CN109471065B - Direction finding method for coherent signals - Google Patents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
- G01S3/14—Systems for determining direction or deviation from predetermined direction
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Abstract
The invention relates to a direction finding method of coherent signals, belongs to the technical field of array signal processing, and solves the problems of complexity and low precision of the direction finding method of the coherent signals in the prior art. A method of direction finding coherent signals comprising the steps of: step 1, determining an incoming wave angle; step 2, constructing a fictional digital signal from the current angle to each array, and respectively superposing the fictional digital signal with the corresponding array signal after digital filtering; step 3, obtaining the angle of the concave point in the normalized directional diagram of the array antenna after the zeroing calculation; step 4, taking the angle increment as stepping, gradually increasing the angle of the incoming wave, taking the increased angle as the current angle, and repeating the step 2 and the step 3 until the current angle is equal to the termination angle; and 5, analyzing the angles of all groups of concave points in the normalized directional diagram to obtain the incoming wave direction of the coherent signal. The direction finding of the coherent signals is realized, the direction finding precision is improved, and the direction finding method is simplified.
Description
Technical Field
The invention relates to the technical field of array signal processing, in particular to a direction finding method for coherent signals.
Background
The radio direction finding technology is widely applied to civil and military fields such as detection, navigation, electronic countermeasure and the like, but when a plurality of incoming wave signals are coherent, direction finding of an interferometer, time difference direction finding and array direction finding are not the case, or direction finding of coherent signals cannot be realized, or the realization of a complex structure is complex, the calculation amount is extremely large, and the realization of the direction finding cannot be realized in engineering.
Disclosure of Invention
In view of the above analysis, the present invention aims to provide a direction finding method for coherent signals, which realizes high-precision direction finding for coherent signals generated due to multipath transmission, etc., and is simple and practical.
The invention provides a direction finding method of coherent signals, which comprises the following steps:
step S1, determining an initial angle, an angle increment and a termination angle of an incoming wave angle, and taking the initial angle as a current angle;
step S2, constructing imaginary digital signals from the current angle to each unit of the array antenna, and respectively overlapping the imaginary digital signals with the corresponding array signals after digital filtering to obtain overlapped signals;
step S3, performing space-domain adaptive zeroing calculation on the superposed signals to obtain the angles of the concave points in the normalized directional diagram of the array antenna after the zeroing calculation;
step S4, gradually increasing the incoming wave angle by taking the angle increment as stepping, taking the increased angle as the current angle, and repeating the step S2 and the step S3 until the current angle is equal to the ending angle;
and step S5, analyzing the angles of the concave points in each group in the normalized directional diagram to obtain the incoming wave direction of the coherent signal.
The beneficial effects of the above technical scheme are: by the scheme, direction finding of the coherent signals is realized, direction finding precision is improved, and a direction finding method is simplified.
Further, the method further comprises the step of performing digital filtering processing on each path of digital signals from the array antenna by using a digital filter to obtain digitally filtered array signals.
Further, the digital filter is used for carrying out digital filtering processing on each path of digital signals from the array antenna, specifically, the center frequency of the digital filter is set to be the center frequency of the signal to be measured, the passband bandwidth of the digital filter is not more than the bandwidth of the signal to be measured, and the digital filter is used for carrying out digital filtering processing on each path of digital signals from the array antenna.
The beneficial effects of the further technical scheme are as follows: through the scheme, the digital filter is set, so that the digital filtering effect of the digital filter on the digital signal is optimal.
Further, the angle increment is not greater than the required direction finding precision.
Further, the center frequency and the bandwidth of the direction-finding signal are obtained by processing the digital signal of the array antenna through fast Fourier transform.
Further, constructing an imaginary digital signal from the current angle to each element of the array antenna specifically includes constructing a digital signal axsx(n) calculating the current angle thetaxNext, the direction vector a (θ) of the array antennax) Multiplying the digital signal by the direction vector to obtain an imaginary digital signal A of each unit of the array antennaxsx(n)a(θx) And constructing to obtain a fictitious digital signal from the current angle to each unit of the array antenna.
The beneficial effects of the further technical scheme are as follows: the scheme constructs the imaginary digital signals from the current angle to each array.
Further, the frequency of the virtual digital signal is any value in the bandwidth of the direction-finding signal.
Further, the step S3 specifically includes performing space-domain adaptive nulling calculation on the superimposed signal matrix by using a least mean square algorithm, calculating to obtain a normalized directional pattern expression of the array antenna after nulling processing after the output of the least mean square algorithm is converged, drawing a normalized directional pattern through the expression, and obtaining an angle of a concave point in the normalized directional pattern through the normalized directional pattern.
The beneficial effects of the further technical scheme are as follows: and obtaining a normalized directional diagram by the scheme, and obtaining the angle of the concave point in the normalized directional diagram.
Further, the step S5 specifically includes setting a pit threshold, counting the number of pits below the threshold in the normalized directional diagram, recording angle values corresponding to all pits below the threshold in the normalized directional diagram when the number of pits below the threshold is not less than a predetermined number, and taking the angle values corresponding to the pits, the current angle values, and the amplitude values of the pits as a set of data;
determining whether groups with basically the same pit corresponding angle values exist in all recorded groups of data, wherein the basically the same pits correspond to groups with basically the same angle values, namely the difference values are smaller than the required direction-finding precision;
if so, calculating the difference value of the pit amplitude values in each group in the groups with the same corresponding angle values of the pits, and taking the group with the minimum absolute value;
in the data of the minimum absolute value group, the angle value corresponding to the concave point closest to the current angle is the incoming wave direction of the multipath signal, and the angle value corresponding to the other concave point is the incoming wave direction of the direct signal;
if not, counting the corresponding angle value of the concave point with the most times in each group of data, namely the incoming wave direction of the signal.
The beneficial effects of the further technical scheme are as follows: according to the scheme, the angle of each group of concave points in the normalized directional diagram is analyzed, and the incoming wave direction of the signal is determined according to whether the concave points correspond to the group with basically the same angle value.
Further, if the array antenna is a uniform linear array, the direction vector is
Wherein d is the array element spacing of the uniform linear array, λ is the wavelength of the imaginary digital signal, and M is the array element number of the array antenna; if the array antenna is a uniform circular array, the direction vector
In the formula, R is the radius of the uniform circular array, λ is the wavelength of the imaginary digital signal, and M is the array element number of the array antenna.
The beneficial effects of the further technical scheme are as follows: by the scheme, imaginary digital signals of each array unit of the array antennas of different types can be calculated, and direction finding can be performed on coherent signals of the array antennas of different types.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.
Fig. 1 is a schematic flow chart of the method according to the embodiment of the present invention.
Detailed Description
The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form a part hereof, and which together with the embodiments of the invention serve to explain the principles of the invention.
The invention discloses a direction finding method of coherent signals. As shown in fig. 1, the method comprises the following steps:
step S01, performing Fast Fourier Transform (FFT) processing on the same path of digital signals received by each antenna unit of the array antenna to acquire parameters such as center frequency, bandwidth and amplitude of the signal to be detected;
the array antenna comprises a plurality of antenna units, each antenna unit receives the same digital signal, and the digital signal comprises multiple paths;
step S02, setting the center frequency of the digital filter as the center frequency of the signal to be measured, setting the passband bandwidth of the digital filter not larger than the bandwidth of the signal to be measured, performing digital filtering processing with the same setting parameters on each path of digital signal from the array antenna, and obtaining the array signal X after digital filterings(n)；
Step S03, determining an initial angle, an angle increment and a termination angle of an incoming wave angle, and taking the initial angle as a current angle;
specifically, according to the angle range of the direction which can be measured by the array antenna, the starting angle, the ending angle and the angle increment of the incoming wave direction of the virtual signal are determined, the starting angle is generally-60 degrees for the linear array, the ending angle is 60 degrees (the normal direction of the array is 0 degrees), and the starting angle is generally 0 degrees and the ending angle is 360 degrees for the circular array. The angle increment is not more than the required direction finding precision, and the initial angle is set as the current angle.
Step S04, constructing imaginary digital signals from the current angle to each array, and respectively overlapping the imaginary digital signals with the digitally filtered corresponding array signals to obtain overlapped signals;
in particular, a digital signal A is constructedxsx(n) taking the frequency of the signal as any value in the bandwidth of the direction-finding signal, if the array antenna is a linear array, the amplitude A of the fictional digital signalxIs 0.3 to 0.8 times of the amplitude of the signal to be detected; if the array antenna is a circular array, the amplitude A of the constructed digital signalxIs 1 to 2.5 times of the amplitude of the signal to be detected; calculating the current angle thetaxNext, the direction vector a (θ) of the array antennax) Multiplying the digital signal by the direction vector to obtain an imaginary digital signal A of each antenna unit of the array antennaxsx(n)a(θx)；
For uniform linear array, direction vector
In the formula, d is the array element spacing of the uniform linear array, λ is the wavelength of the imaginary digital signal, and M is the array element number of the array antenna.
For uniform circular arrays, direction vectors
In the formula, R is the radius of the uniform circular array, λ is the wavelength of the imaginary digital signal, and M is the array element number of the array antenna.
Adding the array signals after digital filtering and respective imaginary digital signals to obtain a superposed signal matrix:
X(n)＝Xs(n)+Axsx(n)a(θx)+N(n)
wherein N (n) is a noise matrix.
Step S05, performing space-domain adaptive zeroing calculation on the superposed signals to obtain the angles of the concave points in the normalized directional diagram of the array antenna after the zeroing calculation;
the method specifically comprises the following steps: and performing space-domain adaptive zeroing calculation on the superposed signal matrix. The spatial filtering algorithm can be a Least Mean Square (LMS) algorithm, the LMS algorithm is a linear adaptive filtering algorithm, and a filtering process and an adaptive process form a feedback loop, and the basic form is as follows:
in the above formula:
y (n) is the spatial filtering output, X (n) is the superposition signal matrix, W (n) is the weight vector matrix, the initial value may be [0, …,0]TE, (n) error signals, d (n) reference signals, and the first path of the superimposed signal matrix may be taken as the reference signal. u is the step size factor.
And when the output of the LMS algorithm is converged, calculating to obtain a normalized directional diagram expression of the array antenna after the zeroing treatment:
F(φ)＝|WTa(φ)|
where φ is the azimuth of the normalized pattern. The normalized directional diagram of the array antenna after the zeroing processing can be drawn through the expression.
Setting a pit threshold, counting the number of pits below the threshold in the normalized directional diagram, and recording corresponding angle values, current angle values and pit amplitude values of all pits below the threshold in the normalized directional diagram as a group of data when the number of pits below the threshold is not less than 2;
wherein, the value of the pit threshold is generally-10 dB to-15 dB.
Step S06, stepping by angle increment, gradually increasing the current angle, and repeating the step S04 and the step S05 until the current angle is equal to the end angle;
step S07, analyzing the angles of each group of concave points in the normalized directional diagram to obtain the incoming wave direction of the coherent signal;
the method specifically comprises the following steps: finding out groups with basically the same angle values corresponding to the pits from all recorded groups of data; calculating the difference value of the pit amplitude values in each group in the groups, and taking the group with the minimum absolute value; in the data of the minimum absolute value group, the angle value corresponding to the concave point close to the current angle is the incoming wave direction of the multipath signal, and the angle value corresponding to the other concave point is the incoming wave direction of the direct signal; when the group with the same pit corresponding angle value does not exist, the multi-path signal does not exist in the direction-finding signal, and the angle value corresponding to the pit with the most number of times in each group of data is counted, namely the incoming wave direction of the signal;
the point corresponding angle values are basically the same, which means that the difference of the angle values is smaller than the required direction-finding precision.
The invention discloses a direction-finding method of coherent signals, which combines an array signal processing technology and a direction-finding technology, utilizes the offset characteristic of airspace self-adaptive nulling to incoming wave signals, scans the incoming wave angle of a fictitious signal to obtain an array directional diagram after the fictitious signal and a real signal are superposed, and can realize high-precision direction-finding of the coherent signals including multipath signals by analyzing the characteristics of nulling concave points in a synthetic directional diagram of an array antenna.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (9)
1. A method of direction finding coherent signals, comprising the steps of:
step S1, determining an initial angle, an angle increment and a termination angle of an incoming wave angle, and taking the initial angle as a current angle;
step S2, constructing imaginary digital signals from the current angle to each unit of the array antenna, and respectively overlapping the imaginary digital signals with the corresponding array signals after digital filtering to obtain overlapped signals;
step S3, performing space-domain adaptive zeroing calculation on the superposed signals to obtain the angles of the concave points in the normalized directional diagram of the array antenna after the zeroing calculation;
step S4, gradually increasing the incoming wave angle by taking the angle increment as stepping, taking the increased angle as the current angle, and repeating the step S2 and the step S3 until the current angle is equal to the ending angle;
step S5, analyzing the angles of each group of concave points in the normalized directional diagram to obtain the incoming wave direction of the coherent signal;
the step S5 specifically includes setting a pit threshold, counting the number of pits below the threshold in the normalized directional diagram, when the number of pits below the threshold is not less than 2, recording the angle values corresponding to all pits below the threshold in the normalized directional diagram, and using the angle values corresponding to the pits, the current angle value, and the amplitude value of the pit as a set of data, wherein the value of the pit threshold is-10 dB to-15 dB;
determining whether groups with basically the same pit corresponding angle values exist in all recorded groups of data, wherein the basically the same pits correspond to groups with basically the same angle values, namely the difference values are smaller than the required direction-finding precision;
if so, calculating the difference value of the pit amplitude values in each group in the groups with the same corresponding angle values of the pits, and taking the group with the minimum absolute value;
in the data of the minimum absolute value group, the angle value corresponding to the concave point closest to the current angle is the incoming wave direction of the multipath signal, and the angle value corresponding to the other concave point is the incoming wave direction of the direct signal;
if not, the direction-finding signal has no multipath signal, then the corresponding angle value of the concave point with the most number of times in each group of data is counted, namely the incoming wave direction of the signal.
2. The method of claim 1, further comprising performing digital filtering processing on each digital signal from the array antenna by using a digital filter to obtain a digitally filtered array signal.
3. The method according to claim 2, wherein the step of digitally filtering each digital signal from the array antenna by using the digital filter includes setting a center frequency of the digital filter to be a center frequency of the signal to be measured, setting a passband bandwidth of the digital filter to be not greater than a bandwidth of the signal to be measured, and digitally filtering each digital signal from the array antenna by using the digital filter.
4. A method according to any of claims 1-3, wherein the angular increment is not greater than the required direction finding accuracy.
5. The method of claim 3, wherein the center frequency and bandwidth of the direction-finding signal are derived from fast Fourier transform processing of the digital signals of the array antenna.
6. Method according to one of claims 1 to 3, characterized in that constructing a fictitious digital signal of the current angle to the elements of the array antenna comprises, in particular, constructing a digital signal Axsx(n) calculating the current angle thetaxNext, the direction vector a (θ) of the array antennax) Multiplying the digital signal by the direction vector to obtain an imaginary digital signal A of each unit of the array antennaxsx(n)a(θx) And constructing to obtain a fictitious digital signal from the current angle to each unit of the array antenna.
7. The method of claim 6, wherein the frequency of the imaginary digital signal is any value within the bandwidth of the direction-finding signal.
8. The method according to claim 1, wherein the step S3 specifically includes performing spatial adaptive nulling calculation on the superimposed signal matrix by using a least mean square algorithm, calculating to obtain a normalized directional pattern expression of the array antenna after nulling processing after output of the least mean square algorithm converges, drawing a normalized directional pattern through the expression, and obtaining an angle of a concave point in the normalized directional pattern through the normalized directional pattern.
9. The method of claim 6, wherein the direction vector is determined if the array antenna is a uniform linear array
Wherein d is the array element spacing of the uniform linear array, λ is the wavelength of the imaginary digital signal, and M is the array element number of the array antenna; if the array antenna is a uniform circular array, the direction vector
In the formula, R is the radius of the uniform circular array, λ is the wavelength of the imaginary digital signal, and M is the array element number of the array antenna.
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