CN109901146A - A kind of hemispherical array based on Spiral distribution and the decoupling method of poor angle measurement - Google Patents
A kind of hemispherical array based on Spiral distribution and the decoupling method of poor angle measurement Download PDFInfo
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Abstract
The hemispherical array and the decoupling method of poor angle measurement that the invention discloses a kind of based on Spiral distribution include the following steps: that N number of array element is distributed on the hemisphere face that a radius is R first, in accordance with the arrangement mode of Spiral distribution；Then the aspect angle of certain direction arrival is redefinedAnd pitching angle theta, the vector r at a slow speed redefined；Acquiring orientation deviation respectively again isWith pitching to deviation be ± △ θ four wave beams, four wave beams are acquired respectively and wave beam, orientation difference beam and pitching are to difference beam, then acquire orientation difference and than with pitching to difference and ratio；Then orientation observation window is setWith pitching to observation window θwin, thus obtain the orientation not coupled in observation window and pitching to mirror angular curve.For this method while reducing pre-stored data volume, the angle error of method itself is also smaller, and angular velocity is fast, ensure that the requirement of the speed and precision of radar array angle measurement.
Description
Technical field
It is the invention belongs to Radar Signal Processing Technology field, in particular to a kind of based on hemispherical array and poor angle measurement decoupling
Conjunction method, suitable for the hemispherical radar array of Spiral distribution, existing orientation and pitching are led to coupling when with poor angle measurement
The problem for causing to need pre-stored data volume very huge.
Background technique
The radar array of early stage mainly has linear array and face battle array etc., because of array distribution comparison rule, the direction of antenna element
Unanimously, therefore progress theory analysis is easier, the disadvantage is that the reception limited viewing angle of array, the radar visual angle of hemispherical distribution,
Have many advantages, such as that directive property is good, interference noise rejection ability is strong, detection range is remote and wide wave beam visual angle, but hemispherical array
Antenna element direction is inconsistent, causes hemispheric array theory analysis relatively difficult.
Originate from poor angle measurement technique more early, advantage it is obvious that the angle information of target can be measured in a pulse, with
The research of Radar Algorithm, and the precision of poor angle measurement greatly improves, and obtains huge application, especially line in engineering practice
Battle array and poor angle measurement technique, what is developed so far is highly developed, has dualbeam to be directed toward method, direct weighting method, symmetrically negate method
Deng.Face battle array and poor angle measurement main problem is present in orientation and pitching and couples to information, and main solution has coordinate system
The two methods such as transformation and steering vector transformation, when this method is applied to hemispherical array, due to half based on oriented array element
In ball array, each antenna element direction is inconsistent, causes theory analysis more difficult；Meanwhile orientation information and pitching are to letter
Breath coupling, and the decoupling method of face battle array is no longer applicable in completely, therefore based on hemispherical array and poor angle measurement technique exists
It is difficult.
Summary of the invention
To solve the above problems, the invention discloses the decoupling method of a kind of based on hemispherical array and poor angle measurement, this
The method of invention redefines azimuth and the pitch angle of coordinate system on the basis of the hemispherical array of Spiral distribution, respectively
Synthesize four wave beams, acquire respectively the pitching of desired orientation to pitching to difference and ratio, in the certain low-angle model of desired orientation
In enclosing, be approximately considered orientation difference and more unrelated than with pitch angle, pitching to difference and more unrelated than with azimuth, to reach orientation
To with pitching to uncoupled purpose.
In order to achieve the above objectives, the present invention is realised by adopting the following technical scheme:
The decoupling method of a kind of based on hemispherical array and poor angle measurement, includes the following steps:
Step 1: N number of array element being distributed on the hemisphere face that a radius is R according to the arrangement mode of Spiral distribution；
Step 2: redefining the aspect angle of certain direction arrivalAnd pitching angle theta, the vector at a slow speed redefined
r；
Step 3: it is assumed that object beam desired orientation isOn the basis of step 1 and step 2, it is respectively synthesized wave
Shu Zhixiang is respectivelyWithFour wave beams, are denoted as P respectively1、P2、P3And P4；Wherein, △ θ andRespectively orientation and pitching to
Angular deviation；
Step 4: calculating separately and wave beam Psum, pitching is to difference beam Pele, orientation difference beam Pazi, pitching to difference and ratio
releWith orientation difference and compare razi；
Step 5: setting orientation observation windowWith pitching to observation window θwin, orientation observation window is taken respectivelyWith bow
It faces upward to observation window θwinInterior pitching is to difference and compares releWith orientation difference and compare razi, obtain orientation and pitching to mirror angle it is bent
Line, to reach uncoupled purpose.
Compared with prior art, the present invention having the advantage that
(1) this method solves the problems, such as that orientation and pitching to coupling, therefore effectively reduce and poor angle measurement is calculated
The data volume for the mirror angular curve that method needs to store, so that the Project Realization complexity of angle measuring algorithm reduces, data volume becomes smaller；
(2) the mirror angular curve that this method obtains on the basis of taking approximate, while reducing data volume, error is not significant
Increase, improves the comprehensive performance of the algorithm.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is hemispherical array and the decoupling method flow schematic diagram of poor angle measurement based on Spiral distribution；
Fig. 2 is array element coordinate diagram of m-th of the array element in hemispherical array；
Fig. 3 is vector definition figure at a slow speed in rectangular coordinate system；
Fig. 4 is the hemispherical array Spiral distribution figure of emulation experiment；
Fig. 5 is the beam pattern in direction (0 °, 0 °) direction of emulation experiment；
Fig. 6 is the wave beam P of emulation experiment1、P2、P3、P4Figure；
Fig. 7 is the X-Y dimensional view of Fig. 6；
Fig. 8 is the partial enlarged view of Fig. 7；
Fig. 9 be emulation experiment and beam pattern；
Figure 10 is the orientation difference beam figure of emulation experiment；
Figure 11 is the pitching of emulation experiment to difference beam figure；
Figure 12 is the observation window inner orientation of emulation experiment to difference and than figure；
Figure 13 is the observation window inner orientation of emulation experiment to difference and than X-Z view；
Figure 14 is the angular curve fitting result figure that reflects in the orientation observation window of emulation experiment；
Figure 15 is that pitching is schemed to difference and ratio in the observation window of emulation experiment；
Figure 16 is pitching in the observation window of emulation experiment to difference and than Y-Z dimensional view；
Figure 17 is the angular curve fitting result figure that reflects in the orientation observation window of emulation experiment；
Figure 18 is the SNR- orientation estimation error curve figure of emulation experiment；
Figure 19 is the SNR- pitching of emulation experiment to estimation error curve figure；
Figure 20 is vector definition figure at a slow speed in the conventional array co-ordinates system of comparative experiments；
Figure 21 is the original view of four beam patterns under the ordinary coor system of comparative experiments；
Figure 22 is the X-Y view of Figure 21；
Figure 23 be comparative experiments observation window inner orientation to difference and ratio original view；
Figure 24 is the X-Z view of Figure 23；
Figure 25 be comparative experiments observation window in pitching to difference and ratio original view；
Figure 26 is the Y-Z view of Figure 25.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1 show a kind of hemispherical array based on Spiral distribution provided in an embodiment of the present invention and poor angle measurement is decoupling
The flow diagram of method.
As shown in Figure 1, the hemispherical array provided in an embodiment of the present invention based on Spiral distribution and the decoupling side of poor angle measurement
Method includes the following steps:
Step 1: N number of array element being distributed on the hemisphere face that a radius is R according to the arrangement mode of Spiral distribution；
N number of array element is distributed on hemispherical spherical surface, and entire hemisphere is referred to as radar array, i.e. radar array includes N number of
Array element.
Sub-step 1a, in N number of array element, wherein position of m-th of the array element in coordinate system as shown in Figure 2 is denoted as point pm,
Remember qmFor point pmIn the subpoint of plane XOY, wherein∠ZOpm=θm, then can according to the definition of Spiral distribution
:
θm=arccos (hm),Wherein, 1≤m≤N；
Wherein, 2≤m≤N-1,
Sub-step 1b, available according to sub-step 1a, XYZ of m-th of the array element in rectangular coordinate system as shown in the figure is sat
It is designated as:
zm=R sin θm
Sub-step 1c, according to the array element coordinate of m-th obtained of array element of sub-step 1b, it is possible thereby to by N number of array element according to
Spiral distribution is on the hemisphere that a radius is R.
Step 2: redefining the aspect angle of certain direction arrivalAnd pitching angle theta, it is thus redefined at a slow speed
Vector r；Specifically include following sub-step:
Sub-step 2a, it is assumed that in an incoming wave signal such as Fig. 3Shown, q is subpoint of the p point in plane XOZ, in figure
Solid black dot is array element, defines ∠ qOZ=θ,
Sub-step 2b obtains vector at a slow speed according to the definition of vector at a slow speed are as follows:
Step 3: it is assumed that object beam desired orientation isOn the basis of step 1 and step 2, synthesis wave beam refers to
To respectivelyWith
Four wave beams, are denoted as P respectively1、P2、P3And P4；Wherein, △ θ andRespectively orientation and pitching to angular deviation；
Specifically include following sub-step:
Sub-step 3a is directed toward according to the definition that hemispherical array beams are formedWave beam are as follows:
Wherein,With shown in definition of the θ such as in Fig. 3,For the angle of azimuth of target, θ0For the angle at target pitch angle,
N is the total number of array element in radar array, and H indicates conjugate transposition,Indicate Han Demengde product, LiFor i-th gust in radar array
The spatial position of member, and Li=[xi yi zi]T, 1≤i≤N, r are vector at a slow speed,For the space bit of i-th of array element
Set directionWeighted value, andJ is imaginary factor, and λ is incoming wave signal
Wavelength,For i-th of array element pattern function, and
According to the available P of above-mentioned definition1、P2、P3And P4It is respectively as follows:
Step 4: calculating and wave beam Psum, pitching is to difference beam Pele, orientation difference beam Pazi, pitching to difference and compare releWith
Orientation is poor and compares razi；
Specifically include following sub-step:
Sub-step 4a is obtained and wave beam P according to the definition with wave beamsumCalculation formula are as follows:
Psum=P1+P2+P3+P4；
Sub-step 4b, the definition according to pitching to difference beam obtain pitching to difference beam PeleCalculation formula are as follows:
Pele=P1+P2-P3-P4；
Sub-step 4c obtains orientation difference beam P according to the definition of orientation difference beamaziCalculation formula are as follows:
Pazi=P1-P2+P3-P4；
Sub-step 4d, the definition according to pitching to difference and ratio, obtains pitching to difference and compares releCalculation formula are as follows:
Sub-step 4e obtains orientation difference and compares r according to the definition of orientation difference and ratioaziCalculation formula are as follows:
Thus it obtains and wave beam Psum, pitching is to difference beam Pele, orientation difference beam Pazi, pitching to difference and compare releThe side and
Position is to difference and compares razi。
Step 5: setting orientation observation windowWith pitching to observation window θwin, orientation observation window is taken respectivelyWith bow
It faces upward to observation window θwinInterior pitching is to difference and compares releWith orientation difference and compare razi, obtain orientation and pitching to mirror angle it is bent
Line, to reach uncoupled purpose.
Specifically, the orientation observation window of 1-2 ° of settingWith pitching to observation window θwin.The pitching that above-mentioned steps 4 obtain
To difference and compare releWith orientation difference and compare raziActually one about θ andFunction, pass through setting one small-scale side
Position is to observation windowWith pitching to observation window θwin, pitching is approximately considered to difference and compares releWith azimuthUnrelated, orientation is poor
With than raziIt is unrelated with pitching angle theta, to reach uncoupled purpose.The mirror angular curve of so orientation be exactly orientation difference and
Than curved surface in θoThe slice at place, pitching to mirror angular curve be exactly that pitching exists to difference and than curved surfaceThe slice at place.
It is verified below by way of effect of the emulation experiment to the above method provided in an embodiment of the present invention:
1. emulation experiment environment and data:
Experimental situation: Inter (R) Core (TM) i5-6500 CPU@3.20HGz, 64 Windows operating systems and
MATLAB 2016b simulation software.
Experiment parameter: the array element total number N of radar array is 200, azimuthValue range be -90 °~90 °,
The value range of pitching angle theta is -90 °~90 °, and target is directed towardFor (0 °, 0 °), pitching is to drift angle θ=1 ° △, orientation
To drift anglePitching is to observation window θwin=1 °, orientation observation window
2. the simulation experiment result:
The hemispherical array Spiral distribution obtained by step 1 is as shown in Figure 4；
Wave beam according to the available direction target bearing of step 3 (0 °, 0 °) is as shown in Figure 5；
Wave beam P1、P2、P3And P4As shown in fig. 6, Fig. 7 is the X-Y dimensional view of Fig. 6, Fig. 8 is the partial enlarged view of Fig. 7.From
As can be seen that four wave beams are respectively directed to (- 1 °, -1 °), (- 1 °, 1 °), (1 °, -1 °) and (1 °, 1 °) in Fig. 8.
It can be seen in figure 9 that with beam position (0 °, 0 °).It is available by Figure 10 and Figure 11, orientation difference beam and
Pitching is respectively present a wave crest and a trough on (0 °, 0 °) point side to difference beam, the difference is that orientation difference beam
(0 °, 0 °) other wave crest and trough beThis dimension, pitching to the other wave crest of (0 °, 0 °) of difference beam and trough be θ this
Dimension.
It is available from Figure 12 and Figure 13, observation window inner orientation to difference and than only and azimuthIt is related, with pitching angle theta without
It closes, in observation window, it is presently believed that orientation difference and ratio are similar to azimuthIt is linear relationship, it is fitted
The curve arrived is as shown in figure 14, it is seen from figure 14 that fitting effect is good, the expression formula of fitting a straight line is
Available from Figure 15 and Figure 16, pitching is to difference and more related with pitching angle theta than only in observation window, with azimuthNothing
It closes, in observation window, it is presently believed that pitching is linear relationship to difference and than approximate and pitching angle theta, it is fitted to obtain
Curve it is as shown in figure 17, as can be seen from Figure 17, fitting effect is good, and the expression formula of fitting a straight line is rele=-0.1175 θ.
Reflect shown in Figure 14 and Figure 17 angular curve on the basis of, it is carried out and poor angle measurement and error analysis, can be obtained
It is as shown in Figure 18 and Figure 19 to error-SNR curve.
By Figure 18 and Figure 19 it is found that being distributed on the basis of Figure 14 and Figure 17 obtain mirror angular curve with hemispherical spiral
Array it is carried out and poor angle measurement, for obtained error probably 0.07 or so, error is in a smaller range, and
Influence of the Signal to Noise Ratio (SNR) to error be not it is very big, this is primarily due to wave beam and difference beam before doing ratio, signal to its into
Caused by row accumulation.
As shown in Figure 18 and Figure 19, the orientation of setting and pitching to observation window size be respectively 2 °, because of orientation
With pitching to decoupling, it is therefore desirable to which pre-stored straight-line data is 180 straight lines；But if without decoupling, that
Needing pre-stored data volume is about thousands of a planes, and each hypothesis of plane mechanism is by several hundred rectilinear(-al)s, then
The straight line for needing to store is about 105Item.
3. contrast and experiment:
Conventional array co-ordinates system definition, as shown in figure 20, p is one electromagnetism wave vector of space in figure, and q is p in XOY plane
Projection, wherein∠ ZOp=θ.So vector at a slow speed are as follows:
It is assumed that spherical radius R=10 λ, the angle of the direction of central beam is (10 °, 10 °), then being respectively synthesized direction
The wave beam of (11 °, 9 °), (9 °, 11 °), (9 °, 9 °) and (11 °, 11 °) four direction, four wave beams as shown in figure 21 and figure:
Figure 21 is the original view of four beam patterns under ordinary coor system, and Figure 22 is the X-Y view of Figure 21；It can see
Out: in figure only have pitching to two wave beams.This is because wave beam is wider in orientation, but its angle for being directed toward but phase
Poor very little, so two wave beams of orientation overlap to together, therefore, can only see in figure pitching to two wave beams.
In conclusion it can be concluded that under ordinary coor system, four beam patterns of Spiral distribution pitch up it is completely not right
Claim.
Assuming that orientation observation windowPitching is to observation window θwin=1 °, the observation window inner orientation acquired to difference and
Than with pitching to difference and such as shown in Figure 23-Figure 26.Figure 23 is original view of the observation window inner orientation to difference and ratio, and Figure 24 is figure
23 X-Z view, Figure 25 are that the original view of difference and ratio, Figure 26 is the Y-Z view of Figure 25 for pitching in observation window.It can from figure
To find out, orientation difference and than and pitching to poor and more related with azimuth than not only, it is also related with pitch angle, therefore, in routine
Under coordinate system, the hemispherical array orientation of Spiral distribution is to being coupled, and when poor angle measurement, pre-stored data will with pitching
Very much.
By above-mentioned emulation experiment and contrast and experiment it is found that method of the invention is redefined and taken approximately in coordinate
On the basis of, effectively solve existing orientation and pitching when hemispherical array Spiral distribution and poor angle measurement in part range
To data volume the problem of coupling, greatly reduced and poor angle measurement needs to be pre-stored, and to be in the error of poor angle measurement
One smaller range.
Those of ordinary skill in the art will appreciate that: realize that all or part of the steps of above method embodiment can pass through
The relevant hardware of program instruction is completed, and program above-mentioned can store in computer-readable storage medium, which exists
When execution, step including the steps of the foregoing method embodiments is executed；And storage medium above-mentioned includes: ROM, RAM, magnetic or disk
Etc. the various media that can store program code.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (6)
1. a kind of hemispherical array based on Spiral distribution and the decoupling method of poor angle measurement, which comprises the steps of:
Step 1: N number of array element being distributed on the hemisphere face that a radius is R according to the arrangement mode of Spiral distribution；
Step 2: redefining the aspect angle of certain direction arrivalAnd pitching angle theta, the vector r at a slow speed redefined；
Step 3: it is assumed that object beam desired orientation isOn the basis of step 1 and step 2, synthesis beam position point
It is notWithFour
Wave beam is denoted as P respectively1、P2、P3And P4；Wherein, △ θ andRespectively orientation and pitching to angular deviation；
Step 4: calculating and wave beam Psum, pitching is to difference beam Pele, orientation difference beam Pazi, pitching to difference and compare releThe orientation and
To difference and compare razi；
Step 5: setting orientation observation windowWith pitching to observation window θwin, orientation observation window is taken respectivelyWith pitching to
Observation window θwinInterior pitching is to difference and compares releWith orientation difference and compare razi, obtain orientation and pitching to mirror angular curve, from
And reach uncoupled purpose.
2. the hemispherical array according to claim 1 based on Spiral distribution and the decoupling method of poor angle measurement, feature exist
In in step 1, N number of array element is distributed on the hemisphere face that a radius is R by the arrangement mode according to Spiral distribution, tool
Body includes following sub-step:
Sub-step 1a, in N number of array element, wherein the position of m-th of array element in a coordinate system is denoted as point pm, remember qmFor point pmFlat
The subpoint of face XOY, wherein∠ZOpm=θm, then according to the definition of Spiral distribution, obtain:
θm=arccos (hm),Wherein, 1≤m≤N；
Wherein, 2≤m≤N-1,
Sub-step 1b can be obtained according to sub-step 1a, XYZ coordinate of m-th of the array element in rectangular coordinate system are as follows:
Sub-step 1c, according to the array element coordinate of m-th obtained of array element of sub-step 1b, thus by N number of array element according to Spiral distribution
On the hemisphere that a radius is R.
3. the hemispherical array according to claim 1 based on Spiral distribution and the decoupling method of poor angle measurement, feature exist
In in step 2, the r of vector at a slow speed redefined specifically includes following sub-step:
Sub-step 2a, it is assumed that an incoming wave signalQ is subpoint of the p point in plane XOZ, defines ∠ qOZ=θ,
Sub-step 2b obtains vector at a slow speed according to the definition of vector at a slow speed are as follows:
4. the hemispherical array according to claim 1 based on Spiral distribution and the decoupling method of poor angle measurement, feature exist
In, in step 3, four wave beam P1、P2、P3And P4Computational algorithm include following sub-step:
Sub-step 3a is directed toward according to the definition that hemispherical array beams are formedWave beam are as follows:
Wherein,For the angle of azimuth of target, θ0For the angle at target pitch angle, N is the total number of array element in radar array, H
Indicate conjugate transposition,Indicate Han Demengde product, LiFor the spatial position of i-th of array element in radar array, and Li=[xi yi
zi]T, 1≤i≤N, r are vector at a slow speed,It is directed toward for the spatial position of i-th of array elementWeighted value, andJ is imaginary factor, and λ is incoming wave signal wavelength,For i-th of array element side
To figure function, and
Sub-step 3b is directed toward according to sub-step 3aThe wave beam P in direction1Are as follows:
Sub-step 3c is directed toward according to sub-step 3aThe wave beam P in direction2Are as follows:
Sub-step 3d is directed toward according to sub-step 3aThe wave beam P in direction3Are as follows:
Sub-step 3e is directed toward according to sub-step 3aThe wave beam P in direction4Are as follows:
5. the hemispherical array according to claim 1 based on Spiral distribution and the decoupling method of poor angle measurement, feature exist
In in step 4, described calculate includes following sub-step:
Sub-step 4a is obtained and wave beam P according to the definition with wave beamsumCalculation formula are as follows:
Psum=P1+P2+P3+P4；
Sub-step 4b, the definition according to pitching to difference beam obtain pitching to difference beam PeleCalculation formula are as follows:
Pele=P1+P2-P3-P4；
Sub-step 4c obtains orientation difference beam P according to the definition of orientation difference beamaziCalculation formula are as follows:
Pazi=P1-P2+P3-P4；
Sub-step 4d, the definition according to pitching to difference and ratio, obtains pitching to difference and compares releCalculation formula are as follows:
Sub-step 4e obtains orientation difference and compares r according to the definition of orientation difference and ratioaziCalculation formula are as follows:
6. the hemispherical array according to claim 1 based on Spiral distribution and the decoupling method of poor angle measurement, feature exist
In, in step 5, it is described obtain orientation and pitching to mirror angular curve, specifically include following sub-step:
Sub-step 5a, the orientation observation window of 1-2 ° of settingWith pitching to observation window θwin, observe in orientation observation window
With pitching to observation window θwinOrientation in range is poor and compares raziTo difference and compare r with pitchingele；
Sub-step 5b, it is believed that pitching is to difference and compares releWith azimuthUnrelated, orientation is poor and compares raziIt is unrelated with pitching angle theta, point
Do not obtain orientation and pitching to mirror angular curve, i.e., the mirror angular curve of the described orientation be orientation difference and than curved surface in θoPlace
Slice, pitching to mirror angular curve be that pitching exists to difference and than curved surfaceThe slice at place.
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