CN107064880A - Distributed many base radar transmit-receive beam Synchronizations and the accuracy method of wave beam control - Google Patents
Distributed many base radar transmit-receive beam Synchronizations and the accuracy method of wave beam control Download PDFInfo
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- 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
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Abstract
The present invention provides a kind of distributed many base radar transmit-receive beam Synchronizations and the accuracy method of beam point steering, this method is based on discrete pulse chasing method and autonomous positioning method, by controlling transmitting-receiving beam space synchronous error, realizes high-precision transmitting-receiving beam Synchronization and wave beam control.When receiving platform and target range farther out, during more than 10km, transmitting-receiving wave beam realizes spatial synchronization using pulse chasing method.When receiving platform and target range are less than 10km, the net synchronization capability of pulse chasing method drastically deteriorates.Improve spatial synchronization performance when closely using " autonomous positioning method ", i.e., determine that receiving the orientation of wave beam, pitching points to according to target location coordinate and the physical location of receiving platform.Now, as long as the error in pointing for receiving wave beam and launching beam is controlled in certain scope, the spatial synchronization of transmitting-receiving wave beam actually can just be realized.
Description
Technical field
The present invention relates to distributed multistatic radar system spatial synchronization technical field, and in particular to a kind of distributed many base thunders
Up to transmitting-receiving beam Synchronization and the accuracy method of wave beam control.
Background technology
The receive-transmit system of distributed many base radars is split on different platforms, due to this special collaborative work side
It is synchronously one of core technology of distributed multistatic radar system that beam space is received and dispatched between formula, dual station, and distributed many base radars
Because platform high-speed motion makes it have the features such as transient behavior is big, required precision is high, control difficulty is big, make its spatial synchronization
Realize that difficulty is big, the spatial synchronization that to realize distributed multistatic radar system must solve to receive and dispatch between wave beam between different platform is asked
Topic.
Due to battlefield surroundings complicated and changeable and target information it is unknown, the collaboration of target area is detected in many base radars
During, under the conditions of receiving platform distance objective relatively near, platform or targeted cache motion and high maneuver, traditional transmitting-receiving pulse
The relatively low satisfaction that is difficult to of spatial synchronization precision of chasing method is actually needed.
The content of the invention
For above-mentioned the deficiencies in the prior art, the present invention provides a kind of distributed many base radar transmit-receive beam Synchronizations and wave beam
The accuracy method of control, it is possible to increase pulse tracking precision of the receiving platform to flat pad.
For achieving the above object, the present invention is adopted the following technical scheme that：
Distributed many base radar transmit-receive beam Synchronizations and the accuracy method of wave beam control：
When receiving platform and target range are more than 10km, realize that transmitting-receiving beam space is synchronously controlled using pulse chasing method
System；
When receiving platform and target range are less than 10km, realize that transmitting-receiving beam space is synchronously controlled using autonomous positioning method
System；Specific implementation step is：
Step 1.1：Within the time that transmitting-receiving cooperates, receiving platform carries out pre-imaging to the sub-aperture echo received
Processing, obtains the coarse resolution target SAR image of one group of target area, is obtained by positional information of the target in target SAR image
To the range equation and Doppler equation of the target；
Step 1.2：The range equation and Doppler equation of target are solved, the actual position information of target is obtained；
Step 1.3：Orientation, the pitching orientation angle for receiving wave beam are calculated according to the actual position information of target, and in fact
When feed back to flat pad；
Step 1.4：Flat pad adjusts beam position in real time according to the orientation and pitching orientation angle that receive wave beam, right
Target area carries out Continuous irradiation；When receiving platform receives the echo-signal in respective objects region, real-time corrected received wave beam refers to
To raising receives the stability of beam position, receiving platform is further enhanced the pulse tracking precision of flat pad.
It is preferred that, the pulse chasing method uses adjacent beams to be realized in the discrete pursuit mode of certain wave cover rate
Launching beam and the spatial synchronization for receiving wave beam, specific implementation step is：
Step 2.1：Calculate the azimuth angle theta for receiving wave beamRAnd the angle of pitchWave beam is received to carry out using fixed beam width
Scanning, azimuth and the angle of pitch are respectively θRBAnd φRB；Wave beam left side bearing scanning angular region is then received by following formula to be defined as：
θ in formulaR_start、θR_endRespectively receive azimuthal initial line of wave beam；Respectively connect
That receives the wave beam angle of pitch plays initial line；
Step 2.2：Calculate and receive the maximum ripple digit n that wave beam needs in orientation and pitch orientationθ,
Step 2.3：Calculate the initial time t for receiving n-th of ripple position of wave beamn_startWith end time tn_endFor：
In above formula, c is the light velocity, rTnFor the distance of flat pad to target point, rRnFor receiving platform to target point away from
From r 'TnFor the distance of flat pad to pulse position, r 'RnFor the distance of receiving platform to pulse position；
Step 2.4：Calculating obtain each ripple position [1,2, nθ] and [1,2, nφ] corresponding tn_startWith
End time tn_end, it is dynamic according to discrete wave displacement to receive pulse, realizes that pulse chasing is synchronous, that is, realize orientation and pitching to
On wave beam pursuit.
It is preferred that, xyz three-dimensional system of coordinates are set up by coordinate origin of target P central points；Synthetic aperture central instant, if
The coordinate for launching radar antenna phase center is (Xt,Yt,Zt), the coordinate for receiving radar antenna phase center is (Xr,Yr,Zr),
Target point P coordinate is (xp,yp,zp), emitter east orientation speed is vtx, north orientation speed is vty, sky orientation speed is vtz, receiver
East orientation speed is vrx, north orientation speed is vry, sky orientation speed is vrz, velocity attitude is using reference axis positive direction as standard, and R is hole
Footpath central instant emitter to target point P distance and receiver to target point P apart from sum, fpIt is transmitter antenna phase
Center and the Doppler frequency value sum of target point P Doppler frequency value and receiver antenna phase center and target point P；Institute
Stating target point P range equation and the expression formula of Doppler equation in step 1.1 is respectively：
It is furthermore preferred that the range equation and Doppler equation of the target point P using newton-iterative method tangential method, two points
Method or Series Method are solved.
It is furthermore preferred that solving ground target point P range equation and Doppler equation using Newton iteration method, ground is obtained
Target point P coordinate (xp,yp,0)；Specific calculation procedure is as follows：
Step 5.1：The ground target point P corresponding pixel point coordinates in SAR image is (m, n), then ground target point P
Range equation and Doppler equation are：
Wherein, Nr,NaRepresent respectively distance to orientation sampling number, prDistance is represented to pixel separation, RrefIt is hole
Footpath central instant radar platform is to the reference distance of ground target point P ' central points, and PRF represents pulse repeat its transmission frequency, fdco
It is the Doppler frequency of aperture center moment ground target point P central points；
Step 5.2：Following non-linear binary function is set up in convolution (4) and (5)：
Non-linear two element equationsSolution be ground target point P ' coordinate value (xp,yp,0)；
Step 5.3：Initial position estimation value (the x of given target point0,y0, 0), then：
Calculate Jacobian matrix now：
If Jacobian matrix is not 0, Δ x, Δ y are calculated according to following equation：
Update x0=x0+ Δ x, y0=y0+ Δ y, repeat said process, until meet max (| Δ x |, | Δ y |) ＜ ε, its
Middle ε is given the required precision, (x now obtained0,y0, 0) and with regard to the approximate solution for equation group, as target point (xp,yp,0)
The elements of a fix.
It is furthermore preferred that receiving the azimuth angle theta of wave beam in step bR, angle of pitch φR, receiver to target point P apart from RR's
Calculation formula is：
Beneficial effects of the present invention are：1st, when receiving platform and target range are more than 10km, adjacent beams are used with one
The discrete pursuit mode of fixed wave cover rate can just realize the spatial synchronization of transmitting-receiving wave beam, be realized by the way of discrete
Pulse chasing, more conducively Project Realization；
2nd, when receiving platform and target range are less than 10km, using based on sub-aperture image and images match processing from
Main positioning mode realizes the spatial synchronization of transmitting-receiving wave beam, and the precision of target image matching positioning is less than 20m, and amendment wave beam refers in real time
To the stability of raising beam position makes receiving platform be further enhanced the pulse tracking precision of flat pad.
Brief description of the drawings
Fig. 1 is Bistatic SAR transmitting-receiving wave beam and target location schematic diagram；
Fig. 2 is that distributed many base radars are receiving and dispatching schematic diagram of the wave beam in orientation；
Fig. 3 is the spatial synchronization implementation process figure based on autonomous positioning method；
Fig. 4 is the implementation process figure of spatial synchronization model；
Fig. 5 is change of the transmit-receive platform coverage rate with target range；
Fig. 6 is change of the reception beam position deviation with target range；
Fig. 7 is Bistatic SAR imaging geometry model；
Fig. 8 is the Bistatic SAR target location algorithm signal transacting block diagram based on Newton iteration.
Embodiment
The present invention proposes a kind of based on discrete pulse chasing method and autonomous positioning method, by controlling transmitting-receiving beam space same
Error is walked, the method for realizing high-precision transmitting-receiving beam Synchronization and wave beam control.The invention will now be described in detail with reference to the accompanying drawings institute
The technical scheme of offer.
1st, the spatial synchronization technology based on discrete pulse chasing method
When carrying out spatial synchronization, receive pursuit wave beam and both taken full advantage of dual-mode antenna gain and transmission power, also carry
High measurement accuracy and resolution ratio.When spatial synchronization is realized, using the wave beam chasing method of discrete form.
When receiving and dispatching pulse chasing, receiving station is sometime only receiving the target echo signal of particular space, so as to realize
The spatio-temporal filtering that time and space are combined.Due to the two-dimensional space orientation angle of launching beamWith reception wave beam
Two-dimensional space orientation angleIn nonlinearity relation between time t, the transmitting-receiving beam scanning speed in such as Fig. 2
Complicated changing rule is presented with missile-target distance for rate, using continuous pulse chasing method it is difficult to ensure that receiving the pursuit essence of wave beam
Degree.
Being respectively provided with certain beam angle in view of launching beam and reception wave beam, (- 3dB the wave beams of tentative transmitting-receiving wave beam are wide
Spend for 5 °), thus without continuously pursuing, and can use adjacent beams in the discrete pursuit mode of certain wave cover rate just
The spatial synchronization of transmitting-receiving wave beam can be realized.
Receive wave beam and pursue launching beam irradiation area in real time, when not implying that transmitting pulse reaches a certain position, receive
Wave beam just points to this position at this moment.Because after electromagnetic wave is reflected, target echo signal passes to receiver
The regular hour is needed, wave beam is received when reaching receiver and has turned to the next position, this situation receives wave beam and can not received
To echo-signal.Solution is exactly to receive at the time of going out current moment and want the delayed launching beam to reach the position of wave beam.
T=0 moment launching beams are located to be oriented toElapsed time tTPass to target point, transmitting pulse to target
Arrive again in this period for receiving base, the variable quantity very little of transmit-receive platform position can be ignored.Target point is from emitter
Distance be RT, then arrival time tT=RT/c.Target echo signal passes to the time t of receiving station from target pointR=RR/c.Using
During discrete pursuit mode, receive wave beam and be scanned with certain beam angle, can solving n-th of ripple position by Fig. 3
Time beginning and end time be：
According to calculating above, each ripple position of the corresponding reception wave beams of moment t is first obtainedWhen ripple position is resident
Between Δ t=tn_end-tn_startThese data storages are got up, wave beam is received afterwards according to obtained datamation, it is possible to achieve
The pulse chasing space of wave beam is synchronous.
In formula (1), ripple position residence time Δ t depend on fire pulse width and target distance to space receive wave beam
Can than launching beam on time of occurrence delayed size, and tn_startRepresent the initial time of reception wave beam at target point, tT+
tRIf, RT>=45km, tT+tRValue be not less than 150 μ s.
In practical application, if it is known that the accurate location of transmit-receive platform, can be in receivers to delay tT+tRMended
Repay, meanwhile, receiver can predict the locus of launching beam using prediction algorithm, according to transmitting pulse-triggered moment, time
Synchronous error, transmitting pulse can calculate the formation moment of pursuit wave beam through the total time delay of target arrival receiver.Can be with
Find out, because the time synchronization error between transmit-receive platform is much smaller than tT+tRIt is worth (>=150 μ s), receives the formation moment precision of wave beam
Very little is influenceed by transmit-receive platform time synchronized performance, can be ignored.
Distributed multistatic radar system, when among transmit-receive platform is all in motion, the locus of transmit-receive platform is not
Disconnected change, pulse chasing method is ensured by transmit-receive platform by universal data link interchange information, cooperation flight.
Because flat pad (emitter) is away from target area, wave cover area is larger, and receiving platform (receiver) is more
Close to target area flight.Here pulse chasing be receive wave beam to launching beam chasing after in the area coverage of target area
Catch up with, it is assumed that the position of emitter can be obtained by universal data link between bullet in each reception machine and antenna beam refers to
To, that is, know covering position of the launching beam to target area, on the premise of the time of transmit-receive platform and Phase synchronization, use
Discrete pursuit mode realizes that spatial beams are synchronous.
The starting and ending time for obtaining n-th of reception wave beam ripple position is calculated according to (1) formula, because receiving wave beam using fixation
Beam angleIt is scanned, wave beam left side bearing scanning angular region is defined as by following formula：
So receiving the maximum ripple digit n that wave beam needs in orientation and pitch orientationθ,For：
According to calculating, obtain each ripple position [1,2, nθ] andDuring corresponding starting and ending
Carve, receive pulse dynamic according to discrete wave displacement, it is possible to achieve pulse chasing is synchronous, you can to realize in orientation and pitch up
Wave beam pursuit.2nd, the spatial synchronization technology based on autonomic positioning method
When realizing that transmitting-receiving beam space is synchronous using pulse chasing method, it is less than 5~10km in receiving platform and target range
When, receive wave beam Beam steering error can increase considerably so that make transmitting-receiving wave beam can not again target area it is overlapping.This is
Because the geometrical relationship between transmit-receive platform, target, and the characteristic of pulse chasing method in itself are jointly caused.Because of transmit-receive platform
Geometrical relationship between target can not change, and solving this problem can only be by changing the tracking for receiving wave beam to launching beam
Method sets about the autonomous positioning method i.e. based on sending and receiving platform and target position information.
When being less than 5~10km in view of receiving platform and target range, the overlay area for receiving wave beam is far smaller than transmitting
The coverage of wave beam, does not use pulse chasing method now, and directly true by accurate target location coordinate and motion state
Surely orientation, the pitching orientation angle of wave beam are received, it is therefore desirable to which double/many base SAR signal processing system is spatial synchronization system
Accurate target position information (x is providedp, yp, zp), wave beam is received only in accordance with target and receiving platform position coordinates to determine it
Orientation and pitching are pointed to.
Bistatic SAR imaging geometry model is as shown in fig. 7, naval vessel central point o is coordinate origin.T, receive radar with
VelocityFlight, the instantaneous distance to Ship Target center o is Rr(t), RrRadar is received for synthetic aperture central instant
To the distance of o points.T, emitter is with velocityFlight, the instantaneous distance to Ship Target center o is Rt(t), Rt
For the distance of synthetic aperture central instant emitter to o points.Transmitting-receiving radar platform introduces three-dimensional acceleration, causes its flight path equal
For curve-like.
Known measurement space information (distance and doppler information) is reflected by the pixel coordinate value of SAR image, passed through
Some location algorithms obtain positional information of the target under local geographic coordinate system.By target in Bistatic SAR image
Positional information obtains range equation and Doppler equation, solves equation group, obtains the actual position information of target.In synthetic aperture
The heart moment, if transmitting radar APC coordinate is (Xt,Yt,Zt), the coordinate for receiving radar APC is (Xr,Yr,Zr), ground arbitrarily dissipates
Exit point P coordinate is (xp,yp,zp), emitter east orientation speed is vtx, north orientation speed is vty, sky orientation speed is vtz, receiver east
It is v to speedrx, north orientation speed is vry, sky orientation speed is vrz, velocity attitude is using reference axis positive direction as standard, and R is aperture
Central instant emitter to target point P distance and receiver to target point P apart from sum, fpIn being transmitter antenna phase
The Doppler frequency value sum of the heart and target point P Doppler frequency value and receiver antenna phase center and target point P.So
The expression formula of the Range-Doppler equations of the target point is：
The oblique distance course of any point target be two double joints number and, be a Nonlinear System of Equations, it is difficult to directly pass through
The method of analytic equation group obtains the coordinate (x of target pointp,yp,zp).The feelings for solving equation group acquisition analytic solutions can not utilized
Approximate solution can only be obtained using the method for numerical analysis under condition, go to approach the numerical value side of nonlinear solution using a series of linear solutions
Method, such as newton-iterative method (tangential method), dichotomy, Series Method.
The rough location information of target under biradical Forward-looking SAR System is obtained with Newton iteration method, but to Ship Target
Substantially positioning effects are little, to improve computational efficiency, the pulse number of reduction processing that can be suitably.
Autonomous positioning method is by inputting position coordinates, the Object matching result of transmit-receive platform, and inertial navigation parameter, knot
Error model is closed, the orientation angle (orientation, pitching) for receiving wave beam can be calculated, and Real-time Feedback returns flat pad to transmitted wave
Shu Zhixiang angles are adjusted, and then control reception, launching beam to point to same target area jointly, realize space when closely
It is synchronous.
Now, according to geometrical relationship, it may be determined thatComputational methods be：
With based on autonomic positioning method, it is therefore intended that improve received wave of the pulse chasing method when missile-target distance is less than 10km
Beam pointing accuracy.Pass through the position coordinates of input transmitting, the position coordinates of receiving platform, and target, it is possible to calculate and connect
The orientation angle (orientation, pitching) of wave beam is received, and Real-time Feedback returns flat pad and launching beam sensing angle is adjusted, and then
Control sending and receiving wave beam points to target area jointly, realizes spatial synchronization closely.Wherein, targeting information is according to letter
The Object matching result that number processing module is provided, accuracy guarantee is within 20m.
As shown in figure 4, from autonomous positioning method flow, it is transmitting, the positioning of receiving platform that it, which inputs an information part,
Parameter, inertial navigation parameter, and the corresponding error range of parameter；Another part is the Object matching knot that signal transacting is provided
Really.The restriction on the parameters scope provided according to spatial synchronization error model, transmit-receive platform positional parameter, inertial navigation parameter meet input about
Beam condition, while in end, the precision of target imaging matching positioning can meet the requirement less than 20m.According to spatial synchronization
Error model simulation analysis result, it is believable, sending and receiving wave cover space that can meet obtained sending and receiving beam position angle
Imaging is achievable.
3rd, the spatial synchronization technology based on discrete pulse chasing method+autonomic positioning method
(1) when receiving platform and target range farther out when (be more than 5~10km) when, transmitting-receiving wave beam is using discrete pulse pursuit
Method realizes spatial synchronization.Now, transmitting-receiving beam space net synchronization capability is mainly missed by launching beam error in pointing, transmit-receive platform positioning
The combined influence of the factors such as difference, transmit-receive platform motion, and increase rapidly with the reduction of distance, as shown in Figure 5,6.
(2) when receiving platform and target range are less than 5~10km, the net synchronization capability of pulse chasing method drastically deteriorates, difficult
In the technical requirements for the project that meets.Therefore intend improve spatial synchronization performance when closely using " autonomous positioning method ", i.e., according to
Determine that the orientation of reception wave beam, pitching are pointed to according to the positional information of target position information and transmit-receive platform.Because receiving platform
When distance objective is nearer, the overlay area for receiving wave beam is far smaller than the overlay area of launching beam, it is allowed to receive wave beam have compared with
Big Beam steering error.Now, it is actual as long as the error in pointing for receiving wave beam and launching beam is controlled in certain scope
On can just realize transmitting-receiving wave beam spatial synchronization.
Launching beam and reception wave beam are respectively provided with certain beam angle, and in the simulation analysis to beam scanning speed
Middle to find, orientation, the pitching scan speed change for receiving and dispatching wave beam are very slow, therefore, it is not necessary to using continuous beam scanning, can
To use adjacent beams just to realize the spatial synchronization of transmitting-receiving wave beam in the discrete pursuit mode of certain wave cover rate,
Intend realizing pulse chasing, more conducively Project Realization by the way of discrete in this project.
Spatial synchronization model is as shown in Figure 1.
According to the geometric configuration and space coordinate between current transmit-receive platform and target and the sensing angle of launching beamOn the basis of the error model based on pulse chasing method and autonomous positioning method, the two dimension sky for receiving wave beam is calculated
Between orientation angleRealized and calculated using discrete pulse chasing method during more than missile-target distance 10km, missile-target distance is less than
Calculated during 10km using autonomous positioning method, and then control dual-mode antenna beam position target area.Meanwhile, flat pad by itself
Working condition, position, flight path, posture, antenna the information such as point to and receiving platform sent to by communication link between bullet, receive flat
Platform calculates reception antenna orientation angle according to the launching beam information obtained, and control reception antenna is allowed to and transmitting antenna ripple
Beam covers the same area, and according to echo is received, imaging positioning is carried out to target, data after processing are returned by data communication between bullet
Flat pad is transmitted to, flat pad is adjusted in real time according to receiving platform return data, makes transmitting antenna coverage goal all the time
Region, finally realizes spatial synchronization.
4th, based on Newton iteration Bistatic SAR target location algorithm
From formula (4), the Range-Doppler equations group of biradical Forward-looking SAR is a Nonlinear System of Equations, it is impossible to directly
Coordinate (the x of target point is obtained by analytic methodp,yp, 0), unitary Newton iteration method above is generalized to binary newton and changed by this section
Dai Fazhong, to solve the approximate solution of the Nonlinear System of Equations.
In double-base SAR system, arbitrfary point p oblique distance and Doppler frequency also can by target point P in SAR image it is corresponding
Pixel point coordinates (m, n) is obtained：
Wherein, Nr,NaRepresent respectively distance to orientation sampling number, prDistance is represented to pixel separation, RrefIt is hole
Footpath central instant radar platform is to the reference distance of scene center point, and PRF represents pulse repeat its transmission frequency, fdcoIn being aperture
The Doppler frequency of heart moment scene center point.
Following non-linear binary function is set up in convolution (4) and (6)：
From above analyzing, non-linear two element equationsSolution be scatter point target coordinate value
(xp,yp,0).Unitary Newton iteration method thought is applied in the solution of the binary nonlinear equation group below.
Initial position estimation value (the x of target point is given first0,y0, 0), and R, f are calculated according to formula (4)p：
Calculate Jacobian matrix (Jacobi matrixes) now：
If Jacobian matrix is not 0, Δ x, Δ y are calculated according to following equation：
Update x0=x0+ Δ x, y0=y0+ Δ y, repeat said process, until meet max (| Δ x |, | Δ y |) ＜ ε, its
Middle ε is given the required precision, (x now obtained0,y0, 0) and with regard to the approximate solution for equation group, as target point (xp,yp,0)
The elements of a fix.Bistatic SAR target location algorithm flow chart based on Newton iteration is as shown in Figure 8.
The advantage of Newton iteration method is very simple and easily realized, fast convergence rate, and previous iteration is produced
Error will not relay step by step.But when solving nonlinear equation using Newton iteration method, it is necessary to one and actual bit
Close initial estimated location is put, the selection of this initial estimate is critically important, because different initial estimates, may caused
Iterative Sequence Convergence, it is also possible to cause not restrain.
Described above is only the preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (6)
1. distributed many base radar transmit-receive beam Synchronizations and the accuracy method of wave beam control, it is characterised in that：
When receiving platform and target range are more than 10km, transmitting-receiving beam space Synchronization Control is realized using pulse chasing method；
When receiving platform and target range are less than 10km, transmitting-receiving beam space Synchronization Control is realized using autonomous positioning method；Tool
Body implementation steps are：
Step 1.1：Within the time that transmitting-receiving cooperates, receiving platform is carried out at pre-imaging to the sub-aperture echo received
Reason, obtains the coarse resolution target SAR image of one group of target area, is obtained by positional information of the target in target SAR image
The range equation and Doppler equation of the target；
Step 1.2：The range equation and Doppler equation of target are solved, the actual position information of target is obtained；
Step 1.3：Orientation, the pitching orientation angle for receiving wave beam are calculated according to the actual position information of target, and it is anti-in real time
It is fed back to flat pad；
Step 1.4：Flat pad adjusts beam position, to target in real time according to the orientation and pitching orientation angle that receive wave beam
Region carries out Continuous irradiation；When receiving platform receives the echo-signal in respective objects region, real-time corrected received beam position is carried
Height receives the stability of beam position, receiving platform is further enhanced the pulse tracking precision of flat pad.
2. distributed multistatic radar transmitting-receiving beam Synchronization according to claim 1 and the accuracy method of wave beam control,
Characterized in that, the pulse chasing method uses adjacent beams to realize transmitting in the discrete pursuit mode of certain wave cover rate
Wave beam and the spatial synchronization for receiving wave beam, specific implementation step is：
Step 2.1：Calculate the azimuth angle theta for receiving wave beamRAnd the angle of pitchWave beam is received to be swept using fixed beam width
Retouch, azimuth and the angle of pitch are respectively θRBAnd φRB；Wave beam left side bearing scanning angular region is then received by following formula to be defined as：
θ in formulaR_start、θR_endRespectively receive azimuthal initial line of wave beam；Respectively receive wave beam
An initial line for the angle of pitch；
Step 2.2：Calculate and receive the maximum ripple digit n that wave beam needs in orientation and pitch orientationθ,
Step 2.3：Calculate the initial time t for receiving n-th of ripple position of wave beamn_startWith end time tn_endFor：
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In above formula, c is the light velocity, rTnFor the distance of flat pad to target point, rRnFor the distance of receiving platform to target point, r 'Tn
For the distance of flat pad to pulse position, r 'RnFor the distance of receiving platform to pulse position；
Step 2.4：Calculating obtain each ripple position [1,2, nθ] and [1,2, nφ] corresponding tn_startAnd end
Time tn_end, it is dynamic according to discrete wave displacement to receive pulse, realize that pulse chasing is synchronous, that is, realizes in orientation and pitch up
Wave beam is pursued.
3. distributed many base radar transmit-receive beam Synchronizations according to claim 1 and the accuracy method of wave beam control, its
It is characterised by, xyz three-dimensional system of coordinates is set up by coordinate origin of target P central points；Synthetic aperture central instant, if transmitting thunder
Coordinate up to antenna phase center is (Xt,Yt,Zt), the coordinate for receiving radar antenna phase center is (Xr,Yr,Zr), target point P
Coordinate be (xp,yp,zp), emitter east orientation speed is vtx, north orientation speed is vty, sky orientation speed is vtz, receiver east orientation speed
Spend for vrx, north orientation speed is vry, sky orientation speed is vrz, velocity attitude is using reference axis positive direction as standard, and R is aperture center
Moment emitter to target point P distance and receiver to target point P apart from sum, fpTransmitter antenna phase center with
The Doppler frequency value sum of target point P Doppler frequency value and receiver antenna phase center and target point P；The step
Target point P range equation and the expression formula of Doppler equation are respectively in 1.1：
<mrow>
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<mrow>
<mi>R</mi>
<mo>=</mo>
<msqrt>
<mrow>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>X</mi>
<mi>t</mi>
</msub>
<mo>-</mo>
<msub>
<mi>x</mi>
<mi>p</mi>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>Y</mi>
<mi>t</mi>
</msub>
<mo>-</mo>
<msub>
<mi>y</mi>
<mi>p</mi>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>Z</mi>
<mi>t</mi>
</msub>
<mo>-</mo>
<msub>
<mi>z</mi>
<mi>p</mi>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
</mrow>
</msqrt>
<mo>+</mo>
<msqrt>
<mrow>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>X</mi>
<mi>r</mi>
</msub>
<mo>-</mo>
<msub>
<mi>x</mi>
<mi>p</mi>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>Y</mi>
<mi>r</mi>
</msub>
<mo>-</mo>
<msub>
<mi>y</mi>
<mi>p</mi>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>Z</mi>
<mi>r</mi>
</msub>
<mo>-</mo>
<msub>
<mi>z</mi>
<mi>p</mi>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
</mrow>
</msqrt>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>f</mi>
<mi>p</mi>
</msub>
<mo>=</mo>
<mfrac>
<mrow>
<mo>-</mo>
<msub>
<mi>V</mi>
<mrow>
<mi>t</mi>
<mi>x</mi>
</mrow>
</msub>
<mo>&times;</mo>
<mrow>
<mo>(</mo>
<msub>
<mi>X</mi>
<mi>t</mi>
</msub>
<mo>-</mo>
<msub>
<mi>x</mi>
<mi>p</mi>
</msub>
<mo>)</mo>
</mrow>
<mo>-</mo>
<msub>
<mi>V</mi>
<mrow>
<mi>t</mi>
<mi>y</mi>
</mrow>
</msub>
<mo>&times;</mo>
<mrow>
<mo>(</mo>
<msub>
<mi>Y</mi>
<mi>t</mi>
</msub>
<mo>-</mo>
<msub>
<mi>y</mi>
<mi>p</mi>
</msub>
<mo>)</mo>
</mrow>
<mo>-</mo>
<msub>
<mi>V</mi>
<mrow>
<mi>t</mi>
<mi>z</mi>
</mrow>
</msub>
<mo>&times;</mo>
<mrow>
<mo>(</mo>
<msub>
<mi>Z</mi>
<mi>t</mi>
</msub>
<mo>-</mo>
<msub>
<mi>z</mi>
<mi>p</mi>
</msub>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<mi>&lambda;</mi>
<msqrt>
<mrow>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>X</mi>
<mi>t</mi>
</msub>
<mo>-</mo>
<msub>
<mi>x</mi>
<mi>p</mi>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>Y</mi>
<mi>t</mi>
</msub>
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<msub>
<mi>y</mi>
<mi>p</mi>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>Z</mi>
<mi>t</mi>
</msub>
<mo>-</mo>
<msub>
<mi>z</mi>
<mi>p</mi>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
</mrow>
</msqrt>
</mrow>
</mfrac>
<mo>+</mo>
<mfrac>
<mrow>
<mo>-</mo>
<msub>
<mi>V</mi>
<mrow>
<mi>r</mi>
<mi>x</mi>
</mrow>
</msub>
<mo>&times;</mo>
<mrow>
<mo>(</mo>
<msub>
<mi>X</mi>
<mi>r</mi>
</msub>
<mo>-</mo>
<msub>
<mi>x</mi>
<mi>p</mi>
</msub>
<mo>)</mo>
</mrow>
<mo>-</mo>
<msub>
<mi>V</mi>
<mrow>
<mi>r</mi>
<mi>y</mi>
</mrow>
</msub>
<mo>&times;</mo>
<mrow>
<mo>(</mo>
<msub>
<mi>Y</mi>
<mi>r</mi>
</msub>
<mo>-</mo>
<msub>
<mi>y</mi>
<mi>p</mi>
</msub>
<mo>)</mo>
</mrow>
<mo>-</mo>
<msub>
<mi>V</mi>
<mrow>
<mi>r</mi>
<mi>z</mi>
</mrow>
</msub>
<mo>&times;</mo>
<mrow>
<mo>(</mo>
<msub>
<mi>Z</mi>
<mi>r</mi>
</msub>
<mo>-</mo>
<msub>
<mi>z</mi>
<mi>p</mi>
</msub>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<mi>&lambda;</mi>
<msqrt>
<mrow>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>X</mi>
<mi>r</mi>
</msub>
<mo>-</mo>
<msub>
<mi>x</mi>
<mi>p</mi>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>Y</mi>
<mi>r</mi>
</msub>
<mo>-</mo>
<msub>
<mi>y</mi>
<mi>p</mi>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>Z</mi>
<mi>r</mi>
</msub>
<mo>-</mo>
<msub>
<mi>z</mi>
<mi>p</mi>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
</mrow>
</msqrt>
</mrow>
</mfrac>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>4</mn>
<mo>)</mo>
</mrow>
</mrow>
4. distributed many base radar transmit-receive beam Synchronizations according to claim 3 and the accuracy method of wave beam control, its
It is characterised by, the range equation and Doppler equation of the target point P use newton-iterative method tangential method, dichotomy or series
Method is solved.
5. distributed many base radar transmit-receive beam Synchronizations according to claim 3 and the accuracy method of wave beam control, its
It is characterised by, ground target point P range equation and Doppler equation is solved using Newton iteration method, ground target point P is obtained
Coordinate (xp,yp,0)；Specific calculation procedure is as follows：
Step 5.1：Ground target point P corresponding pixel point coordinates in SAR image is (m, n), then ground target point P distance
Equation and Doppler equation are：
<mrow>
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<mrow>
<msub>
<mi>R</mi>
<mi>p</mi>
</msub>
<mo>=</mo>
<mrow>
<mo>(</mo>
<mi>n</mi>
<mo>-</mo>
<mfrac>
<msub>
<mi>N</mi>
<mi>r</mi>
</msub>
<mn>2</mn>
</mfrac>
<mo>)</mo>
</mrow>
<mo>&CenterDot;</mo>
<msub>
<mi>p</mi>
<mi>r</mi>
</msub>
<mo>+</mo>
<msub>
<mi>R</mi>
<mrow>
<mi>r</mi>
<mi>e</mi>
<mi>f</mi>
</mrow>
</msub>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>f</mi>
<mrow>
<mi>d</mi>
<mi>c</mi>
<mi>p</mi>
</mrow>
</msub>
<mo>=</mo>
<mrow>
<mo>(</mo>
<mi>m</mi>
<mo>-</mo>
<mfrac>
<mrow>
<mi>N</mi>
<mi>a</mi>
</mrow>
<mn>2</mn>
</mfrac>
<mo>)</mo>
</mrow>
<mo>&CenterDot;</mo>
<mfrac>
<mrow>
<mi>P</mi>
<mi>R</mi>
<mi>F</mi>
</mrow>
<mrow>
<mi>N</mi>
<mi>a</mi>
</mrow>
</mfrac>
<mo>+</mo>
<msub>
<mi>f</mi>
<mrow>
<mi>d</mi>
<mi>c</mi>
<mi>o</mi>
</mrow>
</msub>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>5</mn>
<mo>)</mo>
</mrow>
</mrow>
Wherein, Nr,NaRepresent respectively distance to orientation sampling number, prDistance is represented to pixel separation, RrefIn being aperture
Heart moment radar platform is to the reference distance of ground target point P central points, and PRF represents pulse repeat its transmission frequency, fdcoIt is aperture
The Doppler frequency of central instant ground target point P central points；
Step 5.2：Following non-linear binary function is set up in convolution (4) and (5)：
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<mrow>
<msub>
<mi>f</mi>
<mn>1</mn>
</msub>
<mrow>
<mo>(</mo>
<mi>x</mi>
<mo>,</mo>
<mi>y</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<msub>
<mi>R</mi>
<mi>p</mi>
</msub>
<mo>-</mo>
<mi>R</mi>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>f</mi>
<mn>2</mn>
</msub>
<mrow>
<mo>(</mo>
<mi>x</mi>
<mo>,</mo>
<mi>y</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<msub>
<mi>f</mi>
<mrow>
<mi>d</mi>
<mi>c</mi>
<mi>p</mi>
</mrow>
</msub>
<mo>-</mo>
<msub>
<mi>f</mi>
<mi>p</mi>
</msub>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
Non-linear two element equationsSolution be ground target point P coordinate value (xp,yp,0)；
Step 5.3：Initial position estimation value (the x of given target point0,y0, 0), then：
<mrow>
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<mrow>
<mi>c</mi>
<mi>o</mi>
<mi>s</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>&theta;</mi>
<mi>t</mi>
</msub>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mfrac>
<mrow>
<msub>
<mi>V</mi>
<mrow>
<mi>t</mi>
<mi>x</mi>
</mrow>
</msub>
<mo>&CenterDot;</mo>
<mrow>
<mo>(</mo>
<msub>
<mi>x</mi>
<mn>0</mn>
</msub>
<mo>-</mo>
<msub>
<mi>X</mi>
<mi>t</mi>
</msub>
<mo>)</mo>
</mrow>
<mo>+</mo>
<msub>
<mi>V</mi>
<mrow>
<mi>t</mi>
<mi>y</mi>
</mrow>
</msub>
<mo>&CenterDot;</mo>
<mrow>
<mo>(</mo>
<msub>
<mi>y</mi>
<mn>0</mn>
</msub>
<mo>-</mo>
<msub>
<mi>Y</mi>
<mi>t</mi>
</msub>
<mo>)</mo>
</mrow>
<mo>+</mo>
<msub>
<mi>V</mi>
<mi>z</mi>
</msub>
<mo>&CenterDot;</mo>
<mrow>
<mo>(</mo>
<mo>-</mo>
<msub>
<mi>Z</mi>
<mi>t</mi>
</msub>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<mrow>
<mo>|</mo>
<msub>
<mi>V</mi>
<mi>t</mi>
</msub>
<mo>|</mo>
</mrow>
<mo>&CenterDot;</mo>
<msqrt>
<mrow>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>x</mi>
<mn>0</mn>
</msub>
<mo>-</mo>
<msub>
<mi>X</mi>
<mi>t</mi>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>y</mi>
<mn>0</mn>
</msub>
<mo>-</mo>
<msub>
<mi>Y</mi>
<mi>t</mi>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mrow>
<mo>(</mo>
<mo>-</mo>
<msub>
<mi>Z</mi>
<mi>t</mi>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
</mrow>
</msqrt>
</mrow>
</mfrac>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mi>c</mi>
<mi>o</mi>
<mi>s</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>&theta;</mi>
<mi>r</mi>
</msub>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mfrac>
<mrow>
<msub>
<mi>V</mi>
<mrow>
<mi>r</mi>
<mi>x</mi>
</mrow>
</msub>
<mo>&CenterDot;</mo>
<mrow>
<mo>(</mo>
<msub>
<mi>x</mi>
<mn>0</mn>
</msub>
<mo>-</mo>
<msub>
<mi>X</mi>
<mi>r</mi>
</msub>
<mo>)</mo>
</mrow>
<mo>+</mo>
<msub>
<mi>V</mi>
<mrow>
<mi>r</mi>
<mi>y</mi>
</mrow>
</msub>
<mo>&CenterDot;</mo>
<mrow>
<mo>(</mo>
<msub>
<mi>y</mi>
<mn>0</mn>
</msub>
<mo>-</mo>
<msub>
<mi>Y</mi>
<mi>r</mi>
</msub>
<mo>)</mo>
</mrow>
<mo>+</mo>
<msub>
<mi>V</mi>
<mrow>
<mi>r</mi>
<mi>z</mi>
</mrow>
</msub>
<mo>&CenterDot;</mo>
<mrow>
<mo>(</mo>
<mo>-</mo>
<msub>
<mi>Z</mi>
<mi>r</mi>
</msub>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<mrow>
<mo>|</mo>
<msub>
<mi>V</mi>
<mi>r</mi>
</msub>
<mo>|</mo>
</mrow>
<mo>&CenterDot;</mo>
<msqrt>
<mrow>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>x</mi>
<mn>0</mn>
</msub>
<mo>-</mo>
<msub>
<mi>X</mi>
<mi>r</mi>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>y</mi>
<mn>0</mn>
</msub>
<mo>-</mo>
<msub>
<mi>Y</mi>
<mi>r</mi>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mrow>
<mo>(</mo>
<mo>-</mo>
<msub>
<mi>Z</mi>
<mi>r</mi>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
</mrow>
</msqrt>
</mrow>
</mfrac>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>f</mi>
<mi>p</mi>
</msub>
<mo>=</mo>
<mfrac>
<mn>1</mn>
<mi>&lambda;</mi>
</mfrac>
<mo>&CenterDot;</mo>
<mo>&lsqb;</mo>
<msub>
<mi>V</mi>
<mi>t</mi>
</msub>
<mo>&CenterDot;</mo>
<mi>cos</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>&theta;</mi>
<mi>t</mi>
</msub>
<mo>)</mo>
</mrow>
<mo>+</mo>
<msub>
<mi>V</mi>
<mi>r</mi>
</msub>
<mo>&CenterDot;</mo>
<mi>cos</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>&theta;</mi>
<mi>r</mi>
</msub>
<mo>)</mo>
</mrow>
<mo>&rsqb;</mo>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>6</mn>
<mo>)</mo>
</mrow>
</mrow>
Calculate Jacobian matrix now：
<mrow>
<mi>det</mi>
<mrow>
<mo>(</mo>
<mi>J</mi>
<mo>(</mo>
<mrow>
<msub>
<mi>x</mi>
<mn>0</mn>
</msub>
<mo>,</mo>
<msub>
<mi>y</mi>
<mn>0</mn>
</msub>
</mrow>
<mo>)</mo>
<mo>)</mo>
</mrow>
<mo>=</mo>
<msub>
<mfenced open = "|" close = "|">
<mtable>
<mtr>
<mtd>
<mfrac>
<mrow>
<mo>&part;</mo>
<msub>
<mi>f</mi>
<mn>1</mn>
</msub>
<mrow>
<mo>(</mo>
<mi>x</mi>
<mo>,</mo>
<mi>y</mi>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<mo>&part;</mo>
<mi>x</mi>
</mrow>
</mfrac>
</mtd>
<mtd>
<mfrac>
<mrow>
<mo>&part;</mo>
<msub>
<mi>f</mi>
<mn>1</mn>
</msub>
<mrow>
<mo>(</mo>
<mi>x</mi>
<mo>,</mo>
<mi>y</mi>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<mo>&part;</mo>
<mi>v</mi>
</mrow>
</mfrac>
</mtd>
</mtr>
<mtr>
<mtd>
<mfrac>
<mrow>
<mo>&part;</mo>
<msub>
<mi>f</mi>
<mn>2</mn>
</msub>
<mrow>
<mo>(</mo>
<mi>x</mi>
<mo>,</mo>
<mi>y</mi>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<mo>&part;</mo>
<mi>x</mi>
</mrow>
</mfrac>
</mtd>
<mtd>
<mfrac>
<mrow>
<mo>&part;</mo>
<msub>
<mi>f</mi>
<mn>2</mn>
</msub>
<mrow>
<mo>(</mo>
<mi>x</mi>
<mo>,</mo>
<mi>y</mi>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<mo>&part;</mo>
<mi>v</mi>
</mrow>
</mfrac>
</mtd>
</mtr>
</mtable>
</mfenced>
<mrow>
<mi>x</mi>
<mo>=</mo>
<msub>
<mi>x</mi>
<mn>0</mn>
</msub>
<mo>,</mo>
<mi>y</mi>
<mo>=</mo>
<msub>
<mi>y</mi>
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If Jacobian matrix is not 0, Δ x, Δ y are calculated according to following equation：
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Update x0=x0+ Δ x, y0=y0+ Δ y, repeats said process, until meet max (| Δ x |, | Δ y |) ＜ ε, wherein ε is
Given the required precision, (x now obtained0,y0, 0) and with regard to the approximate solution for equation group, as target point (xp,yp, 0) positioning
Coordinate.
6. distributed many base radar transmit-receive beam Synchronizations according to claim 3 and the accuracy method of wave beam control, its
It is characterised by, the azimuth angle theta of wave beam is received in step bR, angle of pitch φR, receiver to target point P apart from RRCalculation formula
For：
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