CN107843881A - Radar angular estimates and error calibration method - Google Patents
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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 embodiment of the present invention proposes a kind of radar angular estimation and error calibration method, is related to target acquisition technical field, this method includes：Establish radar array model；Obtain the error matrix of receiving terminal and transmitting terminal；Obtain the DOA and DOD of target；Obtain the non-linear least mean squares error Optimized model of receiving terminal and transmitting terminal, and the mutual coupling of receiving terminal Optimized model and the mutual coupling of amplitude phase error matrix and transmission end optimizing model and amplitude phase error matrix corresponding to acquisition；Using receiving terminal Optimized model mutual coupling error matrix correction receiving terminal mutual coupling error matrix, using receiving terminal Optimized model amplitude phase error matrix correction receiving terminal amplitude phase error matrix, using transmission end optimizing model mutual coupling error matrix correction transmitting terminal mutual coupling error matrix, using transmission end optimizing model amplitude phase error matrix correction transmitting terminal amplitude phase error matrix.The present invention can correct mutual coupling error and amplitude phase error existing for transmitting-receiving array, and the DOA and DOD of target is precisely calculated, and operand is small.
Description
Technical Field
The invention relates to the technical field of target detection, in particular to a radar angle estimation and error correction method.
Background
A bistatic Multiple Input Multiple Output (MIMO) radar high-resolution angle estimation algorithm based on an array parameter model is widely concerned by people with excellent high-resolution performance. However, the huge calculation amount of the high-resolution algorithm and the low robustness of the algorithm to errors are always important bottlenecks limiting the practical engineering application of the high-resolution algorithm.
With the continuous updating and development of high-speed digital signal processors and the deep research of people on parallel rapid algorithms and sub-optimal algorithms, the problem of real-time realization of high-resolution algorithms is fundamentally relieved. But the study of array error correction and robust angle estimation algorithms is still very incomplete. Various high-resolution angle Estimation algorithms rely on accurate a priori knowledge Of the array parameter model, such as the typical MUltiple SIgnal Classification (MUSIC) algorithm, which requires precise information Of the array manifold in the visible region (FOV) Of the array, the rotation invariant subspace (ESPRIT: Estimation Of SIgnal Parameters via Rotational Estimation Techniques) algorithm, which, although avoiding the correction Of the array manifold, requires two sub-array structures with identical characteristics, and so on.
Because the prior knowledge of people to the array model always has certain deviation, most of the algorithms cannot be realized in practical application. Researches find that various high-resolution spatial spectrum estimation algorithms have poor robustness to errors and are sensitive to model errors, and small model disturbance brings rapid deterioration of azimuth estimation performance.
Disclosure of Invention
The invention aims to provide a radar angle estimation and error correction method which can correct cross coupling errors and amplitude-phase errors existing in a receiving array and a transmitting array, accurately calculate DOA and DOD of a target object and has small calculation amount.
In order to achieve the above purpose, the embodiment of the present invention adopts the following technical solutions:
the embodiment of the invention provides a radar angle estimation and error correction method, which comprises the following steps: establishing a bistatic MIMO radar array model based on auxiliary array elements, wherein the bistatic MIMO radar array model comprises a receiving array and a transmitting array; acquiring a receiving end error matrix and a transmitting end error matrix, wherein the receiving end error matrix is acquired by a receiving end cross coupling error matrix and a receiving end amplitude phase error matrix of the receiving array through first matrix operation, and the transmitting end error matrix is acquired by a transmitting end cross coupling error matrix and a transmitting end amplitude phase error matrix of the transmitting array through first matrix operation; obtaining DOA and DOD of a target object; obtaining a receiving end nonlinear minimum mean square error optimization model and a transmitting end nonlinear minimum mean square error optimization model, respectively acquiring a receiving end optimization model cross coupling error matrix, a receiving end optimization model amplitude-phase error matrix, a transmitting end optimization model cross coupling error matrix and a transmitting end optimization model amplitude-phase error matrix, wherein, the receiving end nonlinear minimum mean square error optimization model is obtained by the receiving end cross coupling error matrix and the receiving end amplitude-phase error matrix, the transmitting terminal nonlinear minimum mean square error optimization model is obtained by the transmitting terminal mutual coupling error matrix and the transmitting terminal amplitude-phase error matrix, the receiving end optimization model error matrix is obtained by the receiving end minimum mean square error optimization model, the transmitting terminal optimization model error matrix is obtained by the transmitting terminal minimum mean square error optimization model; and correcting the receiving end cross coupling error matrix by adopting the receiving end optimization model cross coupling error matrix, correcting the receiving end amplitude phase error matrix by adopting the receiving end optimization model amplitude phase error matrix, correcting the transmitting end cross coupling error matrix by adopting the transmitting end optimization model cross coupling error matrix, and correcting the transmitting end amplitude phase error matrix by adopting the transmitting end optimization model amplitude phase error matrix.
Further, the step of establishing the bistatic MIMO radar array model based on the auxiliary array elements includes: introducing a first array element with a first preset number into the receiving array; introducing a second array element with a second preset number into the transmitting array; processing the receiving array by adopting a matched filter to obtain a first echo signal; and acquiring the receiving end cross coupling error matrix, the receiving end amplitude-phase error matrix, the receiving end guide vector, the transmitting end cross coupling error matrix, the transmitting end amplitude-phase error matrix and the transmitting end guide vector according to the first echo signal.
Furthermore, the array element spacing of the first array element is smaller than the half wavelength of the radar electromagnetic wave, and the array element spacing of the second array element is smaller than the half wavelength of the radar electromagnetic wave.
Furthermore, the array element interval of the first array element is a half wavelength of radar electromagnetic waves, and the array element interval of the second array element is a half wavelength of radar electromagnetic waves.
Further, the first echo signal is represented as:
wherein,characterizing the receiving end mutual coupling error matrix,characterizing the receiving end amplitude-phase error matrix,grnand phirn(N-1, 2, …, N) characterizing amplitude error coefficients and phase error coefficients, respectively, of an nth of said first array elements,characterizing the receiver-side steering vector, characterizing the transmit-end mutual coupling error matrix,characterizing the amplitude-phase error matrix of the transmitting end,gtmand phitm(M-1, 2, …, M) characterizing an amplitude error coefficient and a phase error coefficient, respectively, of the mth second array element;characterizing the transmit-end steering vector,sp(t) characterizing a fading coefficient corresponding to the pth target RCS at the time t; n (t) characterise mean 0 and covariance matrix ofWhite Gaussian noise, diag [ ·]The representation takes a row vector as a main diagonal element to form a diagonal matrix; bdiag [. to]The characterisation consists of a block-shaped diagonal matrix of its elements as diagonal elements, ImAnd (5) characterizing the m-order unit matrix.
Further, the step of obtaining the receiving end error matrix and the transmitting end error matrix includes: processing the receiving array by adopting a first matrix operation to obtain a second echo signal; and analyzing the second echo signal to obtain the receiving end error matrix and the transmitting end error matrix.
Further, the second echo signal is represented as:
wherein,characterizing the receiver-side error matrix,characterizing a diagonal matrix Zr(θp) The (i) th diagonal element of (a),characterizing the transmit-end error matrix,characterizing diagonal matricesThe ith diagonal element of [ C ]](i,n)The ith row and nth column elements of matrix C are shown.
Further, the step of obtaining the DOA and DOD of the target object includes: acquiring a covariance matrix corresponding to the receiving array; performing eigenvalue decomposition on the covariance matrix to obtain a corresponding noise subspace; and analyzing the noise subspace according to a subspace principle, and acquiring the DOA and the DOD by combining spectral peak search.
Further, the step of obtaining the receiving end nonlinear minimum mean square error optimization model and the transmitting end nonlinear minimum mean square error optimization model, and obtaining the receiving end optimization model cross coupling error matrix, the receiving end optimization model magnitude-phase error matrix, the transmitting end optimization model cross coupling error matrix and the transmitting end optimization model magnitude-phase error matrix which respectively correspond to the receiving end optimization model cross coupling error matrix, the transmitting end nonlinear minimum mean square error optimization model magnitude-phase error matrix comprises: establishing a receiving end nonlinear minimum mean square error optimization model according to the receiving end cross coupling error matrix and the receiving end guide vector; establishing a transmitting end nonlinear minimum mean square error optimization model according to the transmitting end cross coupling error matrix and the transmitting end guide vector; acquiring a receiving end optimization model cross coupling error matrix and a receiving end optimization model amplitude-phase error matrix according to the receiving end nonlinear minimum mean square error optimization model; and acquiring a cross coupling error matrix of the transmitting terminal optimization model and an amplitude-phase error matrix of the transmitting terminal optimization model according to the transmitting terminal nonlinear minimum mean square error optimization model.
Further, the step of correcting the receiving end cross coupling error matrix by using the receiving end optimization model cross coupling error matrix, correcting the receiving end amplitude phase error matrix by using the receiving end optimization model amplitude phase error matrix, correcting the transmitting end cross coupling error matrix by using the transmitting end optimization model amplitude phase error matrix, and correcting the transmitting end amplitude phase error matrix by using the transmitting end optimization model amplitude phase error matrix includes: using the receiving end optimization model cross coupling error matrix to correct the receiving end cross coupling error matrix by using an MUSIC algorithm; using the receiving end optimization model amplitude-phase error matrix to correct the receiving end amplitude-phase error matrix by using an MUSIC algorithm; using the transmitting terminal optimization model cross coupling error matrix to correct the transmitting terminal cross coupling error matrix by using an MUSIC algorithm; and using the amplitude-phase error matrix of the transmitting terminal optimization model for correcting the amplitude-phase error matrix of the transmitting terminal by adopting an MUSIC algorithm.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
according to the radar angle estimation and error correction method provided by the embodiment of the invention, the respective correction coefficients of the cross coupling error and the amplitude-phase error existing in the receiving array and the transmitting array in the bistatic MIMO radar array model are determined, so that the cross coupling error and the amplitude-phase error existing in the receiving array and the transmitting array can be effectively reduced; the DOA and the DOD of the target object can be accurately calculated without any cross coupling error matrix and amplitude-phase error matrix; meanwhile, the two-dimensional angle and array error joint estimation algorithm does not relate to high-dimensional nonlinear optimization search, only one-dimensional spectral peak search is needed, and the operation amount is small.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings may be obtained according to these drawings without inventive effort.
Fig. 1 is a flowchart illustrating a method for estimating a radar angle and correcting an error according to an embodiment of the present invention;
fig. 2 shows an auxiliary array element-based bistatic MIMO radar array model of a radar angle estimation and error correction method according to an embodiment of the present invention;
FIG. 3 illustrates the calculation results of the angle estimation and the synthetic error self-correction method of the bistatic MIMO radar for the DOA and the DOD of a target object in the prior art;
FIG. 4 shows statistical performance of a radar angle estimation and error correction method for two-dimensional angle estimation of a target object according to an embodiment of the present invention;
FIG. 5 shows statistical performance of a radar angle estimation and error correction method for cross-coupling error estimation of a receiving array and a transmitting array according to an embodiment of the present invention;
fig. 6 shows statistical performance of amplitude and phase error estimation of a receiving array and a transmitting array by a radar angle estimation and error correction method according to an embodiment of the present invention;
fig. 7 shows a spatial spectrum curve of a two-dimensional MUSIC algorithm before array error correction of a radar angle estimation and error correction method provided by an embodiment of the present invention;
FIG. 8 is a contour plot corresponding to FIG. 7;
fig. 9 shows a spatial spectrum curve of the two-dimensional MUSIC algorithm after array error correction of the radar angle estimation and error correction method according to the embodiment of the present invention;
fig. 10 is a contour diagram corresponding to fig. 9.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present invention, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
In this embodiment, a bistatic MIMO radar array model with M transmitting array elements and N receiving array elements is established, and preferably, as an implementation manner, the receiving array and the transmitting array are uniform linear arrays with a distance of half a wavelength of an electromagnetic wave transmitted by the radar system. Suppose there are P uncorrelated targets in the same range bin in the far field of the array, their DOD (Direction of Departure) and DOA (Direction of Arrival)Closed angle) are respectivelyAnd thetap. The mutual coupling freedom degrees of the receiving array and the transmitting array are respectively recorded as kt，kr(kt＜M，kr< N), then the mutual coupling coefficient matrixes of the receiving array and the transmitting array are respectively
Ct＝toeplitz(ct,ct)，Cr＝toeplitz(cr,cr)
Wherein, ctIs represented by CtThe cyclic vector of (a) is calculated,cris represented by CrThe cyclic vector of (a) is calculated,toeplitz (c, c) denotes the formation of a Toeplitz matrix from vector c.
Referring to fig. 1, fig. 1 is a flowchart illustrating a method for radar angle estimation and error correction according to an embodiment of the present invention. The radar angle estimation and error correction method provided by the embodiment of the invention can be applied to a radar system, and the radar angle estimation and error correction method can comprise the following steps:
and S100, establishing a bistatic MIMO radar array model based on the auxiliary array elements.
Referring to fig. 2, fig. 2 is a schematic diagram illustrating a bistatic MIMO radar array model based on auxiliary array elements for a radar angle estimation and error correction method according to an embodiment of the present invention. In this embodiment, first array elements with a first preset number are introduced into the receiving array end, and second array elements with a second preset number are introduced into the transmitting array end. Preferably, as an embodiment, the array element spacing of the first array element is a half wavelength of an electromagnetic wave transmitted by the radar system, and the second array element spacing is a half wavelength of the electromagnetic wave transmitted by the radar systemHalf the wavelength of the electromagnetic wave emitted by the system. Preferably, as one mode, the first preset number is ktThe second predetermined number is kr。
And then processing the receiving array by adopting a matching filter to obtain a first echo signal, and obtaining the receiving end mutual coupling error matrix, the receiving end amplitude-phase error matrix, the receiving end guide vector, the transmitting end mutual coupling error matrix, the transmitting end amplitude-phase error matrix and the transmitting end guide vector according to the first echo signal. Wherein the first echo signal is represented as:
wherein,characterizing the receiving end mutual coupling error matrix,characterizing the receiving end amplitude-phase error matrix,grnand phirn(N-1, 2, …, N) characterizing amplitude error coefficients and phase error coefficients, respectively, of an nth of said first array elements,characterizing the receiver-side steering vector, characterizing the transmit-end mutual coupling error matrix,characterizing the amplitude-phase error matrix of the transmitting end,gtmand phitm(M-1, 2, …, M) characterizing an amplitude error coefficient and a phase error coefficient, respectively, of the mth second array element;characterizing the transmit-end steering vector,sp(t) characterizing a fading coefficient corresponding to the pth target RCS at the time t; n (t) characterise mean 0 and covariance matrix ofWhite Gaussian noise, diag [ ·]The representation takes a row vector as a main diagonal element to form a diagonal matrix; bdiag [. to]The characterisation consists of a block-shaped diagonal matrix of its elements as diagonal elements, ImAnd (5) characterizing the m-order unit matrix.
It should be noted that, in other embodiments of the present invention, the array element spacing of the first array element may also be smaller than a half wavelength of the radar electromagnetic wave, and the array element spacing of the second array element may also be smaller than a half wavelength of the radar electromagnetic wave.
S200, acquiring a receiving end error matrix and a transmitting end error matrix.
In this embodiment, first, a first matrix operation is performed on the receiving array to obtain a second echo signal of the receiving end, and then the second echo signal is analyzed to obtain the receiving end error matrix and the transmitting end error matrix. At this time, the second echo signal may be expressed as:
wherein,characterizing the receiver-side error matrix,characterizing a diagonal matrix Zr(θp) The (i) th diagonal element of (a),characterizing the transmit-end error matrix,characterizing diagonal matricesThe ith diagonal element of [ C ]](i,n)The ith row and nth column elements of matrix C are shown.
And S300, acquiring DOA and DOD of the target object.
Referring to fig. 3, fig. 3 is a calculation result of DOA and DOD of a target object by a bistatic MIMO radar angle estimation and synthetic error self-correction method in the prior art.
The method for estimating the radar angle and correcting the error provided by the embodiment of the invention comprises the steps of firstly, calculating the receiving array to obtain a covariance matrix R corresponding to the receiving array, and decomposing the characteristic value of the covariance matrix to obtain a noise subspace Un. Then based on the subspace principle, it is possible to obtain
It is noted that
The above two formulas are substituted to obtain
Wherein,
for different angles theta and theta It cannot be always equal to 0. Therefore, the essential condition for the above formula to be satisfied isTime, matrix Q1And (theta) is a singular matrix. Based on this principle, we can get
Wherein λ ismin[Q1(θ)]Is represented by Q1Minimum eigenvalue of (θ). By the above formula, the DOA of the target object can be obtained as thetap。
Due to the fact thatIs 1, and the sum of the DODs of the target objectCan be estimated by the following optimization problem with constraints:
wherein,
the lagrange operator method is applied to solve the above equation to obtain:
by pairsPerforming spectral peak search within (-90 deg., 90 deg.) range to obtain DOD of target objectAutomatic pairing of two-dimensional angles is realized; then, the DOA and the DOD are obtained by calculation
Referring to fig. 4, fig. 4 is a diagram illustrating statistical performance of a radar angle estimation and error correction method for two-dimensional angle estimation of a target object according to an embodiment of the present invention.
Based on the design, the radar angle estimation and error correction method provided by the invention cannot predict respective cross coupling error coefficients and amplitude-phase error coefficients of the receiving array and the transmitting array, and meanwhile, the RMSE of the target angle estimation is lower than 0.1 degree when the signal-to-noise ratio of the target angle estimation performance processed by the method reaches 20dB, the DOA and the DOD of a target object can be accurately calculated, and the calculated parameters can be automatically paired.
S400, a receiving end nonlinear minimum mean square error optimization model and a transmitting end nonlinear minimum mean square error optimization model are obtained, and a receiving end optimization model cross coupling error matrix, a receiving end optimization model amplitude-phase error matrix, a transmitting end optimization model cross coupling error matrix and a transmitting end optimization model amplitude-phase error matrix which correspond to the receiving end optimization model cross coupling error matrix and the transmitting end optimization model amplitude-phase error matrix respectively are obtained.
In this embodiment, use is made ofTo represent2 to N +1, the receiver-side steering vector can be expressed as:
wherein ⊙ characterizes a Hadamard product;
because the DOA of the target object has a certain error, a receiving end nonlinear minimum mean square error optimization model can be established according to the formula as follows:
wherein,
assuming the receiving end optimization model cross coupling error matrix CrIs known, then the above formula canTo write further into
Wherein, ηr＝vecd(Γr)，Θ＝[(CrΦ1)H(CrΦ2)H… (CrΦP)H]H，vecd (-) characterizes a column vector consisting of the diagonal elements of the matrix extraction.
Further write Θ to
It can be expressed as
T(Jn)＝T1(Jn)+T2(Jn)
Therefore, the optimal solution of the receiving end nonlinear minimum mean square error optimization model can be obtained as
Substituting the above formula into the receiving end nonlinear minimum mean square error optimization model can obtain the optimization problem about Cr, namely
Wherein,
due to the fact thatThe above formula can be equivalently written as
It is noted thatFirst element of (1)The optimization problem described above can be further written as
Therefore, the receiving end optimization model cross coupling error matrix C can be obtained by solving the optimization problem with the constraintrAnd then obtainThen will beSubstitution intoη is obtainedrAnd obtaining the amplitude-phase error matrix of the receiving end optimization model.
In the same way, utilizeThe mutual coupling error matrix of the transmitting terminal optimization model and the amplitude-phase error matrix of the transmitting terminal optimization model can be obtained.
Referring to fig. 5, fig. 5 shows statistical performance of cross-coupling error estimation of a receiving array and a transmitting array by a radar angle estimation and error correction method according to an embodiment of the present invention.
Referring to fig. 6, fig. 6 shows statistical performance of amplitude and phase error estimation of a receiving array and a transmitting array by a radar angle estimation and error correction method according to an embodiment of the present invention.
S500, correcting the receiving end cross coupling error matrix by adopting the receiving end optimization model cross coupling error matrix, correcting the receiving end amplitude phase error matrix by adopting the receiving end optimization model amplitude phase error matrix, correcting the transmitting end cross coupling error matrix by adopting the transmitting end optimization model cross coupling error matrix, and correcting the transmitting end amplitude phase error matrix by adopting the transmitting end optimization model amplitude phase error matrix.
Referring to fig. 7, fig. 7 is a spatial spectrum curve of a two-dimensional MUSIC algorithm before array error correction of a radar angle estimation and error correction method according to an embodiment of the present invention.
Referring to fig. 8, fig. 8 is a contour diagram corresponding to fig. 7.
It can be seen that, because the cross-coupling error coefficient and the amplitude-phase error coefficient before correction are unknown, the spatial spectrum of the two-dimensional MUSIC algorithm changes smoothly, and a spectral peak cannot be formed at the target azimuth in the space, so that the target cannot be effectively resolved.
In this embodiment, the mutual coupling error matrix of the receiving end optimization model may be used to correct the receiving end mutual coupling error matrix by using the MUSIC algorithm; the receiving end optimization model amplitude-phase error matrix can be used for correcting the receiving end amplitude-phase error matrix by adopting an MUSIC algorithm; the transmit side optimization model cross coupling error matrix can be used for correcting the transmit cross coupling error matrix by adopting a MUSIC algorithm; the transmit-side optimized model magnitude-phase error matrix may be used to correct the transmit-side magnitude-phase error matrix using the MUSIC algorithm.
Referring to fig. 9, fig. 9 is a spatial spectrum curve of a two-dimensional MUSIC algorithm after array error correction of a radar angle estimation and error correction method according to an embodiment of the present invention.
Referring to fig. 10, fig. 10 is a contour diagram corresponding to fig. 9.
It can be seen that after the radar angle estimation and error correction method provided by the invention is adopted for correction, an obvious and sharp spectral peak can be formed at the target receiving and transmitting position, and the target can be better distinguished.
In summary, based on the above design, the radar angle estimation and error correction method provided by the present invention can effectively reduce the cross coupling error and amplitude-phase error existing in the receiving array and the transmitting array by determining the respective correction coefficients of the cross coupling error and amplitude-phase error existing in the receiving array and the transmitting array in the bistatic MIMO radar array model; the DOA and the DOD of the target object can be accurately calculated without any cross coupling error matrix and amplitude-phase error matrix; meanwhile, the two-dimensional angle and array error joint estimation algorithm does not relate to high-dimensional nonlinear optimization search, only one-dimensional spectral peak search is needed, and the operation amount is small.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (10)
1. A method for radar angle estimation and error correction, the method comprising the steps of:
establishing a bistatic MIMO radar array model based on auxiliary array elements, wherein the bistatic MIMO radar array model comprises a receiving array and a transmitting array;
acquiring a receiving end error matrix and a transmitting end error matrix, wherein the receiving end error matrix is acquired by a receiving end cross coupling error matrix and a receiving end amplitude phase error matrix of the receiving array through first matrix operation, and the transmitting end error matrix is acquired by a transmitting end cross coupling error matrix and a transmitting end amplitude phase error matrix of the transmitting array through first matrix operation;
obtaining DOA and DOD of a target object;
obtaining a receiving end nonlinear minimum mean square error optimization model and a transmitting end nonlinear minimum mean square error optimization model, respectively acquiring a receiving end optimization model cross coupling error matrix, a receiving end optimization model amplitude-phase error matrix, a transmitting end optimization model cross coupling error matrix and a transmitting end optimization model amplitude-phase error matrix, wherein, the receiving end nonlinear minimum mean square error optimization model is obtained by the receiving end cross coupling error matrix and the receiving end amplitude-phase error matrix, the transmitting terminal nonlinear minimum mean square error optimization model is obtained by the transmitting terminal mutual coupling error matrix and the transmitting terminal amplitude-phase error matrix, the receiving end optimization model error matrix is obtained by the receiving end minimum mean square error optimization model, the transmitting terminal optimization model error matrix is obtained by the transmitting terminal minimum mean square error optimization model;
and correcting the receiving end cross coupling error matrix by adopting the receiving end optimization model cross coupling error matrix, correcting the receiving end amplitude phase error matrix by adopting the receiving end optimization model amplitude phase error matrix, correcting the transmitting end cross coupling error matrix by adopting the transmitting end optimization model cross coupling error matrix, and correcting the transmitting end amplitude phase error matrix by adopting the transmitting end optimization model amplitude phase error matrix.
2. The radar angle estimation and error correction method of claim 1, wherein the step of establishing an auxiliary array element based bistatic MIMO radar array model comprises:
introducing a first array element with a first preset number into the receiving array;
introducing a second array element with a second preset number into the transmitting array;
processing the receiving array by adopting a matched filter to obtain a first echo signal;
and acquiring the receiving end cross coupling error matrix, the receiving end amplitude-phase error matrix, the receiving end guide vector, the transmitting end cross coupling error matrix, the transmitting end amplitude-phase error matrix and the transmitting end guide vector according to the first echo signal.
3. The radar angle estimation and error correction method of claim 2, wherein the first array element has an array element spacing smaller than a half wavelength of the radar electromagnetic wave;
the array element spacing of the second array element is smaller than the half wavelength of radar electromagnetic waves.
4. The radar angle estimation and error correction method of claim 2, wherein the first array element has an array element spacing of a half wavelength of the radar electromagnetic wave;
and the array element distance of the second array element is half wavelength of radar electromagnetic waves.
5. The radar angle estimation and error correction method of claim 2, wherein the first echo signal is represented as:
wherein,characterizing the receiving end mutual coupling error matrix,characterizing the receiving end amplitude-phase error matrix,grnand phirn(N-1, 2, …, N) characterizing amplitude error coefficients and phase error coefficients, respectively, of an nth of said first array elements,characterizing the receiver-side steering vector, characterizing the transmit-end mutual coupling error matrix,characterizing the amplitude-phase error matrix of the transmitting end,gtmand phitm(M-1, 2, …, M) characterizing an amplitude error coefficient and a phase error coefficient, respectively, of the mth second array element;characterizing the transmit-end steering vector,sp(t) characterizing a fading coefficient corresponding to the pth target RCS at the time t; n (t) characterise mean 0 and covariance matrix ofWhite Gaussian noise, diag [ ·]The representation takes a row vector as a main diagonal element to form a diagonal matrix; bdiag [. to]The characterisation consists of a block-shaped diagonal matrix of its elements as diagonal elements, ImAnd (5) characterizing the m-order unit matrix.
6. The radar angle estimation and error correction method of claim 2, wherein the step of obtaining a receiving-end error matrix and a transmitting-end error matrix comprises:
processing the receiving array by adopting a first matrix operation to obtain a second echo signal;
and analyzing the second echo signal to obtain the receiving end error matrix and the transmitting end error matrix.
7. The radar angle estimation and error correction method of claim 6, wherein the second echo signal is represented as:
wherein,characterizing the receiver-side error matrix,characterizing a diagonal matrix Zr(θp) The (i) th diagonal element of (a),characterizing the transmit-end error matrix,characterizing diagonal matricesThe ith diagonal element of [ C ]](i,n)The ith row and nth column elements of matrix C are shown.
8. The radar angle estimation and error correction method of claim 6, wherein the step of acquiring the DOA and DOD of the target object includes:
acquiring a covariance matrix corresponding to the receiving array;
performing eigenvalue decomposition on the covariance matrix to obtain a corresponding noise subspace;
and analyzing the noise subspace according to a subspace principle, and acquiring the DOA and the DOD by combining spectral peak search.
9. The radar angle estimation and error correction method of claim 8, wherein the step of obtaining the receiving end nonlinear minimum mean square error optimization model and the transmitting end nonlinear minimum mean square error optimization model, and obtaining the receiving end optimization model cross coupling error matrix, the receiving end optimization model amplitude-phase error matrix, the transmitting end optimization model cross coupling error matrix, and the transmitting end optimization model amplitude-phase error matrix respectively corresponding to the receiving end nonlinear minimum mean square error optimization model and the transmitting end nonlinear minimum mean square error optimization model comprises:
establishing a receiving end nonlinear minimum mean square error optimization model according to the receiving end cross coupling error matrix and the receiving end guide vector;
establishing a transmitting end nonlinear minimum mean square error optimization model according to the transmitting end cross coupling error matrix and the transmitting end guide vector;
acquiring a receiving end optimization model cross coupling error matrix and a receiving end optimization model amplitude-phase error matrix according to the receiving end nonlinear minimum mean square error optimization model;
and acquiring a cross coupling error matrix of the transmitting terminal optimization model and an amplitude-phase error matrix of the transmitting terminal optimization model according to the transmitting terminal nonlinear minimum mean square error optimization model.
10. The radar angle estimation and error correction method of claim 9, wherein the step of correcting the receiver-side cross coupling error matrix using the receiver-side optimized model cross coupling error matrix, correcting the receiver-side amplitude-phase error matrix using the receiver-side optimized model amplitude-phase error matrix, correcting the transmitter-side cross coupling error matrix using the transmitter-side optimized model cross coupling error matrix, and correcting the transmitter-side amplitude-phase error matrix using the transmitter-side optimized model amplitude-phase error matrix comprises:
using the receiving end optimization model cross coupling error matrix to correct the receiving end cross coupling error matrix by using an MUSIC algorithm;
using the receiving end optimization model amplitude-phase error matrix to correct the receiving end amplitude-phase error matrix by using an MUSIC algorithm;
using the transmitting terminal optimization model cross coupling error matrix to correct the transmitting terminal cross coupling error matrix by using an MUSIC algorithm;
and using the amplitude-phase error matrix of the transmitting terminal optimization model for correcting the amplitude-phase error matrix of the transmitting terminal by adopting an MUSIC algorithm.
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