CN109557536B - Angle measuring method, angle measuring device and angle measuring system - Google Patents
Angle measuring method, angle measuring device and angle measuring system Download PDFInfo
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- CN109557536B CN109557536B CN201811451017.3A CN201811451017A CN109557536B CN 109557536 B CN109557536 B CN 109557536B CN 201811451017 A CN201811451017 A CN 201811451017A CN 109557536 B CN109557536 B CN 109557536B
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- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
Abstract
The invention discloses an angle measuring method, an angle measuring device and an angle measuring system. An angle measurement method, comprising: carrying out frequency agility on two different working frequency points to obtain trace point information of the two different working frequency points, wherein the trace point information comprises amplitude values corresponding to azimuth angles; performing sum operation of amplitude values on the trace point information of the two different working frequency points to obtain amplitude sum values and performing difference operation of the amplitude values to obtain amplitude difference values; dividing the amplitude sum value by the amplitude difference value to obtain an amplitude ratio value; obtaining the miss distance according to the amplitude ratio and the azimuth corresponding to the amplitude ratio; an angle of the target is calculated based on the miss distance. According to the angle measuring method, the angle measuring device and the angle measuring system, due to the fact that the sum wave beam and the difference wave beam exist, the target can be stably tracked for a long time, and therefore the accuracy of the azimuth angle and the pitch angle is improved.
Description
Technical Field
The invention belongs to the technical field of radar detection, and particularly relates to an angle measuring method, an angle measuring device and an angle measuring system.
Background
In recent years, with the increase of the requirement for radar detection performance, while the radio frequency components and signal processing technology are vigorously developed, higher requirements are made on the antenna. The rectangular waveguide slot array system antenna has the advantages of small volume, light weight, high aperture efficiency, low side lobe and the like, and is widely applied to radar systems, particularly high-frequency band radars such as Ku band (12 GHz-18 GHz) and Ka band (27 GHz-40 GHz).
For example, as shown in fig. 1, although the traveling wave array waveguide type antenna has advantages such as wide bandwidth and good matching design, it has disadvantages such as a deviation between the maximum radiation direction and the normal direction of the antenna array and a deviation angle at different frequency points.
Fig. 2 and 3 show the azimuth patterns of 9 different frequency points of the antenna in the form of a traveling wave array waveguide. It can be known from the figure that the azimuth directional diagram of the traveling wave array waveguide type antenna is composed of a single waveguide, only sum beams and no difference beams exist, a target cannot be stably tracked for a long time, and only a search mode can be adopted, so that the azimuth angle and pitch angle measurement accuracy cannot be further improved.
Therefore, an urgent technical problem is how to perform stable tracking on a target for a long time and improve the accuracy of an azimuth angle and a pitch angle.
Disclosure of Invention
One of the technical problems to be solved by the invention is to realize the angle measuring method for stably tracking the target for a long time and improving the angle measuring precision of the azimuth angle and the pitch angle.
In order to solve the above technical problem, an embodiment of the present application first provides an angle measurement method, including:
carrying out frequency agility on two different working frequency points to obtain trace point information of the two different working frequency points, wherein the trace point information comprises amplitude values corresponding to azimuth angles;
performing sum operation of amplitude values on the trace point information of the two different working frequency points to obtain an amplitude sum value and performing difference operation of the amplitude values to obtain an amplitude difference value, wherein the calculation formula of the sum operation of the amplitude values is that sigma _ A is equal to Af1+Af2The calculation formula of the difference operation of the amplitude values is Δ _ a ═ af1-Af2Sigma _ A is the sum of the amplitudes, Delta _ A is the difference of the amplitudes, Af1Is the amplitude value corresponding to the azimuth angle of the first working frequency point, Af2The amplitude value is the amplitude value corresponding to the azimuth angle of the second working frequency point;
dividing the amplitude sum value by the amplitude difference value to obtain an amplitude ratio value;
obtaining the miss distance according to the amplitude ratio and the azimuth corresponding to the amplitude ratio;
an angle of the target is calculated based on the miss distance.
Preferably, after the amplitude sum value is divided by the amplitude difference value to obtain an amplitude ratio, taking an absolute value of the amplitude ratio;
obtaining the miss distance according to the amplitude ratio and the azimuth angle corresponding to the amplitude ratio comprises: and obtaining the miss distance according to the absolute value of the amplitude ratio and the azimuth angle corresponding to the amplitude ratio.
The embodiment of the invention also discloses an angle measuring device, which comprises:
the frequency agility module is configured to perform frequency agility on two different working frequency points to obtain trace point information of the two different working frequency points, wherein the trace point information comprises amplitude values corresponding to azimuth angles;
a sum-difference module configured to perform sum operation of amplitude values on the trace point information of the two different working frequency points to obtain an amplitude sum value and perform difference operation of the amplitude values to obtain an amplitude difference value, wherein the calculation formula of the sum operation of the amplitude values is Σ _ a ═ af1+Af2The calculation formula of the difference operation of the amplitude values is Δ _ a ═ af1-Af2Sigma _ A is the sum of the amplitudes, Delta _ A is the difference of the amplitudes, Af1Is the amplitude value corresponding to the azimuth angle of the first working frequency point, Af2The amplitude value is the amplitude value corresponding to the azimuth angle of the second working frequency point;
a ratio module configured to divide the magnitude sum by the magnitude difference to obtain a magnitude ratio;
and the calculating module is configured to obtain the miss distance according to the amplitude ratio and the azimuth angle corresponding to the amplitude ratio, and calculate the angle of the target based on the miss distance.
Preferably, the ratio module is configured to take an absolute value of the amplitude ratio after dividing the amplitude sum value by the amplitude difference value to obtain the amplitude ratio;
the calculation module is configured to obtain the miss distance according to the absolute value of the amplitude ratio and the azimuth corresponding to the amplitude ratio.
The invention also discloses an angle measuring system, which comprises:
the control terminal is configured to select two different working frequency points needing frequency agility and send the working frequency points to the data processing component;
the data processing component is configured to send the two different working frequency points to the signal processing component according to the sequence of the two different working frequency points, receive the trace point information of the two different working frequency points and the two different working frequency points output by the signal processing component, perform sum operation of amplitude values on the trace point information of the two different working frequency points to obtain amplitude sum values and perform difference operation of the amplitude values to obtain amplitude difference values, wherein the calculation formula of the sum operation of the amplitude values is Σ _ a ═ af1+Af2The calculation formula of the difference operation of the amplitude values is Δ _ a ═ af1-Af2Sigma _ A is the sum of the amplitudes, Delta _ A is the difference of the amplitudes, Af1Is the amplitude value corresponding to the azimuth angle of the first working frequency point, Af2Dividing the amplitude sum value by the amplitude difference value to obtain an amplitude ratio value for an amplitude value corresponding to the azimuth angle of the second working frequency point, obtaining miss distance according to the amplitude ratio value and the azimuth angle corresponding to the amplitude ratio value, and calculating the angle of the target based on the miss distance;
the signal processing assembly is configured to output frequency control codes to the frequency synthesis assembly according to the two received different working frequency points and the system working time sequence, and receive and process intermediate frequency echo signals from the receiving assembly to obtain trace information of the two different working frequency points and the two different working frequency points;
the frequency synthesis component is configured to generate excitation signals of the two different working frequency points according to the frequency control code and the system working time sequence;
the transmitting component is configured to receive the excitation signal, amplify and filter the excitation signal and output a transmitting signal to a transmitting antenna;
a transmit antenna configured to radiate the transmit signal;
a receiving antenna configured to receive an echo signal of the transmission signal;
and the receiving component is configured to receive the echo signal from the receiving antenna and the excitation signal from the frequency synthesizer component, and output the intermediate frequency echo signal to the signal processing component after frequency conversion and filtering processing.
Preferably, the transmitting antenna and the receiving antenna are the same antenna.
Preferably, the transmitting antenna and the receiving antenna are traveling wave array waveguide antennas.
Preferably, the data processing component is configured to receive the multi-frame trace information of the two different working frequency points output by the signal processing component, calculate average trace information according to the multi-frame trace information, and calculate an angle of a target by using the average trace information of the two different working frequency points.
The embodiment of the invention also discloses an angle measuring method, which comprises the following steps:
selecting two different working frequency points needing frequency agility;
sending the two different working frequency points according to the sequence of the two different working frequency points;
obtaining a frequency control code according to the two different working frequency points and the system working time sequence;
generating excitation signals of the two different working frequency points according to the frequency control code and the system working time sequence;
receiving the excitation signal, amplifying and filtering the excitation signal, and outputting a transmitting signal;
radiating the emission signal;
receiving an echo signal of the transmitted signal;
receiving the echo signal and the excitation signal, and outputting an intermediate frequency echo signal after frequency conversion and filtering processing;
processing the intermediate frequency echo signal to obtain trace information of the two different working frequency points and the two different working frequency points;
receiving the trace point information of the two different working frequency points and the two different working frequency points, and carrying out sum operation of amplitude values on the trace point information of the two different working frequency points to obtain amplitudesThe sum of the values is calculated by the formula Σ _ a ═ a, and the difference of the amplitude values is calculated to obtain an amplitude difference valuef1+Af2The calculation formula of the difference operation of the amplitude values is Δ _ a ═ af1-Af2Sigma _ A is the sum of the amplitudes, Delta _ A is the difference of the amplitudes, Af1Is the amplitude value corresponding to the azimuth angle of the first working frequency point, Af2And dividing the amplitude sum value by the amplitude difference value to obtain an amplitude ratio value for an amplitude value corresponding to the azimuth angle of the second working frequency point, obtaining the miss distance according to the amplitude ratio value and the azimuth angle corresponding to the amplitude ratio value, and calculating the angle of the target based on the miss distance.
Preferably, receiving trace information of the two different working frequency points includes:
receiving multi-frame trace information of the two different working frequency points, calculating average trace information according to the multi-frame trace information, and calculating the angle of a target by using the average trace information of the two different working frequency points.
Compared with the prior art, one or more embodiments in the above scheme can have the following advantages or beneficial effects:
due to the fact that the sum wave beam and the difference wave beam exist, the target can be stably tracked for a long time, and therefore the accuracy of the azimuth angle and the pitch angle is improved.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from 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 accompanying drawings are included to provide a further understanding of the technology or prior art of the present application and are incorporated in and constitute a part of this specification. The drawings expressing the embodiments of the present application are used for explaining the technical solutions of the present application, and should not be construed as limiting the technical solutions of the present application.
FIG. 1 is a schematic diagram of a structure of an antenna in the form of a traveling wave array waveguide;
fig. 2 is an azimuth pattern of 9 different frequency points of an antenna in the form of a travelling wave array waveguide, wherein each line in the figure represents a plot of the variation of one frequency point with different magnitudes of azimuth angle;
FIG. 3 is an enlarged view of block A of FIG. 2;
FIG. 4 is a schematic flow chart of an angle measurement method according to an embodiment of the present invention;
fig. 5 is a line chart of amplitude sum values and amplitude difference values, which are obtained after performing sum operation and difference operation on amplitude values at two working frequency points in fig. 3 by using the angle measurement method according to the embodiment of the present invention, along with changes in azimuth;
fig. 6 is a line graph of amplitude ratio values varying with azimuth angle, obtained by using the angle measurement method according to the amplitude and value of two working frequency points in fig. 4 and the line of amplitude difference value varying with azimuth angle in the embodiment of the present invention;
fig. 7 is a line graph of the absolute value of the amplitude ratio varying with the azimuth angle, which is obtained by using the angle measuring method according to the amplitude and the value of the two working frequency points in fig. 4 and the line of the amplitude difference varying with the azimuth angle in the embodiment of the present invention;
fig. 8 is a block diagram showing the construction of an angle measuring apparatus according to an embodiment of the present invention;
fig. 9 is a block diagram showing the construction of an angle measuring apparatus according to an embodiment of the present invention;
fig. 10 is a flow chart of an angle measuring method according to another embodiment of the present invention.
Detailed Description
The following detailed description of the embodiments of the present invention will be provided with reference to the accompanying drawings and examples, so that how to apply the technical means to solve the technical problems and achieve the corresponding technical effects can be fully understood and implemented. The embodiments and the features of the embodiments can be combined without conflict, and the technical solutions formed are all within the scope of the present invention.
A method of goniometry, comprising: will be provided withCarrying out frequency agility on two different working frequency points to obtain trace point information of the two different working frequency points, wherein the trace point information comprises amplitude values corresponding to azimuth angles; performing sum operation of amplitude values on the trace point information of the two different working frequency points to obtain an amplitude sum value and performing difference operation of the amplitude values to obtain an amplitude difference value, wherein the calculation formula of the sum operation of the amplitude values is that sigma _ A is equal to Af1+Af2The calculation formula of the difference operation of the amplitude values is Δ _ a ═ af1-Af2Sigma _ A is the sum of the amplitudes, Delta _ A is the difference of the amplitudes, Af1Is the amplitude value corresponding to the azimuth angle of the first working frequency point, Af2The amplitude value is the amplitude value corresponding to the azimuth angle of the second working frequency point; dividing the amplitude sum value by the amplitude difference value to obtain an amplitude ratio value; obtaining the miss distance according to the amplitude ratio and the azimuth corresponding to the amplitude ratio; an angle of the target is calculated based on the miss distance.
The amplitude values corresponding to the azimuth angles in the trace point information of the two different working frequency points are calculated to obtain the amplitude sum values and the amplitude difference values of the two different working frequency points, and then the amplitude ratio is obtained according to the amplitude sum values and the amplitude difference values, and the angle of the target is calculated. Due to the fact that the sum wave beam and the difference wave beam exist, the target can be stably tracked for a long time, and therefore the accuracy of the azimuth angle and the pitch angle is improved.
The invention is further illustrated below by means of four specific examples.
As shown in fig. 4, an angle measurement method according to an embodiment of the present invention includes:
s11, performing frequency agility on two different working frequency points to obtain trace point information of the two different working frequency points, wherein the trace point information comprises amplitude values corresponding to azimuth angles. For example, the trace information of two different operating frequency points is two lines of amplitude values of the two different operating frequency points changing with the azimuth angle, or the trace information of two different operating frequency points is a plurality of pairs of azimuth angles of the two different operating frequency points and amplitude values corresponding to the azimuth angles, and each pair represents one azimuth angle and amplitude value corresponding to the azimuth angle.
S12, performing sum operation of amplitude values on the trace point information of the two different working frequency points to obtain amplitude sum values, and performing difference operation of the amplitude values to obtain amplitude difference values, wherein the calculation formula of the sum operation of the amplitude values is that sigma _ A is equal to Af1+Af2The calculation formula of the difference operation of the amplitude values is Δ _ a ═ af1-Af2Sigma _ A is the sum of the amplitudes, Delta _ A is the difference of the amplitudes, Af1Is the amplitude value corresponding to the azimuth angle of the first working frequency point, Af2And the amplitude value is the amplitude value corresponding to the azimuth angle of the second working frequency point.
For example, performing the sum operation of the amplitude values on the trace information of two different working frequency points to obtain the amplitude sum value includes performing the sum operation of the amplitude values on a plurality of pairs of the two different working frequency points, that is, performing the sum operation on the amplitude value corresponding to the azimuth of the first working frequency point and the amplitude value corresponding to the same azimuth of the second working frequency point, so that the amplitude sum value is represented as a plurality of values, and the azimuth and the amplitude sum value corresponding to the azimuth can form the amplitude sum value pair. Performing difference operation on the amplitude values to obtain the amplitude difference value on the trace point information of two different working frequency points comprises performing difference operation on the amplitude values on a plurality of pairs of the two different working frequency points, namely performing difference operation on the amplitude value corresponding to the azimuth angle of the first working frequency point and the amplitude value corresponding to the same azimuth angle of the second working frequency point, so that the amplitude difference value is represented as a plurality of values, and the azimuth angle and the amplitude difference value corresponding to the azimuth angle can form an amplitude difference value pair.
For example, the amplitude sum and the amplitude difference obtained by performing the sum operation and the difference operation on the amplitude values at the two operating frequency points in fig. 3 and the line of the amplitude difference value varying with the azimuth angle are shown in fig. 5.
S13, dividing the amplitude sum value by the amplitude difference value to obtain an amplitude ratio value
For example, the amplitude and value corresponding to the azimuth in the amplitude and value number pair is divided by the amplitude difference value corresponding to the same azimuth in the amplitude difference value number pair, so as to obtain an amplitude ratio number pair composed of the azimuth and the amplitude ratio corresponding to the azimuth.
For example, the line shown in fig. 6 shows that the amplitude ratio value varies with the azimuth according to the lines of the amplitude sum and the amplitude difference value of the two working frequency points in fig. 4 varying with the azimuth. In fig. 6, the lines of the amplitude ratios of two different frequency points varying with the azimuth have directionality and monotonicity.
And S14, obtaining the miss distance according to the amplitude ratio and the azimuth angle corresponding to the amplitude ratio.
The corresponding miss distance can be obtained according to the amplitude ratio number pair, namely the amplitude ratio and the azimuth angle corresponding to the amplitude ratio, by means of table lookup.
And S15, calculating the angle of the target based on the miss distance.
Due to the fact that the sum wave beam and the difference wave beam exist, the target can be stably tracked for a long time, and therefore the accuracy of the azimuth angle and the pitch angle is improved.
In one embodiment, after dividing the sum of the amplitudes by the difference of the amplitudes to obtain an amplitude ratio, taking an absolute value of the amplitude ratio;
obtaining the miss distance according to the amplitude ratio and the azimuth angle corresponding to the amplitude ratio comprises: and obtaining the miss distance according to the absolute value of the amplitude ratio and the azimuth angle corresponding to the amplitude ratio.
As shown in fig. 7, the line that the absolute value of the amplitude ratio varies with the azimuth is obtained according to the amplitude sum of the two working frequency points and the line that the amplitude difference varies with the azimuth in fig. 4. In fig. 7, the line along which the absolute values of the amplitude ratios of two different frequency points vary with the azimuth angle is different in amplitude difference with the miss distance, and is substantially the same as the conventional single pulse and difference beam angle measurement pattern.
As shown in fig. 8, an embodiment of the present invention further discloses an angle measuring apparatus, which includes:
the frequency agility module 11 is configured to perform frequency agility on two different working frequency points to obtain trace point information of the two different working frequency points, wherein the trace point information includes an amplitude value corresponding to an azimuth angle;
a sum and difference module 12 configured to perform a sum operation of the amplitude values on the trace information of the two different operating frequency points to obtain an amplitude sum value and perform a difference operation of the amplitude values to obtain an amplitude difference value, wherein a calculation formula of the sum operation of the amplitude values is Σ _ a ═ af1+Af2The calculation formula of the difference operation of the amplitude values is Δ _ a ═ af1-Af2Sigma _ A is the sum of the amplitudes, Delta _ A is the difference of the amplitudes, Af1Is the amplitude value corresponding to the azimuth angle of the first working frequency point, Af2The amplitude value is the amplitude value corresponding to the azimuth angle of the second working frequency point;
a ratio module 13 configured to divide the amplitude sum value by the amplitude difference value to obtain an amplitude ratio;
and a calculating module 14 configured to obtain the miss distance according to the amplitude ratio and the azimuth corresponding to the amplitude ratio, and calculate the angle of the object based on the miss distance.
Because the angle measuring device not only has sum beams but also has difference beams, the target can be stably tracked for a long time, and the precision of an azimuth angle and a pitch angle is improved.
In one embodiment, the ratio module 13 is configured to take the absolute value of the amplitude ratio after dividing the amplitude sum value by the amplitude difference value to obtain the amplitude ratio;
the calculation module 14 is configured to obtain the miss-target amount according to the absolute value of the amplitude ratio and the azimuth corresponding to the amplitude ratio.
For the trace point information, the sum of amplitude values, the difference of amplitude values, the sum of amplitudes, the difference of amplitudes, the ratio of amplitudes, and the like, reference may be made to the previous embodiment, which is not described herein again.
As shown in fig. 9, an embodiment of the present invention further discloses an angle measurement system, which includes:
and the control terminal 21 is configured to select two different working frequency points needing frequency agility and send the two different working frequency points to the data processing component. The two different working frequency points can be selected according to the running speed of the target.
A data processing component 22 configured to send the two different working frequency points to a signal processing component according to the sequence of the two different working frequency points, receive the trace point information of the two different working frequency points and the two different working frequency points output by the signal processing component, perform sum operation of amplitude values on the trace point information of the two different working frequency points to obtain an amplitude sum value, and perform difference operation of the amplitude values to obtain an amplitude difference value, where a calculation formula of the sum operation of the amplitude values is Σ _ a ═ af1+Af2The calculation formula of the difference operation of the amplitude values is Δ _ a ═ af1-Af2Sigma _ A is the sum of the amplitudes, Delta _ A is the difference of the amplitudes, Af1Is the amplitude value corresponding to the azimuth angle of the first working frequency point, Af2And dividing the amplitude sum value by the amplitude difference value to obtain an amplitude ratio value for an amplitude value corresponding to the azimuth angle of the second working frequency point, obtaining the miss distance according to the amplitude ratio value and the azimuth angle corresponding to the amplitude ratio value, and calculating the angle of the target based on the miss distance. The processing procedure of the data processing component 22 may refer to the first embodiment for processing, and is not described herein again. The angle of the target is a portion of the track data of the target.
The signal processing component 23 is configured to output the frequency control code to the frequency synthesizer component according to the received two different working frequency points and the system working timing sequence, and receive and process the intermediate frequency echo signal from the receiving component to obtain trace information of the two different working frequency points and the two different working frequency points;
a frequency synthesizer component 24 configured to generate excitation signals of the two different working frequency points according to the frequency control code and the system working timing sequence;
a transmitting component 25 configured to receive the excitation signal, amplify and filter the excitation signal, and output a transmitting signal to a transmitting antenna;
a transmit antenna 26 configured to radiate the transmit signal;
a receiving antenna 27 configured to receive an echo signal of the transmission signal;
a receiving component 28 configured to receive the echo signal from the receiving antenna and the excitation signal from the frequency synthesizer component, and output the intermediate frequency echo signal to the signal processing component after frequency conversion and filtering processing.
In one embodiment, the transmit antenna and the receive antenna are the same antenna.
In one embodiment, the transmit antenna and the receive antenna are traveling wave array waveguide antennas.
In an embodiment, the data processing component 22 is configured to receive the multi-frame trace information of the two different working frequency points output by the signal processing component, calculate average trace information according to the multi-frame trace information, and calculate an angle of the target by using the average trace information of the two different working frequency points, so as to reduce the influence possibly caused by the amplitude fluctuation of the target.
As shown in fig. 10, an embodiment of the present invention further discloses an angle measurement method, which includes:
and S21, selecting two different working frequency points needing frequency agility. The two different working frequency points can be selected according to the running speed of the target.
And S22, sending the two different working frequency points according to the sequence of the two different working frequency points.
And S23, obtaining frequency control codes according to the two different working frequency points and the system working time sequence.
And S24, generating excitation signals of the two different working frequency points according to the frequency control code and the system working time sequence.
And S25, receiving the excitation signal, amplifying and filtering the excitation signal, and outputting a transmission signal.
And S26, radiating the emission signal.
And S27, receiving the echo signal of the transmitting signal.
The transmitting antenna for radiating the transmitting signal and the receiving antenna for receiving the echo signal are the same antenna.
In one embodiment, the transmit antenna and the receive antenna are traveling wave array waveguide antennas.
And S28, receiving the echo signal and the excitation signal, and outputting an intermediate frequency echo signal after frequency conversion and filtering processing.
And S29, processing the intermediate frequency echo signal to obtain trace information of the two different working frequency points and the two different working frequency points.
S210, receiving the trace point information of the two different working frequency points and the two different working frequency points, performing sum operation of amplitude values on the trace point information of the two different working frequency points to obtain amplitude sum values, and performing difference operation of the amplitude values to obtain amplitude difference values, wherein the calculation formula of the sum operation of the amplitude values is that sigma _ A is equal to Af1+Af2The calculation formula of the difference operation of the amplitude values is Δ _ a ═ af1-Af2Sigma _ A is the sum of the amplitudes, Delta _ A is the difference of the amplitudes, Af1Is the amplitude value corresponding to the azimuth angle of the first working frequency point, Af2And dividing the amplitude sum value by the amplitude difference value to obtain an amplitude ratio value for an amplitude value corresponding to the azimuth angle of the second working frequency point, obtaining the miss distance according to the amplitude ratio value and the azimuth angle corresponding to the amplitude ratio value, and calculating the angle of the target based on the miss distance. The processing procedure can refer to the first embodiment for processing, and is not described herein again.
In one embodiment, S210, receiving trace information of the two different operating frequency points includes:
and receiving the multi-frame trace information of the two different working frequency points, calculating average trace information according to the multi-frame trace information, and calculating the angle of the target by using the average trace information of the two different working frequency points, thereby reducing the influence possibly caused by the fluctuation of the target amplitude.
The above description is only a 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. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A method of measuring an angle, comprising:
carrying out frequency agility on two different working frequency points to obtain trace point information of the two different working frequency points, wherein the trace point information comprises amplitude values corresponding to azimuth angles;
performing sum operation of amplitude values on the trace point information of the two different working frequency points to obtain an amplitude sum value and performing difference operation of the amplitude values to obtain an amplitude difference value, wherein the calculation formula of the sum operation of the amplitude values is that sigma _ A is equal to Af1+Af2The calculation formula of the difference operation of the amplitude values is Δ _ a ═ af1-Af2Sigma _ A is the sum of the amplitudes, Delta _ A is the difference of the amplitudes, Af1Is the amplitude value corresponding to the azimuth angle of the first working frequency point, Af2The amplitude value is the amplitude value corresponding to the azimuth angle of the second working frequency point;
dividing the amplitude sum value by the amplitude difference value to obtain an amplitude ratio value;
obtaining the miss distance according to the amplitude ratio and the azimuth corresponding to the amplitude ratio;
an angle of the target is calculated based on the miss distance.
2. The angle measurement method according to claim 1, wherein after dividing the amplitude sum value by the amplitude difference value to obtain an amplitude ratio value, the amplitude ratio value is taken as an absolute value;
obtaining the miss distance according to the amplitude ratio and the azimuth angle corresponding to the amplitude ratio comprises: and obtaining the miss distance according to the absolute value of the amplitude ratio and the azimuth angle corresponding to the amplitude ratio.
3. An angle measuring device, comprising:
the frequency agility module is configured to perform frequency agility on two different working frequency points to obtain trace point information of the two different working frequency points, wherein the trace point information comprises amplitude values corresponding to azimuth angles;
a sum-difference module configured to perform sum operation of amplitude values on the trace point information of the two different working frequency points to obtain an amplitude sum value and perform difference operation of the amplitude values to obtain an amplitude difference value, wherein the calculation formula of the sum operation of the amplitude values is Σ _ a ═ af1+Af2The calculation formula of the difference operation of the amplitude values is Δ _ a ═ af1-Af2Sigma _ A is the sum of the amplitudes, Delta _ A is the difference of the amplitudes, Af1Is the amplitude value corresponding to the azimuth angle of the first working frequency point, Af2The amplitude value is the amplitude value corresponding to the azimuth angle of the second working frequency point;
a ratio module configured to divide the magnitude sum by the magnitude difference to obtain a magnitude ratio;
and the calculating module is configured to obtain the miss distance according to the amplitude ratio and the azimuth angle corresponding to the amplitude ratio, and calculate the angle of the target based on the miss distance.
4. The goniometric device of claim 3, wherein the ratio module is configured to take the absolute value of the amplitude ratio after dividing the amplitude sum by the amplitude difference;
the calculation module is configured to obtain the miss distance according to the absolute value of the amplitude ratio and the azimuth corresponding to the amplitude ratio.
5. An angle measurement system comprises a transmitting component, a transmitting antenna, a receiving antenna and a receiving component, and is characterized by further comprising a control terminal, a data processing component, a signal processing component and a frequency synthesizer component; wherein:
the control terminal is configured to select two different working frequency points needing frequency agility and send the working frequency points to the data processing component;
the data processing component is configured to send the two different working frequency points to the signal processing component according to the sequence of the two different working frequency points and receive the two different working frequency points output by the signal processing componentThe method comprises the steps of carrying out amplitude value summation operation on trace point information of two different working frequency points and the two different working frequency points to obtain amplitude sum values and carrying out amplitude value difference operation to obtain amplitude difference values, wherein the calculation formula of the amplitude value summation operation is that sigma-A is Af1+Af2The calculation formula of the difference operation of the amplitude values is Δ _ a ═ af1-Af2Sigma _ A is the sum of the amplitudes, Delta _ A is the difference of the amplitudes, Af1Is the amplitude value corresponding to the azimuth angle of the first working frequency point, Af2Dividing the amplitude sum value by the amplitude difference value to obtain an amplitude ratio value for an amplitude value corresponding to the azimuth angle of the second working frequency point, obtaining miss distance according to the amplitude ratio value and the azimuth angle corresponding to the amplitude ratio value, and calculating the angle of the target based on the miss distance;
the signal processing assembly is configured to output frequency control codes to the frequency synthesis assembly according to the two received different working frequency points and the system working time sequence, and receive and process intermediate frequency echo signals from the receiving assembly to obtain trace information of the two different working frequency points and the two different working frequency points;
the frequency synthesizer component is configured to generate excitation signals of the two different working frequency points according to the frequency control code and the system working time sequence;
the transmitting component is configured to receive the excitation signal, amplify and filter the excitation signal, and output a transmitting signal to a transmitting antenna;
the transmitting antenna is configured to radiate the transmitting signal;
the receiving antenna is configured to receive an echo signal of the transmission signal;
the receiving component is configured to receive the echo signal from the receiving antenna and the excitation signal from the frequency synthesizer component, and output the intermediate frequency echo signal to the signal processing component after frequency conversion and filtering processing.
6. The goniometric system of claim 5, wherein the transmit antenna and the receive antenna are the same antenna.
7. The goniometric system of claim 5, wherein the transmit antenna and the receive antenna are traveling wave array waveguide antennas.
8. The angle measurement system according to claim 5, wherein the data processing component is configured to receive multi-frame trace point information of the two different operating frequency points output by the signal processing component, calculate average trace point information according to the multi-frame trace point information, and calculate an angle of a target by using the average trace point information of the two different operating frequency points.
9. A method of measuring an angle, comprising:
selecting two different working frequency points needing frequency agility;
sending the two different working frequency points according to the sequence of the two different working frequency points;
obtaining a frequency control code according to the two different working frequency points and the system working time sequence;
generating excitation signals of the two different working frequency points according to the frequency control code and the system working time sequence;
receiving the excitation signal, amplifying and filtering the excitation signal, and outputting a transmitting signal;
radiating the emission signal;
receiving an echo signal of the transmitted signal;
receiving the echo signal and the excitation signal, and outputting an intermediate frequency echo signal after frequency conversion and filtering processing;
processing the intermediate frequency echo signal to obtain trace information of the two different working frequency points and the two different working frequency points;
receiving the trace information of the two different working frequency points and the trace information of the two different working frequency pointsPerforming a sum operation of the amplitude values to obtain an amplitude sum value and performing a difference operation of the amplitude values to obtain an amplitude difference value, wherein the calculation formula of the sum operation of the amplitude values is Σ _ a ═ af1+Af2The calculation formula of the difference operation of the amplitude values is Δ _ a ═ af1-Af2Sigma _ A is the sum of the amplitudes, Delta _ A is the difference of the amplitudes, Af1Is the amplitude value corresponding to the azimuth angle of the first working frequency point, Af2And dividing the amplitude sum value by the amplitude difference value to obtain an amplitude ratio value for an amplitude value corresponding to the azimuth angle of the second working frequency point, obtaining the miss distance according to the amplitude ratio value and the azimuth angle corresponding to the amplitude ratio value, and calculating the angle of the target based on the miss distance.
10. The angle measurement method according to claim 9, wherein receiving trace point information of the two different operating frequency points comprises:
receiving multi-frame trace information of the two different working frequency points, calculating average trace information according to the multi-frame trace information, and calculating the angle of a target by using the average trace information of the two different working frequency points.
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