes a sum-difference module, and the sum-difference module is configured to process an echo signal of at least one target received by the antenna subarray corresponding to the sum-difference module, so as to obtain a sum signal and a difference signal; the main processing module 20 is configured to process the sum signal and the difference signal to obtain track information of the at least one target object and send the track information to the control module.
The main processing module 20 is respectively connected with the 8 antenna sub-arrays;
a manipulation module 30 connected to the main processing module 20;
the 8 antenna sub-arrays are uniformly distributed in a fan-shaped or circumferential area with a first central angle on a horizontal plane, the first central angle is equal to a first angle corresponding to a total detection area to be covered by the multi-sub-array low-altitude radar on the horizontal plane, and the angle of the first central angle is greater than 0 degree and less than or equal to 360 degrees;
the control module 30 is configured to send a first instruction to the main processing module 20;
the main processing module 20 is configured to respond to the first instruction, so as to control P antenna sub-arrays of the 8 antenna sub-arrays to respond to the first instruction to perform gaze detection on a first detection area, where the first detection area belongs to all or part of the total detection area, a second angle corresponding to the first detection area on the horizontal plane is smaller than the first angle, and P is an integer greater than or equal to 1 and less than or equal to 8. As shown in fig. 4, the main processing module 20 specifically includes:
a data processing submodule 201 connected to the control module 30;
the data processing submodule 201 is connected to the signal processing submodule 202, and is configured to respond to the first instruction sent by the control module, and control the signal processing submodule 202 to generate a first timing signal including a working timing sequence of P antenna subarrays among the 8 antenna subarrays and a first switch control signal including the working timing sequence, where K is an integer greater than or equal to 1 and less than or equal to P;
the signal processing submodule 202 is respectively connected with the transmitting modulation submodule 203, the receiving submodule 204 and the switch submodule 205, the signal processing submodule 202 is used for sending the first time sequence signal to the frequency synthesis and modulation submodule, and the frequency synthesis and modulation submodule processes the first time sequence signal to generate a first transmitting modulation signal;
the switch submodule 205 is connected to the receiving submodule 204 and the transmission modulation submodule 203, and the switch submodule 205 is configured to respond to the first switch control signal, so that the first transmission modulation signal drives the P antenna subarrays in a time-sharing manner, and thus the P antenna subarrays in the 8 antenna subarrays are controlled to respond to the first instruction to perform gaze detection on a first detection area.
Specifically, the transmission modulation submodule 203 may further include a frequency synthesis and modulation unit and a transmission unit, which are connected in sequence, wherein the frequency synthesis and modulation unit is configured to generate a transmission modulation signal, and the transmission unit is configured to perform power amplification on the transmission modulation signal and then enter the switch submodule.
Wherein the switch sub-module 205 comprises: 8 first switches 2051 connected to the channel and the sum channel of each of the 8 antenna sub-arrays one to one, wherein the 8 first switches are respectively connected to the transmission modulation sub-modules; a first circulator 2053 may be further connected between the 8 first switches and the transmission modulation submodule. In addition, the switch submodule may further include a filtering unit configured to filter a signal passing through the switch submodule.
And 8 second switches 2052 connected one-to-one to the difference channel of each of the 8 antenna sub-arrays, the 8 second switches being connected to the receiving sub-module, respectively; a second circulator 2054 may be further connected between the 8 second switches and the receiving submodule.
The 8 first switches are connected with the P first switches of each of the P antenna sub-arrays and the channel, and are used for responding to the first switch control signal to work in a time-sharing mode, so that the second transmitting modulation signal drives the P antenna sub-arrays in a time-sharing mode through the responding first switches, and the P antenna sub-arrays in the 8 antenna sub-arrays are controlled to transmit signals for gaze detection in a time-sharing mode according to the working time sequence, and the gaze detection is carried out on the first detection area.
Performing gaze detection, specifically comprising:
based on the working time sequence, in a preset time period, after the second emission modulation signal passes through the switch submodule, driving a Kth antenna subarray to emit a signal for gaze detection, and performing gaze detection on a Kth sub detection area corresponding to the Kth antenna subarray, wherein the Kth sub detection area belongs to the first detection area, and K is an integer greater than or equal to 1 and less than or equal to P;
in the preset time period, when the Kth antenna subarray receives an echo signal K of at least one target object in the Kth sub-detection area, a sum difference module in the Kth antenna subarray processes the echo signal K to generate a sum signal K and a difference signal K;
the sum signal K and the difference signal K are received by the receiving submodule after passing through the switch submodule;
the receiving submodule carries out amplitude limiting, low-noise amplification, frequency mixing and filtering processing on the sum signal K and the difference signal K and then outputs the sum signal K and the difference intermediate frequency signal K;
specifically, as can be seen from fig. 4, each antenna subarray is divided into a left part and a right part, and taking one of the antenna subarrays as an example, signals received by the left part and the right part of the one antenna subarray pass through the sum and difference module to form sum and difference signals. The sum and difference signals pass through the switch submodule to form sum and difference intermediate frequency signals; and the intermediate frequency signal K and the difference intermediate frequency signal K are processed by the signal processing submodule and the data processing submodule in sequence to obtain track information of at least one target object. The signal processing submodule carries out A/D conversion, DDC, pulse compression, coherent accumulation, CFAR and target parameter extraction processing on the sum and difference intermediate frequency signals and then sends the signals into the data processing assembly, the data processing assembly completes sum and difference amplitude angle measurement, trace point processing and track processing, and finally target track information is output and reported to the control terminal.
The Kth first switch of the P first switches, which is connected with the sum channel of each antenna subarray in the P antenna subarrays, in the 8 first switches is used for responding to the first switch control signal to work in a time-sharing mode, so that the sum signal K is received by the receiving submodule after passing through the Kth first switch;
and the Kth second switch in the P second switches, which is connected with the difference channel of each antenna subarray in the P antenna subarrays, in the 8 second switches is used for responding to the first switch control signal to work in a time-sharing mode, so that the difference signal K is received by the receiving submodule after passing through the Kth second switch.
For example, still referring to fig. 4, when the multi-subarray low-altitude radar needs target detection in a circumferential area of 360 ° in azimuth, the first transmit modulation signal time-divisionally drives 8 antenna subarrays, thereby controlling the 8 antenna subarrays to perform gaze detection on the circumferential area in response to the first instruction. Specifically, 8 antenna subarrays work according to a working time sequence, in a first preset time period, the antenna subarray 101 works, the rest antenna subarrays do not work, the antenna subarray 101 transmits a signal for gaze detection, gaze detection is performed on the 1 st sub-detection area in a circumferential area corresponding to the antenna subarray 101, an echo signal of a target object is received and processed in the first time period, and track information of the target object is obtained. In a second preset time period, the antenna subarray 102 works, the other antenna subarrays do not work, the antenna subarray 102 transmits a signal for gaze detection, gaze detection is performed on the 2 nd sub detection area of the first detection area corresponding to the antenna subarray 102, an echo signal of a target object is received in the second time period, and track information of the target object is obtained. And repeating the steps until the 8 antenna sub-arrays 101-108 finish the sequential work according to the working time sequence, and completing the gaze detection of the circumferential area. In addition, based on the difference of the scanning range of the multi-subarray low-altitude radar, the first instructions sent by the steering module are also different, and the main processing module 20 responds to the different first instructions sent by the steering module 30, and controls a part of or all of the antenna subarrays to work according to a certain working time sequence, so as to realize the gaze detection of the multi-subarray low-altitude radar on the area needing to be scanned. The specific implementation manner of the antenna subarray distribution in fig. 4 is not limited to the first case in fig. 2, but also applies to the second and third cases in fig. 2, but is not limited to the three cases illustrated in fig. 2. As can also be seen from fig. 4, the multi-subarray low-altitude radar further comprises a power extension 40 for supplying power to the multi-subarray low-altitude radar.
The technical scheme in the embodiment at least achieves the following technical effects:
(1) the radar antenna does not need to rotate mechanically, so that the reliability of a radar system is improved, camouflage is convenient to realize, and the radar antenna is suitable for unattended arrangement; the radar azimuth coverage range is flexible and controllable; the equipment has small volume and is convenient to erect and install; the cost is low, and large-scale regional networking detection is facilitated.
(2) By adopting a long-time accumulation staring detection technology, the speed resolution of the radar to the target can reach 1m/s, the detection of the low-speed target is facilitated, the good low-altitude detection performance is proved through an actual test flight test, and the detection effect of the low-altitude staring detection radar is particularly good for a small rotor unmanned aerial vehicle. Meanwhile, compared with general panoramic detection, the gaze detection adopted in the technical scheme of the invention has certain advantages in the aspect of aiming at the detection of the target with low speed and small size.
(3) The radar data rate is flexible and controllable, and high data rate is easy to realize. The target is subjected to gaze detection, the radar data rate can be changed only by changing the target gaze detection time, and the method is flexible and controllable in practical use; while the data rate of a radar that uses mechanical rotation in azimuth is limited by the rotational speed of the antenna.
(4) The antenna gain is relatively large, single-pulse and difference amplitude angle measurement can be flexibly realized in different directions and different detection ranges, and the detection power and the angle measurement precision are improved; meanwhile, the influence of periodic modulation on the detection performance caused by the rotation of an antenna of the traditional radar is changed; the gaze detection technology can be accumulated for a long time.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (11)
1. A multi-subarray low-altitude radar, comprising:
n antenna subarrays, wherein N is an integer greater than 1;
the main processing module is respectively connected with the N antenna subarrays;
the control module is connected with the main processing module;
the N antenna sub-arrays are uniformly distributed in a fan-shaped or circumferential area with a first central angle on a horizontal plane, the first central angle is equal to a first angle corresponding to a total detection area to be covered by the multi-sub-array low-altitude radar on the horizontal plane, and the angle of the first central angle is greater than 0 degree and less than or equal to 360 degrees;
the control module is used for sending a first instruction to the main processing module;
the main processing module is configured to respond to the first instruction, so as to control P antenna sub-arrays of the N antenna sub-arrays to respond to the first instruction to perform gaze detection on a first detection area, where the first detection area belongs to a part of the total detection area, a second angle corresponding to the first detection area on the horizontal plane is smaller than the first angle, and P is an integer greater than or equal to 1 and smaller than N;
the gaze detection comprises:
the main processing module is configured to generate a first transmission modulation signal including an operating timing sequence of each of P antenna sub-arrays of the N antenna sub-arrays in response to the first instruction;
based on the first transmission modulation signal, in a preset time period, the main processing module controls a kth antenna subarray in the P antenna subarrays to transmit a signal for gaze detection, and performs gaze detection on a kth sub detection area corresponding to the kth antenna subarray, wherein the kth sub detection area belongs to the first detection area, and K is an integer greater than or equal to 1 and less than or equal to P;
in the preset time period, when the Kth antenna subarray receives an echo signal K of at least one target object in the Kth sub-detection area, a sum difference module in the Kth antenna subarray processes the echo signal K to generate a sum signal K and a difference signal K;
wherein the main processing module comprises:
the data processing submodule is connected with the control module;
the signal processing submodule is connected with the data processing submodule;
the signal processing submodule is respectively connected with the transmitting modulation submodule, the receiving submodule and the switch submodule;
wherein the switch submodule includes:
the N first switches are connected with the channel and the sum channel of each antenna subarray in the N antenna subarrays in a one-to-one mode, the N first switches are respectively connected with the transmitting modulation submodule, and the N first switches are respectively connected with the receiving submodule;
the N second switches are connected with the difference channel of each antenna subarray in the N antenna subarrays in a one-to-one mode, and the N second switches are respectively connected with the receiving submodule;
the Kth first switch of the P first switches connected with the sum channel of each antenna subarray in the P antenna subarrays in the N first switches is used for responding to the first switch control signal to work in a time-sharing mode, so that the sum signal K is received by the receiving submodule after passing through the Kth first switch;
the Kth second switch of the P second switches, which is connected with the difference channel of each antenna subarray in the P antenna subarrays, in the N second switches is used for responding to the first switch control signal to work in a time-sharing mode, so that the difference signal K is received by the receiving submodule after passing through the Kth second switch;
the N first switches, the P first switches connected to the channel of each of the P antenna sub-arrays, are configured to operate in a time-sharing manner in response to the first switch control signal, so that the first transmit modulation signal drives the P antenna sub-arrays in a time-sharing manner through the responsive first switches, thereby controlling the P antenna sub-arrays in the N antenna sub-arrays to transmit signals for gaze detection in a time-sharing manner according to the operating time sequence, and performing gaze detection on the first detection area.
2. The radar of claim 1, comprising:
a sub-detection area which can be covered by each antenna subarray in the N antenna subarrays corresponds to a third angle on a horizontal plane;
and N is greater than or equal to a first value R, and the first value R is a value obtained by dividing the first angle by the third angle.
3. The radar of claim 2, wherein:
and N is an integer which is greater than R and less than or equal to R + 1.
4. The radar of claim 1, wherein:
the pitch angle of each antenna subarray in the N antenna subarrays is a preset angle, and the preset angle is larger than or equal to 0 degree and smaller than or equal to 20 degrees.
5. The radar of claim 1, comprising:
each of the N antenna subarrays includes a sum-difference module, and the sum-difference module is configured to process an echo signal of at least one target received by the antenna subarray corresponding to the sum-difference module, so as to obtain a sum signal and a difference signal.
6. The radar of claim 5, comprising:
the main processing module is used for processing the sum signal and the difference signal to obtain the track information of the at least one target object and sending the track information to the control module.
7. The radar of any one of claims 1-6, wherein the primary processing module, in response to the first instructions, is to control P of the N antenna sub-arrays to perform gaze detection on a first detection region in response to the first instructions, including:
the main processing module is configured to generate a first transmission modulation signal including an operating timing sequence of each of P antenna sub-arrays of the N antenna sub-arrays in response to the first instruction;
based on the first transmission modulation signal, the main processing module controls P antenna sub-arrays in the N antenna sub-arrays to transmit signals for gaze detection in a time-sharing manner according to the working time sequence, and performs gaze detection on the first detection area.
8. The radar of claim 7 wherein said primary processing module controls P of said N antenna sub-arrays to time-divisionally transmit signals for gaze detection according to said operational timing based on said first transmit modulated signal to perform gaze detection for said first detection region, comprising:
based on the first transmission modulation signal, in a preset time period, the main processing module controls a kth antenna subarray in the P antenna subarrays to transmit a signal for gaze detection, and performs gaze detection on a kth sub detection area corresponding to the kth antenna subarray, wherein the kth sub detection area belongs to the first detection area, and K is an integer greater than or equal to 1 and less than or equal to P;
in the preset time period, when the Kth antenna subarray receives an echo signal K of at least one target object in the Kth sub-detection area, the main processing module receives and processes the echo signal K to obtain track information of the at least one target object;
and the main processing module sends the track information of the at least one target object to the control module.
9. The radar of any one of claims 1-6, wherein the main processing module comprises:
the data processing submodule is used for responding to the first instruction sent by the control module, controlling the signal processing submodule to generate a first time sequence signal comprising the working time sequence of P antenna subarrays in the N antenna subarrays and a first switch control signal comprising the working time sequence, wherein K is an integer which is greater than or equal to 1 and less than or equal to P;
the signal processing submodule is respectively connected with the transmitting modulation submodule, the receiving submodule and the switch submodule and is used for transmitting the first time sequence signal to the frequency synthesis and modulation submodule, and the frequency synthesis and modulation submodule processes the first time sequence signal and then generates a first transmitting modulation signal;
the switch submodule is used for responding to the first switch control signal, so that the first transmit modulation signal drives the P antenna sub-arrays in a time-sharing manner, and the P antenna sub-arrays in the N antenna sub-arrays are controlled to respond to the first instruction to perform gaze detection on a first detection area.
10. The radar of claim 9, wherein the switch submodule comprises:
and the N first switches are connected with the sum channel of each antenna subarray in the N antenna subarrays in a one-to-one mode, and the N first switches are respectively connected with the transmitting modulation submodule.
11. The radar of claim 9 wherein said first transmit modulation signal time-divisionally drives said P antenna sub-arrays to control P of said N antenna sub-arrays to gaze detect a first detection region in response to said first command, comprising:
based on the working time sequence, in a preset time period, after the first transmission modulation signal passes through the switch submodule, driving a Kth antenna subarray to transmit a signal for gaze detection, and performing gaze detection on a Kth sub detection area corresponding to the Kth antenna subarray, wherein the Kth sub detection area belongs to the first detection area, and K is an integer greater than or equal to 1 and less than or equal to P;
in the preset time period, when the Kth antenna subarray receives an echo signal K of at least one target object in the Kth sub-detection area, a sum difference module in the Kth antenna subarray processes the echo signal K to generate a sum signal K and a difference signal K;
the sum signal K and the difference signal K are received by the receiving submodule after passing through the switch submodule;
the receiving submodule processes the sum signal K and the difference signal K to obtain a sum intermediate frequency signal K and a difference intermediate frequency signal K;
and the intermediate frequency signal K and the difference intermediate frequency signal K are processed by the signal processing submodule and the data processing submodule in sequence to obtain track information of at least one target object.
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| CN110244317A (en) * | 2019-06-03 | 2019-09-17 | 深圳市速腾聚创科技有限公司 | Laser radar system |
| WO2021087706A1 (en) * | 2019-11-04 | 2021-05-14 | 深圳市大疆创新科技有限公司 | Radar system, movable platform and radar system control method |
| CN111308466A (en) * | 2019-12-11 | 2020-06-19 | 内蒙古工业大学 | Multi-angle micro-variation monitoring radar system and data processing method thereof |
| CN113740845A (en) * | 2021-08-30 | 2021-12-03 | 山西宇翔信息技术有限公司 | High-speed small target detection equipment for special vehicle and installation method |
| CN115036713A (en) * | 2022-06-22 | 2022-09-09 | 上海海积信息科技股份有限公司 | Antenna array |
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