CN109521418B - Foundation radar angle measurement method based on interference field - Google Patents
Foundation radar angle measurement method based on interference field Download PDFInfo
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- CN109521418B CN109521418B CN201811617549.XA CN201811617549A CN109521418B CN 109521418 B CN109521418 B CN 109521418B CN 201811617549 A CN201811617549 A CN 201811617549A CN 109521418 B CN109521418 B CN 109521418B
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/68—Radar-tracking systems; Analogous systems for angle tracking only
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
Abstract
A foundation radar angle measurement method based on an interference field mainly solves the problem of improving the measurement accuracy of the azimuth angle of a target to be estimated under the conditions of a far field and a narrow band. The invention has the following steps: constructing angle measurement models of two foundation radars; designing transmitting signals of a foundation radar A and a foundation radar B; (3) Two kinds of interference waves at a target are obtained by setting two kinds of emission signals with different initial phases; (4) Obtaining a sum signal and a difference signal by respectively carrying out modulus taking processing on the sum channel and the difference channel of the ground radar A on the two interference wave signals; (5) And looking up a table by using the obtained difference and the ratio to obtain the azimuth angle of the target. According to the method, the accurate azimuth angle information of the target to be estimated can be measured by utilizing the periodically-changed angle identifying curve through the interference-based ground radar angle measuring method, and the angle measuring accuracy of the ground radar to the target to be estimated is remarkably improved.
Description
Technical Field
The invention belongs to the technical field of radars, and further relates to a radar angle measurement method based on interference in the technical field of radar angle measurement. The method can be used for measuring the azimuth angle of the long-distance stationary point target to be estimated under the narrow-band condition.
Background
The main task of radar goniometry is to detect the spatial location of the target. With the continuous and deep understanding of people on the field of radar angle measurement, the tracking of target angles is widely applied and developed in the field, and a large number of angle estimation algorithms exist at present to realize the angle estimation of targets. However, due to the continuous application of radar systems, the detection capability of the actual tracking requirement on the target angle is higher and higher. From the conventional sliding window angle measurement technology to the amplitude single pulse angle measurement technology, even the phase single pulse angle measurement technology, although the sliding window angle measurement technology, the amplitude single pulse angle measurement technology and the phase single pulse angle measurement technology improve the angle measurement precision of the single pulse angle measurement, the degree of the angle measurement precision improvement is not high.
A single-pulse high-precision angle measurement method is disclosed in "a single-pulse high-precision angle measurement system and an angle measurement method thereof" (patent application No. 201410053339.8, publication No. CN 103792532A) applied by mitsubishi scientific and technical limited company of japan. The method is realized by the specific steps that (1) a baseband digital signal is demodulated by utilizing a synchronous PN code to recover an original useful signal, so that noise and interference signals are suppressed; (2) Carrying out amplitude detection on the restored original useful signals; (3) Carrying out phase judgment by using the amplitude of the sum channel and the amplitude of the difference channel, and solving sum and difference amplitude information and a phase judgment result; (4) And obtaining an OBA value function according to the solved sum and difference amplitude information and the phase judgment result and calculating the target azimuth. The method has the defects that in the process of demodulating the baseband digital signal by using the synchronous pseudo-random code and recovering the original signal from the noise and the interference signal, the prior art can not completely separate the useful signal from the interference signal and the noise, namely the useful signal can be mixed with the noise and the interference signal, so that the error can occur in the subsequently obtained single-pulse angle measurement result, and the angle measurement precision is not high.
The patent document "angle measurement method of a mechanical scanning meter-wave radar under a multi-target condition" (patent application No. CN201410018152.4, publication No. CN 103744077A) applied by the university of west ann electronic technology discloses an angle measurement method of a mechanical scanning meter-wave radar under a multi-target condition. The method comprises the specific steps of (1) dividing an antenna into two sub-arrays, wherein a receiver is connected below each sub-array to form a left channel and a right channel; (2) The left and right receiving channels respectively receive pulse signals transmitted by a radar; (3) Performing clutter target cancellation processing on the received echo signal data; (4) coherent accumulation is carried out on the two paths of data after clutter cancellation; (5) Obtaining sum beams and difference beams from the two paths of accumulated data; (6) Measuring an off-axis angle of the expected target by using a traditional single pulse method, and adding the off-axis angle and a reference angle to obtain an accurate angle of the expected target; (7) And (5) repeating the steps (3) to (6) to sequentially obtain the accurate angles of all the targets. The method has the disadvantages that echo and clutter cannot be well canceled when clutter target cancellation processing is carried out on echo data received by a left channel and a right channel formed by two antenna sub-arrays, the generated cancellation result influences coherent accumulation, the accuracy of measuring the off-axis angle of an expected target is further influenced, and the accuracy of the finally obtained angle measurement result is still insufficient.
Disclosure of Invention
The invention aims to provide a foundation radar angle measurement method based on an interference field to realize high-precision measurement of an azimuth angle of a static point target to be estimated, aiming at the defects of the prior art.
The idea for realizing the purpose of the invention is to construct angle measurement models of two foundation radars; designing transmitting signals of a foundation radar A and a foundation radar B, and enabling single carrier frequency signals transmitted by the two foundation radars to simultaneously reach a target of a stationary point to be estimated; changing the initial phases of the two ground-based radar transmitting signals, and generating two interference field signals at equidistant rings; the two interference field signals are received by the ground radar A, and the two echo signals are processed in a sum channel and a difference channel of the ground radar A to generate a sum signal and a difference signal; and looking up a table by using the difference and the ratio to obtain the azimuth angle of the static point target to be estimated.
The method comprises the following specific steps:
(1) Constructing angle measurement models of two foundation radars:
(1a) Establishing a rectangular coordinate system by taking the foundation radar A as a coordinate origin, taking the righteast direction of the foundation radar A as an X axis and the rightnorth direction of the foundation radar A as a Y axis;
(1b) Arranging a foundation radar B at a position with a distance L between the X axis and the foundation radar A to obtain angle measurement models of the two foundation radars, wherein L is more than or equal to 60m and less than or equal to 100m;
(2) The ground radar A and the ground radar B transmit single carrier frequency signals:
(2a) Calculating the distance difference between the ground-based radar A and the ground-based radar B and the static point target to be estimated by using a cosine formula;
(2b) Dividing the distance difference by the propagation speed of electromagnetic waves in vacuum to obtain the time delay delta tau of the signals transmitted by the two foundation radars;
(2c) The ground radar A transmits a single carrier frequency signal, and after the transmitting time delay delta tau of the ground radar A, the ground radar B transmits the single carrier frequency signal with the same frequency;
(3) Two interference field signals are generated:
(3a) Setting the initial phases of the foundation radar A and the foundation radar B to be 0, and interfering the electromagnetic waves transmitted by the two foundation radars in an equidistant ring to obtain a first interference field signal;
(3b) Setting the initial phase of the foundation radar A to be 0, setting the initial phase of the foundation radar B to be pi, and interfering the electromagnetic waves transmitted by the two foundation radars in an equidistant ring to obtain a second interference field signal;
(4) Generating a sum signal and a difference signal:
(4a) The ground radar A receives echoes of the two interference field signals to obtain two echo signals;
(4b) Taking a mode and adding the first echo signal and the second echo signal in a sum channel of the foundation radar A to obtain a sum signal;
(4c) Taking a mode of the first echo signal and the second echo signal in a difference channel of the foundation radar A and subtracting to obtain a difference signal;
(5) Acquiring an azimuth angle of a static point target to be estimated:
(5a) Dividing the difference signal by the sum signal to obtain a difference sum ratio;
(5b) And searching the azimuth angle of the static point target to be estimated relative to the ground-based radar A corresponding to the difference and the ratio from the angle determination curve table.
Compared with the prior art, the invention has the following advantages:
firstly, the invention utilizes the superposition of electromagnetic waves transmitted by two ground-based radars to obtain two interference waves, and utilizes the interference waves with periodic variation to accurately represent the azimuth angle information of the to-be-estimated static point target, thereby overcoming the problem of inaccurate description of the attitude information of the to-be-estimated static point target caused by single waveform variation of a ground-based radar echo signal in the prior art, and ensuring that the invention can more accurately estimate the azimuth angle of the static point target.
Secondly, the invention carries out the modulus operation on the sum channel and the difference channel of the ground radar A for the two echo signals, firstly carries out the modulus addition of the two echo signals in the sum channel of the ground radar A to obtain the sum signal, and then carries out the modulus subtraction of the two echo signals in the difference channel of the ground radar A to obtain the difference signal, thereby overcoming the problem that the sum signal and the difference signal can not be obtained because the echo and the clutter are not completely cancelled when the static point target to be estimated is in a complex environment of noise and interference in the prior art, ensuring that the invention can accurately obtain the sum signal and the difference signal of the static point target to be estimated, and enhancing the accuracy and the reliability of the estimation of the azimuth angle of the static point target.
Drawings
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a schematic diagram of a ground-based radar angle measurement model established by the present invention;
FIG. 3 is a graph of angle determination obtained by a conventional single-pulse angle measurement method;
FIG. 4 is a diagram of simulation results of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
The specific steps of the present invention are further described with reference to fig. 1.
A rectangular coordinate system is established by taking the foundation radar A as the origin of coordinates, the normal east direction of the foundation radar A as the X axis and the normal north direction of the foundation radar A as the Y axis.
Arranging a foundation radar B at a position with a distance L between the X-axis and the foundation radar A to obtain angle measurement models of the two foundation radars, wherein A and B represent the positions of the two foundation radars on the X-axis, L represents the length of a base line between the foundation radar A and the foundation radar B, theta represents the angle range of the observed azimuth dimension, and theta represents the angle range of the observed azimuth dimension 0 Denotes the azimuth angle, R, of the stationary point object to be estimated relative to the ground-based radar A 0 Representing the distance, P, of the stationary point target to be estimated from the ground-based radar A 0 Denotes the position, P, of the stationary point object to be estimated 1 The position corresponding to the maximum deflection angle of the 3dB beam width of the signal transmitted by the ground-based radar A relative to the center is represented, the two gray fan-shaped areas are the coverage ranges of the 3dB beams of the signal transmitted by the two ground-based radars, the transparent ring represents an equidistant ring where a static point target to be estimated is located, and L is more than or equal to 60m and less than or equal to 100m.
The ground radar A not only transmits but also receives single carrier frequency signals, and the ground radar B only transmits the single carrier frequency signals.
And 2, transmitting single carrier frequency signals by the foundation radar A and the foundation radar B.
And calculating the distance difference between the ground-based radar A and the ground-based radar B and the static point target to be estimated by using a cosine formula.
The cosine formula is as follows:
wherein, Δ R represents the difference between the distance between the ground-based radar A and the static point target to be estimated and the distance between the ground-based radar B and the static point target to be estimated, R 0 Represents the distance between the ground-based radar A and the static point target to be estimated,
denotes square root operation, L denotes distance between ground-based radar A and ground-based radar B, cos denotes cosine function, θ 0 Denotes the azimuth angle of the stationary point target to be estimated with respect to the ground-based radar a, and c denotes the propagation speed of electromagnetic waves in vacuum.
And dividing the distance difference by the propagation speed of the electromagnetic wave in vacuum to obtain the time delay delta tau of the two ground-based radar emission signals.
In order to enable the single-carrier frequency signals transmitted by the two ground-based radars to form a stable interference effect at an equidistant ring where the static point target is located, the single-carrier frequency signals transmitted by the two ground-based radars need to simultaneously reach an equidistant area where the static point target to be estimated is located. The ground radar A emits single carrier frequency signals, and after the emission time delay delta tau of the ground radar A, the ground radar B emits the single carrier frequency signals with the same frequency.
The signal that ground radar A launched is:
the signal that ground radar B launched is:
wherein, T p Representing the pulse repetition period, f c Representing the carrier frequency, phi, of the transmitted signal 1 、φ 2 Respectively, the initial phases of the ground-based radar a and ground-based radar B transmitted signals.
And 3, generating two interference field signals.
Setting the initial phases of the foundation radar A and the foundation radar B to be 0, and interfering the electromagnetic waves transmitted by the two foundation radars in an equidistant ring to obtain a first interference field signal.
Setting the initial phase of the foundation radar A to be 0, setting the initial phase of the foundation radar B to be pi, and interfering the electromagnetic waves transmitted by the two foundation radars in an equidistant ring to obtain a second interference field signal.
The time delay difference of the transmitting signals of the two ground-based radars to any point on the equidistant ring is as follows:
wherein, delta tau (theta) represents the time delay of two ground-based radar emission signals at any point on the equidistant ring, and Delta tau (theta) 0 ) And the time delay of the two ground-based radar transmitting signals at the static point target to be estimated is represented.
In the target region (theta-theta) 0 )≤θ 3dB And the maximum value of the arrival time difference of the two ground-based radar transmitting signals is as follows:
because the 3dB beam width of the radar antenna is generally small under the narrow-band condition, the emission signals of the ground-based radar A and the ground-based radar B can be approximately considered to reach any point on an equidistant ring at the same time, so that the emission signals of the ground-based radar A and the ground-based radar B can form a stable interference effect in a target area of a static point to be estimated.
The interference field signal within the equidistant loop can be expressed as:
setting the initial phase of the ground-based radar A to be 0, and the initial phase of the ground-based radar B to be pi, and obtaining a first interference wave can be represented as:
setting the initial phase of the ground-based radar A to be 0, and the initial phase of the ground-based radar B to be pi, and obtaining a first interference wave can be represented as:
and 4, generating a sum signal and a difference signal.
And the ground radar A receives the echoes of the two interference field signals to obtain two echo signals.
And carrying out modulo addition on the first echo signal and the second echo signal in a sum channel of the ground radar A to obtain a sum signal.
And taking a mode of the first echo signal and the second echo signal in a difference channel of the foundation radar A, and subtracting to obtain a difference signal.
The first echo signal received by the ground-based radar a can be represented as:
the second echo signal received by the ground-based radar a can be represented as:
the sum signal of the merged channel of the ground-based radar a can be expressed as:
the sum signal of the ground-based radar A combined channel can be expressed as:
and 5, acquiring the azimuth angle of the stationary point target to be estimated.
Dividing the difference signal at the target to be estimated by the sum signal to obtain a difference sum ratio according to the following formula:
wherein the content of the first and second substances,
representing the difference and ratio of the objects to be estimated.
The difference signal in the equidistant ring is divided by the sum signal to obtain the following function of the difference and the ratio varying with the azimuth angle:
and drawing an angle identifying curve table of the angle range by taking the angle range of the equidistant ring relative to the foundation radar A as an abscissa and taking the difference sum ratio as an ordinate, wherein the difference sum ratio corresponds to the angle range, and the angle identifying curve table is shown in figure 3.
And searching the azimuth angle of the static point target to be estimated relative to the ground-based radar A corresponding to the difference and the ratio from the angle identification curve table in the figure 3.
The effect of the present invention will be further explained with the simulation experiment.
1. Simulation experiment conditions are as follows:
the hardware test platform of the simulation experiment of the invention is as follows: the processor is a CPU intel Core i5-6500, the dominant frequency is 3.2GHz, and the memory is 4GB; the software platform is as follows: windows 7 flagship version, 64-bit operating system, MATLAB R2012b.
2. Simulation content simulation result analysis:
the invention has two simulation experiments, wherein the first simulation is to use the single-pulse angle measurement method in the prior art to simulate the azimuth angle measurement of the target at the stationary point to be estimated, and the second simulation is to use the angle measurement method in the invention to simulate the azimuth angle measurement of the target at the stationary point to be estimated.
Simulation 2, the method for measuring the angle is used for simulating the azimuth measurement of the target of the stationary point to be estimated, and the simulation parameters used in the simulation experiment of the invention are shown in the table 1:
table 1 simulation parameters summary
| Carrier frequency | 3GHz | Pulse repetition frequency | 100KHz |
| Radar A | [0,0] | Radar B | [0,65] |
| Target | [R 0 cosθ 0 ,R 0 sinθ 0 ] | Base length L | 65m |
| Assuming a |
30° | Bandwidth of transmitted signal | 8MHz |
The method of the invention is used for simulating and obtaining the angle identification curve as shown in figure 4, the angle range of the equidistant ring relative to the foundation radar A is used as a horizontal coordinate, the unit of the horizontal coordinate is an angle, and the sum of differences is used as a vertical coordinate.
Comparing fig. 3 and fig. 4, it can be known from the analysis of the simulation results that the angle identifying curve simulated by the present invention is periodically changed, and the period of the change is limited by the carrier frequency of the transmitting signal and the length of the baseline between the bistatic radars. By changing the carrier frequency of the ground radar transmitting signal and the length of the base line between the ground radar, the size of the change period can be changed, and the measurement precision of the azimuth angle can be further changed. Therefore, the precision of the ground radar angle measurement technology based on interference is far higher than that of the existing single-pulse angle measurement method.
Claims (2)
1. A foundation radar angle measurement method based on interference fields is characterized in that two interference field signals are generated, and a sum signal and a difference signal are generated; the method comprises the following steps:
(1) Constructing angle measurement models of two foundation radars:
(1a) Establishing a rectangular coordinate system by taking the foundation radar A as a coordinate origin, taking the righteast direction of the foundation radar A as an X axis and the rightnorth direction of the foundation radar A as a Y axis;
(1b) Arranging a foundation radar B at a position with a distance L between the X axis and the foundation radar A to obtain angle measurement models of the two foundation radars, wherein L is more than or equal to 60m and less than or equal to 100m;
(2) The ground radar A and the ground radar B transmit single carrier frequency signals:
(2a) Calculating the distance difference between the ground-based radar A and the ground-based radar B and the static point target to be estimated by using a cosine formula;
(2b) Dividing the distance difference by the propagation speed of electromagnetic waves in vacuum to obtain the time delay delta tau of the signals transmitted by the two ground-based radars;
(2c) The ground radar A transmits a single carrier frequency signal, and after the transmitting time delay delta tau of the ground radar A, the ground radar B transmits the single carrier frequency signal with the same frequency;
(3) Two interference field signals are generated:
(3a) Setting the initial phases of the foundation radar A and the foundation radar B to be 0, and interfering the electromagnetic waves transmitted by the two foundation radars in an equidistant ring to obtain a first interference field signal;
(3b) Setting the initial phase of the foundation radar A to be 0, setting the initial phase of the foundation radar B to be pi, and interfering the electromagnetic waves transmitted by the two foundation radars in an equidistant ring to obtain a second interference field signal;
(4) Generating a sum signal and a difference signal:
(4a) The ground radar A receives echoes of the two interference field signals to obtain two echo signals;
(4b) Taking a mode and adding the first echo signal and the second echo signal in a sum channel of the foundation radar A to obtain a sum signal;
(4c) Taking a mode and subtracting the first echo signal and the second echo signal in a difference channel of the foundation radar A to obtain a difference signal;
(5) Acquiring the azimuth angle of the stationary point target:
(5a) Dividing the difference signal by the sum signal to obtain a difference sum ratio;
(5b) And searching the azimuth angle of the static point target to be estimated relative to the ground radar A corresponding to the difference and the ratio from the angle identification curve table.
2. The method according to claim 1, wherein the cosine formula in step (2 a) is as follows:
wherein, deltaR represents the distance between the ground-based radar A and the static point target to be estimated and the difference between the distance between the ground-based radar B and the static point target to be estimated, R 0 Represents the distance between the ground-based radar A and the static point target to be estimated,
denotes square root operation, L denotes distance between ground-based radar A and ground-based radar B, cos denotes cosine function, θ 0 Denotes the azimuth angle of the stationary point target to be estimated with respect to the ground-based radar a, and c denotes the propagation speed of electromagnetic waves in vacuum.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH11202046A (en) * | 1998-01-20 | 1999-07-30 | Toshiba Corp | Radar angle measurement method and device |
| CN104914415A (en) * | 2015-05-21 | 2015-09-16 | 中国人民解放军63892部队 | Single-pulse radar coherent jamming method based on target range profile template matching |
| CN105974389A (en) * | 2016-06-30 | 2016-09-28 | 西安电子科技大学 | Mechanic scan meter-wave radar monopulse angle measuring method based on iterative processing |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH11202046A (en) * | 1998-01-20 | 1999-07-30 | Toshiba Corp | Radar angle measurement method and device |
| CN104914415A (en) * | 2015-05-21 | 2015-09-16 | 中国人民解放军63892部队 | Single-pulse radar coherent jamming method based on target range profile template matching |
| CN105974389A (en) * | 2016-06-30 | 2016-09-28 | 西安电子科技大学 | Mechanic scan meter-wave radar monopulse angle measuring method based on iterative processing |
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