CN110196415A - A kind of wide null Beamforming Method based on compensation Antenna error - Google Patents

A kind of wide null Beamforming Method based on compensation Antenna error Download PDF

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CN110196415A
CN110196415A CN201910487216.8A CN201910487216A CN110196415A CN 110196415 A CN110196415 A CN 110196415A CN 201910487216 A CN201910487216 A CN 201910487216A CN 110196415 A CN110196415 A CN 110196415A
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CN110196415B (en
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耿钧
李浩然
李高鹏
谢俊好
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Harbin Institute of Technology Shenzhen
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40Means for monitoring or calibrating
    • G01S7/4004Means for monitoring or calibrating of parts of a radar system
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G01S7/418Theoretical aspects

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Abstract

一种基于补偿天线方向图误差的宽零陷波束形成方法。本发明涉及宽零陷波束形成方法。本发明的目的是为了解决在天线方向图误差背景下,传统的杂波抑制算法无法对因舰船运动而展宽的海杂波进行抑制的问题。过程为:一:通过有源校正得到受误差影响天线对应的各个角度的天线方向图误差数据;二:对舰载高频地波雷达的回波数据进行脉冲压缩与相参积累处理,得到通道×多普勒×距离三维谱数据;三:得到归一化的修正正交加权方法权系数;四:得到宽零陷波束形成方法权系数;五:利用宽零陷波束形成方法权系数对三维谱数据进行处理,得到抑制海杂波之后的角度×多普勒×距离三维谱数据。本发明用于舰载高频地波雷达信号处理领域。

A wide null-notch beamforming method based on compensating antenna pattern errors. The present invention relates to wide null notch beamforming methods. The purpose of the present invention is to solve the problem that the traditional clutter suppression algorithm cannot suppress the sea clutter broadened by the movement of the ship under the background of the antenna pattern error. The process is as follows: 1: Obtain the antenna pattern error data corresponding to each angle of the antenna affected by the error through active correction; 2: Perform pulse compression and coherent accumulation processing on the echo data of the shipboard high-frequency ground wave radar to obtain the channel × Doppler × distance three-dimensional spectral data; three: get the weight coefficient of the normalized modified orthogonal weighting method; four: get the weight coefficient of the wide zero-notch beamforming method; five: use the wide zero-notch beamforming method weight coefficient to the three-dimensional The spectral data is processed to obtain angle × Doppler × distance three-dimensional spectral data after sea clutter is suppressed. The invention is used in the field of shipboard high-frequency ground wave radar signal processing.

Description

一种基于补偿天线方向图误差的宽零陷波束形成方法A Wide Null Notch Beamforming Method Based on Compensating Antenna Pattern Error

技术领域technical field

本发明涉及舰载高频地波雷达信号处理领域,可用于在天线方向图误差背景舰载地波 雷达的海杂波抑制。The invention relates to the field of shipboard high-frequency ground wave radar signal processing, and can be used for sea clutter suppression of shipboard ground wave radar in the background of antenna pattern error.

背景技术Background technique

舰载高频地波雷达是一种新体制雷达,工作频段为3MHz-30MHz,与常规雷达例如微波雷达相比,拥有超视距探测地平线以下目标、反隐身、预警时间长、抗反辐射导弹、 设备稳定、抗干扰能力强等优点,目前在世界各国的军事领域均起到重要的作用。Shipborne high-frequency ground wave radar is a new system radar with a working frequency band of 3MHz-30MHz. Compared with conventional radars such as microwave radars, it has over-the-horizon detection of targets below the horizon, anti-stealth, long warning time, and anti-anti-radiation missiles. , equipment stability, strong anti-jamming ability and other advantages, currently play an important role in the military field of all countries in the world.

对于舰载高频地波雷达,舰船平台移动会导致一阶海杂波谱展宽,这会使得速度较慢 的舰船目标受到展宽谱的影响,淹没于海杂波之中,导致无法对目标的信息作准确的估计。 由于一阶海杂波谱与舰船的运动速度有关,相对而言,即可通过舰船的运动速度,推断海 杂波的方位,从而可以将问题转化为对已知方位的杂波进行抑制的问题。针对此问题,国 内学者展开了广泛研究,谢俊好.舰载高频地波雷达目标检测与估值研究[D].哈尔滨工业 大学,2001.中引入了正交加权方法(Orthogonal Weighting,OW),从而对一阶海杂波进行抑 制;Sun M,Xie J,Hao Z,et al.Target Detection and Estimation forShipborne HFSWR Based on Oblique Projection[C]//2012 11th InternationalConference on Signal Processing(ICSP 2012).0.中随后针对正交加权方法的不足,引入了斜投影算法(Oblique Projection,OP),在 对固定方位杂波进行抑制的同时,更大程度上保留了目标信号的信息。For shipboard high-frequency ground wave radar, the movement of the ship platform will cause the broadening of the first-order sea clutter spectrum, which will make the slower ship target be affected by the broadening spectrum and be submerged in the sea clutter, resulting in the inability to detect the target information to make accurate estimates. Since the first-order sea clutter spectrum is related to the speed of the ship, relatively speaking, the direction of the sea clutter can be inferred from the speed of the ship, so that the problem can be transformed into a method of suppressing the clutter with a known position. question. In response to this problem, domestic scholars have carried out extensive research. Xie Junhao. Research on target detection and evaluation of shipborne high-frequency ground wave radar [D]. Harbin Institute of Technology, 2001. Introduced the orthogonal weighting method (Orthogonal Weighting, OW ), so as to suppress the first-order sea clutter; Sun M, Xie J, Hao Z, et al.Target Detection and Estimation for Shipborne HFSWR Based on Oblique Projection[C]//2012 11th International Conference on Signal Processing (ICSP 2012). In 0., the oblique projection algorithm (Oblique Projection, OP) was introduced to address the shortcomings of the orthogonal weighting method, which can retain the information of the target signal to a greater extent while suppressing the fixed azimuth clutter.

对于传统的舰载高频地波雷达,由于天线摆放位置及实际环境的限制,会出现天线方 向图误差的干扰,此误差会造成天线方向图发生畸变,无法正常完成工作。传统的杂波抑 制算法例如正交加权方法与斜投影算法,在存在天线方向图误差背景下效果会恶化,无法 充分抑制淹没舰船的展宽海杂波。此外,由于天线及通道幅度相位特性随使用时间增长发 生缓慢变换,天线阵列的实际误差可能偏离最初的误差测量值,因此对天线的方向图误差 的校正进一步增大了难度。For the traditional shipboard high-frequency ground wave radar, due to the limitation of the antenna placement and the actual environment, there will be interference of the antenna pattern error, which will cause the antenna pattern to be distorted, and the work cannot be completed normally. Traditional clutter suppression algorithms, such as orthogonal weighting method and oblique projection algorithm, will deteriorate in the presence of antenna pattern errors, and cannot fully suppress the broadened sea clutter of submerged ships. In addition, since the amplitude and phase characteristics of the antenna and channel change slowly with the growth of use time, the actual error of the antenna array may deviate from the initial error measurement value, so the correction of the antenna pattern error further increases the difficulty.

当天线阵沿船舷两侧布置为均匀线阵,且天线未受方向图误差的影响时,天线阵列所 合成的方向图(包含零陷)关于天线阵列对称。此时雷达阵列可是实现对来自于天线阵两 侧的海杂波的同时抑制。而当天线方向图误差存在时,天线阵所合成的方向图不再关于天 线阵对称。传统的零点形成算法,只能抑制天线某一侧的杂波来源,而另一侧的杂波则进 入天线,影响检测。When the antenna array is arranged as a uniform linear array along both sides of the ship's side, and the antenna is not affected by the pattern error, the pattern synthesized by the antenna array (including nulls) is symmetrical with respect to the antenna array. At this time, the radar array can simultaneously suppress the sea clutter from both sides of the antenna array. And when the antenna pattern error exists, the pattern synthesized by the antenna array is no longer symmetrical about the antenna array. The traditional null formation algorithm can only suppress the clutter source on one side of the antenna, while the clutter on the other side enters the antenna and affects the detection.

阵列误差对于阵列天线的性能有着不可忽略的影响。而目前,各国学者研究的重点为 对阵列位置误差与互耦误差进行校正与分析,而对于实际工程中,最为常见的天线方向图 误差的校正则研究较少,因此,需要一种对天线方向图误差进行校正的方法,能够对舰载 高频地波雷达中的展宽一阶海杂波进行抑制处理。Array errors have a non-negligible impact on the performance of array antennas. At present, the research focus of scholars from various countries is to correct and analyze the array position error and mutual coupling error, but there are few studies on the correction of the most common antenna pattern error in actual engineering. The method of correcting the map error can suppress the broadened first-order sea clutter in the shipboard high-frequency ground wave radar.

发明内容Contents of the invention

本发明的目的是为了解决在天线方向图误差背景下,传统的杂波抑制算法无法对因舰 船运动而展宽的海杂波进行抑制的问题,而提供一种基于补偿天线方向图误差的宽零陷波 束形成方法。The purpose of the present invention is to solve the problem that the traditional clutter suppression algorithm cannot suppress the sea clutter broadened due to the movement of the ship under the background of the antenna pattern error, and to provide a wide range based on the compensation of the antenna pattern error. Zero notch beamforming method.

一种基于补偿天线方向图误差的宽零陷波束形成方法具体过程为:A specific process of a wide null-notch beamforming method based on compensating antenna pattern errors is as follows:

步骤一:通过有源校正得到受误差影响天线对应的各个角度的天线方向图误差数据, 记为r(θ);Step 1: Obtain the antenna pattern error data of each angle corresponding to the antenna affected by the error through active correction, denoted as r(θ);

步骤二:对舰载高频地波雷达的回波数据进行脉冲压缩与相参积累处理,得到通道× 多普勒×距离三维谱数据,记为CDR;Step 2: Perform pulse compression and coherent accumulation processing on the echo data of the shipboard high-frequency ground wave radar to obtain channel × Doppler × range three-dimensional spectrum data, which is recorded as CDR;

步骤三:基于步骤一获得的误差数据r(θ),对原有的阵列导向矢量(没有误差的阵列导向矢量)进行修正,得到受干扰的投影矩阵基于受干扰的投影矩阵得到归一化 的修正正交加权方法权系数具体过程为:Step 3: Based on the error data r(θ) obtained in step 1, correct the original array steering vector (array steering vector without error) to obtain the disturbed projection matrix Based on the disturbed projection matrix Get the normalized modified orthogonal weighting method weight coefficient The specific process is:

步骤三一:由Bragg谐振散射原理与深水色散原理推得一阶Bragg频率为:Step 31: The first-order Bragg frequency is deduced from the principle of Bragg resonance scattering and the principle of deep water dispersion:

其中,fB为Bragg频率,Bragg频率为布拉格频率,f0为雷达工作频率,其单位为MHz;Among them, f B is the Bragg frequency, Bragg frequency is the Bragg frequency, f 0 is the radar operating frequency, and its unit is MHz;

步骤三二:通过步骤二所获三维谱数据CDR,找到多普勒单元对应的多普勒频率fd, 得到fd对应的海杂波的方位θiStep 32: Through the three-dimensional spectral data CDR obtained in step 2, find the Doppler frequency f d corresponding to the Doppler unit, and obtain the azimuth θ i of the sea clutter corresponding to f d :

其中,vp为舰载平台的移动速度,θi∈[0,2π];Among them, v p is the moving speed of the shipboard platform, θ i ∈ [0,2π];

步骤三三:方位θi海杂波对应的阵列导向矢量a(θi)为:Step 33: The array steering vector a(θ i ) corresponding to sea clutter in azimuth θ i is:

步骤三四:利用步骤一得到的方位为θi的天线方向图误差数据r(θi),构造修正后的 阵列导向矢量 Step 3 and 4: Use the antenna pattern error data r(θ i ) obtained in step 1 to construct the corrected array steering vector

其中,ο代表Hadamard积;r(θi)为受误差影响天线对应的海杂波的方位θi的天线方向图 误差数据;Wherein, ο represents the Hadamard product; r (θ i ) is the antenna pattern error data of the azimuth θ i of the sea clutter corresponding to the antenna affected by the error;

步骤三五:利用修正后的阵列导向矢量构造受干扰的投影矩阵 Step 3 and 5: Using the Corrected Array Steering Vectors Construct the disturbed projection matrix

其中,IM是阶数为阵元数M的单位阵,上角标H代表共轭转置;Among them, I M is the unit matrix whose order is the number of array elements M, and the superscript H represents the conjugate transpose;

步骤三六:利用受干扰的投影矩阵得到方位为θi海杂波对应的归一化的修正正交 加权方法权系数 Step 36: Utilize the disturbed projection matrix Get the weight coefficient of the normalized modified orthogonal weighting method corresponding to the sea clutter with the azimuth θ i

其中,s(θ)为扫描循环矢量,通过遍历θ(0°-360°)从而起到对所有角度进行扫描的 作用;Among them, s(θ) is the scanning cycle vector, which plays the role of scanning all angles by traversing θ(0°-360°);

步骤三七:通过遍历θi,得到所有海杂波对应的归一化的修正正交加权方法权系数 Step 37: By traversing θ i , obtain the normalized weight coefficients of the modified orthogonal weighting method corresponding to all sea clutter

步骤四:设置宽零陷的宽度为Δθ,在杂波方位θi附近Δθ内重构K个零陷,并将重构后零陷对应的修正的导向矢量代替步骤三中修正的导向矢量并按照步骤三中的方法,得到宽零陷波束形成方法权系数W;具体过程为:Step 4: Set the width of the wide null trap to Δθ, reconstruct K null traps within Δθ near the clutter orientation θ i , and use the corrected steering vector corresponding to the reconstructed null trap Instead of the steering vector corrected in step 3 And according to the method in step 3, the weight coefficient W of the wide null-notch beamforming method is obtained; the specific process is:

步骤四一:找到步骤三二中对应的海杂波方位θi,设置宽零陷的宽度为Δθ,改进后 重构的零陷个数为K,构造改进后的零陷对应的角度:Step 41: Find the sea clutter azimuth θ i corresponding to Step 32, set the width of wide nulls to Δθ, the number of reconstructed nulls after improvement is K, and construct the angle corresponding to the improved nulls:

其中,θk为改进后第k个零陷对应的角度;Among them, θ k is the angle corresponding to the kth null trap after improvement;

步骤四二:利用步骤四一得到的K个角度,构造对应的理想阵列导向矢量:Step 42: Use the K angles obtained in Step 41 to construct the corresponding ideal array steering vector:

步骤四三:构造修正后的阵列导向矢量 Step 43: Construct the corrected array steering vector

其中,r(θk)为受误差影响天线对应的第θk角度的天线方向图误差数据;Wherein, r(θ k ) is the antenna pattern error data of the θ kth angle corresponding to the antenna affected by the error;

步骤四四:利用修正后的阵列导向矢量构造宽零陷波束形成方法对应的投影 矩阵J:Step 44: Utilize the Corrected Array Steering Vectors Construct the projection matrix J corresponding to the wide null notch beamforming method:

其中,为修正后的阵列导向矢量矩阵, in, is the modified array-steering vector matrix,

步骤四五:利用宽零陷方法对应的投影矩阵J,得到方位为θj海杂波对应的宽零陷波 束形成方法权系数W:Step 4 and 5: Use the projection matrix J corresponding to the wide null notch method to obtain the weight coefficient W of the wide null notch beamforming method corresponding to the sea clutter at the azimuth θ j :

通过遍历θ(0°-360°)从而起到对所有角度进行扫描的作用;By traversing θ (0°-360°), it plays the role of scanning all angles;

步骤四六:通过遍历θi,得到所有海杂波对应的宽零陷波束形成方法权系数W;Step 46: By traversing θ i , obtain the weight coefficient W of the wide null-notch beamforming method corresponding to all sea clutter;

步骤五:利用步骤四得到的宽零陷波束形成方法权系数W对步骤二中得到的三维谱 数据CDR进行处理,得到抑制海杂波之后的角度×多普勒×距离三维谱数据。Step five: Use the weight coefficient W of the wide null-notch beamforming method obtained in step four to process the three-dimensional spectrum data CDR obtained in step two, and obtain the angle × Doppler × distance three-dimensional spectrum data after sea clutter is suppressed.

本发明的有益效果为:The beneficial effects of the present invention are:

本发明所述的一种基于补偿天线方向图误差的宽零陷波束形成方法,为受天线方向图 误差影响的舰载高频地波雷达对展宽海杂波进行抑制处理提供了一种有效的解决方法。通 过有源校正的方式,获取到天线方向图误差的数据,从而对原有的阵列导向矢量进行修正, 充分考虑了受误差影响后的阵列对于海杂波信息的影响,利用了误差信息,改进了原有的 正交加权方法;又根据实际环境中,误差获取精度不高的问题,提出宽零陷的波束形成方 法,并首次应用于舰载高频地波雷达在天线方向图误差环境下的杂波抑制。利用本发明中 所提出的基于补偿天线方向图误差的宽零陷波束形成方法对舰载高频地波雷达回波数据 进行处理,解决了在天线方向图误差条件下,传统杂波抑制算法无法对展宽的一阶海杂波 进行抑制的问题。A wide null notch beamforming method based on compensating antenna pattern error described in the present invention provides an effective method for suppressing broadening sea clutter for shipboard high-frequency ground wave radar affected by antenna pattern error Solution. By means of active correction, the data of the antenna pattern error is obtained, so that the original array steering vector is corrected, and the influence of the array affected by the error on the sea clutter information is fully considered, and the error information is used to improve the Based on the original orthogonal weighting method; and according to the problem of low error acquisition accuracy in the actual environment, a wide-null beamforming method was proposed, and it was first applied to shipboard high-frequency ground wave radar in the environment of antenna pattern error clutter suppression. Utilize the wide null notch beamforming method based on compensating the antenna pattern error proposed in the present invention to process the echo data of the shipboard high-frequency ground wave radar, and solve the problem that the traditional clutter suppression algorithm cannot The problem of suppressing broadened first-order sea clutter.

由图9与表3,抑制前海杂波平均功率为47.16dB,目标峰值功率为61.15dB,信杂噪比为9.48dB;传统正交加权方法得到的海杂波平均功率为41.50dB,目标峰值功率为60.13dB,信杂噪比为9.1dB;本发明宽零陷波束形成方法得到的海杂波平均功率为23.51dB,目标峰值功率为55.02dB,信杂噪比为34.49dB;可知在误差环境下,传统正交 加权方法与未抑制前效果相当,而本发明方法,在对目标峰值功率影响较小的情况下,大 幅度改善了海杂波平均功率与信杂噪比两项指标,以此证明的本发明方法的有效性。利用 本发明中提出的基于补偿天线方向图误差的宽零陷波束形成方法对舰载高频地波雷达回 波数据进行处理,解决了在误差条件下,传统正交加权方法无法对展宽海杂波进行抑制的 问题。From Figure 9 and Table 3, the average power of sea clutter before suppression is 47.16dB, the target peak power is 61.15dB, and the signal-to-noise ratio is 9.48dB; the average power of sea clutter obtained by the traditional orthogonal weighting method is 41.50dB, and the target The peak power is 60.13dB, and the signal-to-noise ratio is 9.1dB; the sea clutter average power obtained by the wide null notch beamforming method of the present invention is 23.51dB, the target peak power is 55.02dB, and the signal-to-noise ratio is 34.49dB; it can be seen that in In the error environment, the traditional orthogonal weighting method has the same effect as before suppression, but the method of the present invention greatly improves the two indicators of sea clutter average power and signal-to-noise ratio under the condition that the target peak power is less affected. The effectiveness of the inventive method proved in this way. Utilize the wide null notch beamforming method based on compensating the antenna pattern error proposed in the present invention to process the echo data of the shipboard high-frequency ground wave radar, and solve the problem that the traditional orthogonal weighting method cannot correct the widened sea clutter under error conditions. problem of wave suppression.

附图说明Description of drawings

图1是发明的总体流程图;Fig. 1 is the general flowchart of invention;

图2是舰载高频地波雷达的接收阵列示意图;Figure 2 is a schematic diagram of the receiving array of the shipboard high-frequency ground wave radar;

图3a是实测天线阵元1幅度误差图;Figure 3a is a diagram of the amplitude error of the measured antenna element 1;

图3b是实测天线阵元2幅度误差图;Figure 3b is a diagram of the amplitude error of the measured antenna array element 2;

图3c是实测天线阵元3幅度误差图;Figure 3c is a diagram of the amplitude error of the measured antenna array element 3;

图3d是实测天线阵元4幅度误差图;Figure 3d is a diagram of the amplitude error of the measured antenna array element 4;

图3e是实测天线阵元5幅度误差图;Figure 3e is a diagram of the amplitude error of the measured antenna array element 5;

图3f是实测天线阵元6幅度误差图;Figure 3f is a diagram of the amplitude error of the measured antenna array element 6;

图3g是实测天线阵元7幅度误差图;Figure 3g is a diagram of the amplitude error of the measured antenna array element 7;

图3h是实测天线阵元8幅度误差图;Figure 3h is a diagram of the amplitude error of the measured antenna array element 8;

图4a是实测天线阵元1相位误差图;Figure 4a is a phase error diagram of the measured antenna element 1;

图4b是实测天线阵元2相位误差图;Figure 4b is a phase error diagram of the measured antenna array element 2;

图4c是实测天线阵元3相位误差图;Figure 4c is a phase error diagram of the measured antenna element 3;

图4d是实测天线阵元4相位误差图;Figure 4d is a phase error diagram of the measured antenna element 4;

图4e是实测天线阵元5相位误差图;Figure 4e is a phase error diagram of the measured antenna array element 5;

图4f是实测天线阵元6相位误差图;Figure 4f is a phase error diagram of the measured antenna element 6;

图4g是实测天线阵元7相位误差图;Figure 4g is a phase error diagram of the measured antenna array element 7;

图4h是实测天线阵元8相位误差图;Figure 4h is a phase error diagram of the measured antenna array element 8;

图5是修正后的权系数与传统正交加权方法在误差环境下对应的天线方向图对比图;Fig. 5 is a comparison diagram of the antenna pattern corresponding to the corrected weight coefficient and the traditional orthogonal weighting method in the error environment;

图6是本发明方法与传统正交加权方法在误差环境下对应的天线方向图对比图;Fig. 6 is a comparison diagram of the antenna pattern corresponding to the method of the present invention and the traditional orthogonal weighting method in an error environment;

图7a是传统正交加权方法在误差环境下距离多普勒谱截面图;Figure 7a is a cross-sectional view of the range-Doppler spectrum under the error environment of the traditional orthogonal weighting method;

图7b是本发明方法在误差环境下距离多普勒谱截面图;Fig. 7b is a cross-sectional view of the range Doppler spectrum under the error environment of the method of the present invention;

图8a是本发明方法与传统正交加权方法在误差环境下角度多普勒截面对比图;Fig. 8a is a comparison diagram of the angle Doppler cross-section between the method of the present invention and the traditional orthogonal weighting method in an error environment;

图8b是本发明方法与传统正交加权方法在误差环境下角度多普勒截面对比图;Fig. 8b is a comparison diagram of the angle Doppler cross-section between the method of the present invention and the traditional orthogonal weighting method in an error environment;

图9是本发明方法与传统正交加权方法在误差环境下对应目标多普勒截面图。FIG. 9 is a Doppler cross-sectional view of the target corresponding to the method of the present invention and the traditional orthogonal weighting method in an error environment.

具体实施方式Detailed ways

具体实施方式一:结合图1说明本实施方式,本实施方式一种基于补偿天线方向图误 差的宽零陷波束形成方法具体过程为:Specific embodiment one: illustrate this embodiment in conjunction with Fig. 1, a kind of wide null notch beamforming method based on compensating antenna pattern error of this embodiment specific process is:

步骤一:通过有源校正得到受误差影响天线对应的各个角度的天线方向图误差数据, 记为r(θ);Step 1: Obtain the antenna pattern error data of each angle corresponding to the antenna affected by the error through active correction, denoted as r(θ);

步骤二:对舰载高频地波雷达的回波数据进行脉冲压缩与相参积累处理,得到通道× 多普勒×距离三维谱数据,记为CDR;Step 2: Perform pulse compression and coherent accumulation processing on the echo data of the shipboard high-frequency ground wave radar to obtain channel × Doppler × range three-dimensional spectrum data, which is recorded as CDR;

步骤三:基于步骤一获得的误差数据r(θ),对原有的阵列导向矢量(没有误差的阵列 导向矢量)进行修正,得到受干扰的投影矩阵基于受干扰的投影矩阵得到归一化的修正正交加权方法权系数具体过程为:Step 3: Based on the error data r(θ) obtained in step 1, correct the original array steering vector (array steering vector without error) to obtain the disturbed projection matrix Based on the disturbed projection matrix Get the normalized modified orthogonal weighting method weight coefficient The specific process is:

步骤三一:由Bragg谐振散射原理与深水色散原理推得一阶Bragg频率为:Step 31: The first-order Bragg frequency is deduced from the principle of Bragg resonance scattering and the principle of deep water dispersion:

其中,fB为Bragg频率,Bragg频率为布拉格频率,f0为雷达工作频率,其单位为MHz;Among them, f B is the Bragg frequency, Bragg frequency is the Bragg frequency, f 0 is the radar operating frequency, and its unit is MHz;

步骤三二:通过步骤二所获三维谱数据CDR,找到多普勒单元对应的多普勒频率fd, 得到fd对应的海杂波的方位θiStep 32: Through the three-dimensional spectral data CDR obtained in step 2, find the Doppler frequency f d corresponding to the Doppler unit, and obtain the azimuth θ i of the sea clutter corresponding to f d :

其中,vp为舰载平台的移动速度,θi∈[0,2π];Among them, v p is the moving speed of the shipboard platform, θ i ∈ [0,2π];

步骤三三:方位θi海杂波对应的阵列导向矢量a(θi)为:Step 33: The array steering vector a(θ i ) corresponding to sea clutter in azimuth θ i is:

步骤三四:利用步骤一得到的方位为θi的天线方向图误差数据r(θi),构造修正后的 阵列导向矢量 Step 3 and 4: Use the antenna pattern error data r(θ i ) obtained in step 1 to construct the corrected array steering vector

其中,ο代表Hadamard积;r(θi)为受误差影响天线对应的海杂波的方位θi的天线方向图 误差数据;Wherein, ο represents the Hadamard product; r (θ i ) is the antenna pattern error data of the azimuth θ i of the sea clutter corresponding to the antenna affected by the error;

步骤三五:利用修正后的阵列导向矢量构造受干扰的投影矩阵 Step 3 and 5: Using the Corrected Array Steering Vectors Construct the disturbed projection matrix

其中,IM是阶数为阵元数M的单位阵,上角标H代表共轭转置;Among them, I M is the unit matrix whose order is the number of array elements M, and the superscript H represents the conjugate transpose;

步骤三六:利用受干扰的投影矩阵得到方位为θi海杂波对应的归一化的修正正交 加权方法权系数 Step 36: Utilize the disturbed projection matrix Get the weight coefficient of the normalized modified orthogonal weighting method corresponding to the sea clutter with the azimuth θ i

其中,s(θ)为扫描循环矢量,通过遍历θ(0°-360°)从而起到对所有角度进行扫描的 作用;Among them, s(θ) is the scanning cycle vector, which plays the role of scanning all angles by traversing θ(0°-360°);

步骤三七:通过遍历θi,得到所有海杂波对应的归一化的修正正交加权方法权系数 Step 37: By traversing θ i , obtain the normalized weight coefficients of the modified orthogonal weighting method corresponding to all sea clutter

步骤四:设置宽零陷的宽度为Δθ,在杂波方位θi附近Δθ内重构K个零陷,并将重构后零陷对应的修正的导向矢量代替步骤三中修正的导向矢量并按照步骤三中的方法,得到宽零陷波束形成方法权系数W;具体过程为:Step 4: Set the width of the wide null trap to Δθ, reconstruct K null traps within Δθ near the clutter orientation θ i , and use the corrected steering vector corresponding to the reconstructed null trap Instead of the steering vector corrected in step 3 And according to the method in step 3, the weight coefficient W of the wide null-notch beamforming method is obtained; the specific process is:

步骤四一:找到步骤三二中对应的海杂波方位θi,设置宽零陷的宽度为Δθ,改进后 重构的零陷个数为K,构造改进后的零陷对应的角度:Step 41: Find the sea clutter azimuth θ i corresponding to Step 32, set the width of wide nulls to Δθ, the number of reconstructed nulls after improvement is K, and construct the angle corresponding to the improved nulls:

其中,θk为改进后第k个零陷对应的角度;Among them, θ k is the angle corresponding to the kth null trap after improvement;

步骤四二:利用步骤四一得到的K个角度,构造对应的理想阵列导向矢量:Step 42: Use the K angles obtained in Step 41 to construct the corresponding ideal array steering vector:

步骤四三:构造修正后的阵列导向矢量 Step 43: Construct the corrected array steering vector

其中,r(θk)为受误差影响天线对应的第θk角度的天线方向图误差数据;Wherein, r(θ k ) is the antenna pattern error data of the θ kth angle corresponding to the antenna affected by the error;

步骤四四:利用修正后的阵列导向矢量构造宽零陷波束形成方法对应的投影 矩阵J:Step 44: Utilize the Corrected Array Steering Vectors Construct the projection matrix J corresponding to the wide null notch beamforming method:

其中,为修正后的阵列导向矢量矩阵, in, is the modified array-steering vector matrix,

步骤四五:利用宽零陷方法对应的投影矩阵J,得到方位为θj海杂波对应的宽零陷波 束形成方法权系数W:Step 4 and 5: Use the projection matrix J corresponding to the wide null notch method to obtain the weight coefficient W of the wide null notch beamforming method corresponding to the sea clutter at the azimuth θ j :

通过遍历θ(0°-360°)从而起到对所有角度进行扫描的作用;By traversing θ (0°-360°), it plays the role of scanning all angles;

步骤四六:通过遍历θi,得到所有海杂波对应的宽零陷波束形成方法权系数W;Step 46: By traversing θ i , obtain the weight coefficient W of the wide null-notch beamforming method corresponding to all sea clutter;

步骤五:利用步骤四得到的宽零陷波束形成方法权系数W对步骤二中得到的三维谱 数据CDR进行处理,得到抑制海杂波之后的角度×多普勒×距离三维谱数据。Step five: Use the weight coefficient W of the wide null-notch beamforming method obtained in step four to process the three-dimensional spectrum data CDR obtained in step two, and obtain the angle × Doppler × distance three-dimensional spectrum data after sea clutter is suppressed.

具体实施方式二:本实施方式与具体实施方式一不同的是:所述所述步骤一中通过有 源校正得到受误差影响天线对应的各个角度的天线方向图误差数据,记为r(θ);具体过 程为:Specific embodiment 2: The difference between this embodiment and specific embodiment 1 is that in said step 1, the antenna pattern error data of each angle corresponding to the antenna affected by the error is obtained through active correction, denoted as r(θ) ; The specific process is:

步骤一一:舰载高频地波雷达的接收阵列采用均匀线阵见图2,设阵元个数为M,阵元间距为d,雷达波长为λ=c/f0,c为光速,f0为雷达工作载频,在与雷达阵列摆放 夹角为θ的方位设立目标;Step 11: The receiving array of the shipboard high-frequency ground wave radar adopts a uniform linear array as shown in Fig. 2, the number of array elements is set as M, the distance between array elements is d, the radar wavelength is λ=c/f 0 , c is the speed of light, f 0 is the radar working carrier frequency, and the target is set up at the azimuth where the included angle with the radar array is θ;

步骤一二:阵列接收目标的回波数据,以第一个阵元得到的数据幅度为基础,将其他 阵元得到的数据幅度分别与第一个阵元的数据幅度作差,得到的差值记为该θ方向的幅度 扰动ρm(θ),m=1,2,...,M,Step 1 and 2: The array receives the echo data of the target, and based on the data amplitude obtained by the first array element, the data amplitude obtained by other array elements is respectively compared with the data amplitude of the first array element to obtain the difference Denoted as the amplitude disturbance ρ m (θ) in the θ direction, m=1,2,...,M,

其中,m代表第m个阵元,θ代表目标与雷达阵列摆放夹角;Among them, m represents the mth array element, and θ represents the angle between the target and the radar array;

以第一个阵元得到的数据相位为基础,将其他阵元得到的数据相位分别与第一个阵元 得到的数据相位作差值,再减去各阵元之间原有的相位差d/λ·(m-1)·cosθ,记为该θ方 向的相位扰动 Based on the data phase obtained by the first array element, the data phases obtained by other array elements are respectively compared with the data phase obtained by the first array element, and then the original phase difference d between each array element is subtracted /λ·(m-1)·cosθ, recorded as the phase disturbance in the θ direction

步骤一三:对得到的幅度扰动与相位扰动进行处理,得到方向为θ的天线方向图误差 数据上角标T代表转置,j为虚数单位,j2=-1;Step 13: Process the obtained amplitude disturbance and phase disturbance to obtain the error data of the antenna pattern with the direction θ Superscript T represents transpose, j is imaginary number unit, j 2 =-1;

对目标放置角度进行0°-360°旋转,进行间隔为1°的角度扫描,得到各个角度的天线 方向图误差数据。Rotate the target placement angle from 0° to 360°, scan the angle at an interval of 1°, and obtain the error data of the antenna pattern at each angle.

其它步骤及参数与具体实施方式一相同。Other steps and parameters are the same as those in Embodiment 1.

具体实施方式三:本实施方式与具体实施方式一或二不同的是:所述步骤二中对舰载 高频地波雷达的回波数据进行脉冲压缩与相参积累处理,得到通道×多普勒×距离三维谱 数据,记为CDR;具体过程为:Specific embodiment three: the difference between this embodiment and specific embodiment one or two is that in the step two, pulse compression and coherent accumulation are performed on the echo data of the shipboard high-frequency ground wave radar, and the channel × Doppler is obtained. Le × distance three-dimensional spectrum data, recorded as CDR; the specific process is:

步骤二一:对阵列接收到的目标的回波数据进行脉冲压缩,并做适当的N-1段截断处理,得到N个距离单元;Step 21: Perform pulse compression on the echo data of the target received by the array, and perform appropriate N-1 section truncation processing to obtain N range units;

步骤二二:对每个距离单元的全部积累回波作FFT处理,再进行相参积累,得到L个多普勒单元,最终得到通道(阵元个数)×多普勒×距离三维谱数据,记为CDR;Step 22: Perform FFT processing on all accumulated echoes of each range unit, and then perform coherent accumulation to obtain L Doppler units, and finally obtain channel (number of array elements)×Doppler×range three-dimensional spectrum data , denoted as CDR;

所述FFT为快速傅里叶变换。The FFT is a fast Fourier transform.

其它步骤及参数与具体实施方式一或二相同。Other steps and parameters are the same as those in Embodiment 1 or Embodiment 2.

具体实施方式四:本实施方式与具体实施方式一至三之一不同的是:所述步骤三六中 扫描循环矢量s(θ)=[s(θ),...,s(θ),...,s(θ)]T,其大小为M×1,s(θ)为扫描循环 矢量中第m个元素,s(θ)=ej·2π·(m-1)·d·cosθ/λ,m=1,2,...,M,上角标T代表转置。Embodiment 4: The difference between this embodiment and Embodiment 1 to 3 is that in the step 36, the scanning cycle vector s(θ)=[s (θ),...,s (θ) ,...,s (θ)] T , its size is M×1, s (θ) is the mth element in the scanning cycle vector, s (θ)=e j·2π·(m-1 )·d·cosθ/λ , m=1,2,...,M, superscript T represents transpose.

其它步骤及参数与具体实施方式一至三之一相同。Other steps and parameters are the same as those in Embodiments 1 to 3.

具体实施方式五:本实施方式与具体实施方式一至四之一不同的是:所述步骤五中 利用步骤四得到的宽零陷波束形成方法权系数W对步骤二中得到的三维谱数据CDR进行处理,得到抑制海杂波之后的角度×多普勒×距离三维谱数据;具体过程为:Specific embodiment five: the difference between this embodiment and one of the specific embodiments one to four is that in the step five, the weight coefficient W of the wide null notch beamforming method obtained in the step four is used to carry out the three-dimensional spectral data CDR obtained in the step two After the sea clutter is suppressed, the angle × Doppler × distance three-dimensional spectrum data is obtained; the specific process is:

步骤五一:选择步骤二中获取到的CDR数据,选择某一距离多普勒单元,根据多普勒对应单元找到海杂波所在方位,利用步骤四得到的宽零陷波束形成方法权系数W对某 一距离多普勒单元数据进行处理,得到滤除一个距离多普勒单元杂波后的角度谱;Step 51: Select the CDR data obtained in step 2, select a certain distance Doppler unit, find the location of the sea clutter according to the Doppler corresponding unit, and use the weight coefficient W of the wide zero-notch beamforming method obtained in step 4 Process the data of a range Doppler unit to obtain the angle spectrum after filtering out the clutter of a range Doppler unit;

步骤五二:遍历的距离多普勒单元,得到抑制海杂波之后的角度×多普勒×距离三维 谱数据。Step 52: Traverse the range-Doppler unit to obtain the angle × Doppler × range three-dimensional spectral data after sea clutter is suppressed.

其它步骤及参数与具体实施方式一至四之一相同。Other steps and parameters are the same as in one of the specific embodiments 1 to 4.

采用以下实施例验证本发明的有益效果:Adopt the following examples to verify the beneficial effects of the present invention:

实施例一:Embodiment one:

本实施例一种基于补偿天线方向图误差的宽零陷波束形成方法具体是按照以下步骤 实施的:In this embodiment, a wide null-notch beamforming method based on compensating antenna pattern errors is specifically implemented according to the following steps:

仿真参数如下表所示:The simulation parameters are shown in the table below:

表1舰载HFSWR系统参数设置Table 1 Shipborne HFSWR system parameter settings

表2仿真目标参数设置Table 2 Simulation target parameter settings

步骤一:通过有源校正的方式,对阵列的天线方向图进行测量,得到天线的每个角度 的天线方向图误差数据r(θ)。得到的实测天线幅度误差与相位误差如图3a、3b、3c、3d、3e、3f、3g、3h和图4a、4b、4c、4d、4e、4f、4g、4h所示。Step 1: Measure the antenna pattern of the array by means of active correction, and obtain the error data r(θ) of the antenna pattern for each angle of the antenna. The obtained measured antenna amplitude error and phase error are shown in Figures 3a, 3b, 3c, 3d, 3e, 3f, 3g, 3h and Figures 4a, 4b, 4c, 4d, 4e, 4f, 4g, 4h.

步骤二:对舰载高频地波雷达的回波数据进行脉冲压缩与相参积累处理,得到通道× 多普勒×距离三维谱数据,记为CDR,其大小为8×512×120。Step 2: Perform pulse compression and coherent accumulation processing on the echo data of the shipboard high-frequency ground wave radar to obtain channel × Doppler × range three-dimensional spectrum data, which is recorded as CDR, and its size is 8 × 512 × 120.

步骤三:通过获取到的误差数据r(θ),对原有的阵列导向矢量进行修正,得到受干扰的投影矩阵进而得到归一化的修正正交加权方法权系数修正后的权系数与传 统正交加权方法在误差环境下对应的天线方向图对比如图5所示。Step 3: Correct the original array steering vector through the obtained error data r(θ) to obtain the disturbed projection matrix Then get the normalized modified orthogonal weighting method weight coefficient The comparison between the corrected weight coefficients and the antenna pattern corresponding to the traditional orthogonal weighting method in the error environment is shown in Figure 5.

步骤四:在杂波形成的方位附近,宽零陷的宽度为Δθ=2°,改进后重构的零陷个数 为K=3,并将重构后的阵列导向矢量代替步骤三中原有的阵列导向矢量,得到宽零陷波束形成方法权系数W。宽零陷波束形成方法权与传统正交加权方法在误差环境下对应的 天线方向图对比如图6所示。Step 4: Near the azimuth formed by clutter, the width of the wide null is Δθ=2°, the number of reconstructed nulls after improvement is K=3, and the reconstructed array steering vector replaces the original one in step 3 The array steering vector is obtained, and the weight coefficient W of the wide null-notch beamforming method is obtained. The comparison of the antenna pattern corresponding to the weight of the wide null-notch beamforming method and the traditional orthogonal weighting method in the error environment is shown in Figure 6.

步骤五:利用得到的宽零陷波束形成方法的权系数对CDR数据进行处理,得到宽零陷的波束形成方法对舰载高频地波雷达回波数据处理结果,本发明方法与传统正交加权方法RD谱截面对比如图7a、7b所示,AD谱截面对比如图8a、8b所示,对应目标多普勒 截面对比如图9所示。Step 5: Utilize the weight coefficient of the obtained wide null notch beamforming method to process the CDR data, and obtain the wide null notch beamforming method to the shipboard high frequency ground wave radar echo data processing result, the inventive method and traditional orthogonal Figure 7a and 7b show the comparison of the RD spectrum section of the weighting method, Figures 8a and 8b show the comparison of the AD spectrum section, and Figure 9 shows the comparison of the corresponding target Doppler section.

仿真结果证明:The simulation results prove that:

观察图5可知,假设目标方位为120°,雷达正面对应海杂波的方位为60°,背面对应的海杂波方位为300°。由图可知,传统正交加权方法在误差条件下,天线方向图发生 畸变,无法在杂波对应方位形成零陷;而修正后的正交加权方法在对目标信号120°的方 位进行有效估计的同时,对两个海杂波方位60°与300°处形成了零陷,可以对杂波形成 有效的过滤。Observing Figure 5, it can be seen that assuming the target azimuth is 120°, the azimuth corresponding to the sea clutter on the front of the radar is 60°, and the azimuth corresponding to the sea clutter on the back is 300°. It can be seen from the figure that under the error condition, the traditional orthogonal weighting method distorts the antenna pattern and cannot form a null at the azimuth corresponding to the clutter; while the modified orthogonal weighting method can effectively estimate the azimuth of the target signal at 120° At the same time, null traps are formed at the azimuths of 60° and 300° for the two sea clutters, which can effectively filter the clutter.

观察图6可知,假设目标方位为120°,雷达正面对应海杂波的方位为60°,背面对应的海杂波方位为300°。由图可知,宽零陷波束形成方法相较于常规正交加权方法其零 陷更宽;在受到天线方向图误差影响时,传统正交加权方法失效,而宽零陷的波束形成方 法依旧可以在对应杂波方位形成宽零陷,从而达到抑制杂波的目的。Observing Figure 6, it can be seen that assuming the target azimuth is 120°, the azimuth corresponding to the sea clutter on the front of the radar is 60°, and the azimuth corresponding to the sea clutter on the back is 300°. It can be seen from the figure that the wide null notch beamforming method has a wider null than the conventional orthogonal weighting method; when affected by the antenna pattern error, the traditional orthogonal weighting method fails, while the wide null notch beamforming method can still A wide null is formed in the corresponding clutter azimuth, so as to achieve the purpose of suppressing clutter.

观察图7a、7b与图8a、8b。由图可知,传统的正交加权方法在天线方向图误差环境下,无法对展宽的海杂波进行抑制,目标淹没于海杂波中;本发明所提方法则可对误差条件下的海杂波进行抑制,目标明显显露出来。Observe Figures 7a, 7b and Figures 8a, 8b. It can be seen from the figure that the traditional orthogonal weighting method cannot suppress the widened sea clutter under the error environment of the antenna pattern, and the target is submerged in the sea clutter; the method proposed in the present invention can suppress the sea clutter under the error condition Suppression is performed, and the target is clearly revealed.

观察图9,经计算,两种方法的抑制结果如表3所示。由图9与表3可知,在误差环 境下,传统正交加权方法与未抑制前效果相当,而本发明方法,在对目标峰值功率影响较 小的情况下,大幅度改善了海杂波平均功率与信杂噪比两项指标,以此证明的本发明的有 效性。利用本发明中提出的基于补偿天线方向图误差的宽零陷波束形成方法对舰载高频地波雷达回波数据进行处理,解决了在误差条件下,传统正交加权方法无法对展宽海杂波进行抑制的问题。Looking at Figure 9, the inhibition results of the two methods are shown in Table 3 after calculation. It can be seen from Fig. 9 and Table 3 that in the error environment, the traditional orthogonal weighting method has the same effect as that before no suppression, while the method of the present invention greatly improves the sea clutter average Two indexes of power and signal-to-noise ratio prove the effectiveness of the present invention. Utilize the wide null notch beamforming method based on compensating the antenna pattern error proposed in the present invention to process the echo data of the shipboard high-frequency ground wave radar, and solve the problem that the traditional orthogonal weighting method cannot correct the widened sea clutter under error conditions. problem of wave suppression.

表3方法抑制结果Table 3 method inhibition results

本发明还可有其它多种实施例,在不背离本发明精神及其实质的情况下,本领域技术 人员当可根据本发明作出各种相应的改变和变形,但这些相应的改变和变形都应属于本发 明所附的权利要求的保护范围。The present invention can also have other various embodiments, without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and deformations according to the present invention, but these corresponding changes and deformations are all Should belong to the scope of protection of the appended claims of the present invention.

Claims (5)

1. A wide zero notch beam forming method based on compensation antenna directional diagram errors is characterized in that: the method comprises the following specific processes:
the method comprises the following steps: obtaining antenna directional diagram error data of each angle corresponding to the antenna affected by the error through active correction, and recording the antenna directional diagram error data as r (theta);
step two: performing pulse compression and coherent accumulation processing on echo data of the ship-borne high-frequency ground wave radar to obtain three-dimensional spectrum data of channel multiplied by Doppler multiplied by distance, and recording the three-dimensional spectrum data as CDR;
step three: based on the error data r (theta) obtained in the step one, the original array guide vector is corrected to obtain the interfered projection matrixDisturbed based projection matrixObtaining normalized modified orthogonal weighting method weight coefficientsThe specific process is as follows:
step three, firstly: the first-order Bragg frequency is derived from the Bragg resonance scattering principle and the deep water dispersion principle:
wherein f isBIs the Bragg frequency, the Bragg frequency is the Bragg frequency, f0Is the radar operating frequency, which is in MHz;
step three: finding out the Doppler frequency f corresponding to the Doppler unit through the three-dimensional spectral data CDR obtained in the step twodTo obtain fdAzimuth theta of corresponding sea clutteri
Wherein v ispIs the moving speed of the ship-based platform, thetai∈[0,2π];
Step three: orientation thetaiArray steering vector a (theta) corresponding to sea clutteri) Comprises the following steps:
step three and four: the azimuth theta obtained by the step oneiAntenna pattern error data r (theta)i) Constructing a corrected array steering vector
Wherein,represents a Hadamard product; r (theta)i) Azimuth theta of sea clutter corresponding to the error-affected antennaiAntenna pattern error data of (a);
step three and five: using modified array steering vectorsConstructing disturbed projection matrices
Wherein, IMThe unit array with the order of the array element number M is adopted, and the superscript H represents the conjugate transpose;
step three and six: using disturbed projection matricesObtaining an orientation of thetaiNormalized corrected orthogonal weighting method weight coefficient corresponding to sea clutter
Wherein s (theta) is a scanning circulation vector, and all angles are scanned by traversing theta;
step three, pseudo-ginseng: by traversing thetaiObtaining the normalized correction orthogonal weighting method weight coefficient corresponding to all the sea clutter
Step four: setting the width of the wide null as delta theta and theta in clutter azimuthiReconstructing K nulls in the vicinity of delta theta, and corresponding modified guide vectors to the reconstructed nullsGuide vector replacing correction in step threeObtaining a wide zero-trap beam forming method weight coefficient W according to the method in the third step; the specific process is as follows:
step four, firstly: finding out the corresponding sea clutter azimuth theta in the third step and the second stepiSetting the width of the wide null as delta theta, and constructing the corresponding angle of the improved null, wherein the reconstructed null number is K after improvement:
wherein, thetakThe angle corresponding to the k-th null is improved;
step four and step two: constructing a corresponding ideal array guide vector by using the K angles obtained in the first step:
step four and step three: constructing a modified array steering vector
Wherein, r (theta)k) Theta corresponding to the antenna affected by the errorkAngular antenna pattern error data;
step four: using modified array steering vectorsConstructing a projection matrix J corresponding to the wide zero-trap beam forming method:
wherein,the vector matrix is steered to the array after modification,
step four and five: obtaining a projection matrix J corresponding to the wide null method to obtain the azimuth thetajForming a method weight coefficient W by a wide zero-trap beam corresponding to the sea clutter:
scanning all angles by traversing theta;
step four and six: by traversing thetaiObtaining wide zero-trapped wave beam forming method weight coefficients W corresponding to all sea clutter;
step five: and (4) processing the three-dimensional spectral data CDR obtained in the step (II) by using the wide zero-notch beam forming method weight coefficient W obtained in the step (IV) to obtain angle multiplied by Doppler multiplied by distance three-dimensional spectral data after sea clutter suppression.
2. The method of claim 1, wherein the wide null notch beamforming method is based on compensating antenna pattern errors, and comprises: obtaining antenna directional diagram error data of each angle corresponding to the antenna affected by the error through active correction in the first step, and recording the antenna directional diagram error data as r (theta); the specific process is as follows:
the method comprises the following steps: the receiving array of the ship-borne high-frequency ground wave radar adopts a uniform linear array, the number of array elements is M, the spacing between the array elements is d, and the wavelength of the radar is lambda ═ c/f0C is the speed of light, f0Setting a target for a radar working carrier frequency in a direction with an included angle theta with the radar array;
the first step is: the array receives echo data of a target, on the basis of the data amplitude obtained by the first array element, the data amplitudes obtained by other array elements are respectively differed with the data amplitude of the first array element, and the obtained difference is recorded as the amplitude disturbance rho in the theta directionm(θ),m=1,2,...,M;
Wherein m represents the mth array element, and theta represents the arrangement included angle between the target and the radar array;
based on the data phase obtained by the first array element, the data phases obtained by other array elements are respectively differenced with the data phase obtained by the first array element, and then the original phase difference d/lambda (m-1) · cos theta among the array elements is subtracted, and the difference is recorded as the phase perturbation in the theta direction
Step one is three: processing the obtained amplitude disturbance and phase disturbance to obtain antenna directional diagram error data with the direction of thetaThe superscript T stands for transpose, j is an imaginary unit, j2=-1;
And rotating the target placement angle by 0-360 degrees, and scanning the target placement angle at intervals of 1 degree to obtain antenna directional diagram error data of each angle.
3. The method of claim 2, wherein the wide null notch beamforming method is based on compensating antenna pattern errors, and comprises: in the second step, the echo data of the ship-borne high-frequency ground wave radar is subjected to pulse compression and coherent accumulation processing to obtain three-dimensional spectrum data of channel multiplied by Doppler multiplied by distance, and the three-dimensional spectrum data is recorded as CDR; the specific process is as follows:
step two, firstly: performing pulse compression on echo data of a target received by the array, and performing N-1 section truncation processing to obtain N distance units;
step two: performing FFT processing on all accumulated echoes of each distance unit, and performing coherent accumulation to obtain L Doppler units, and finally obtaining three-dimensional spectral data of channel multiplied by Doppler multiplied by distance, which is recorded as CDR;
the FFT is a fast fourier transform.
4. The method of claim 3, wherein the wide null notch beamforming method is based on compensating antenna pattern errors, and comprises: scanning cycle vector s (theta) ═ s in the third step and the sixth step(θ),...,s(θ),...,s(θ)]TThe size of which is Mx 1, s(theta) is the mth element in the scan cycle vector,the superscript T stands for transpose.
5. The method of claim 4, wherein the wide null notch beamforming method comprises: processing the three-dimensional spectral data CDR obtained in the step two by using the weight coefficient W of the wide zero-trap beam forming method obtained in the step four to obtain angle multiplied by Doppler multiplied by distance three-dimensional spectral data after sea clutter is suppressed; the specific process is as follows:
step five, first: selecting the CDR data acquired in the step two, selecting a certain range-Doppler unit, finding the position of the sea clutter according to the Doppler corresponding unit, and processing the data of the certain range-Doppler unit by using the wide zero notch beam forming method weight coefficient W obtained in the step four to obtain an angle spectrum with one range-Doppler unit clutter filtered;
step five two: and traversing the range-Doppler unit to obtain angle multiplied by Doppler multiplied by range three-dimensional spectral data after sea clutter is inhibited.
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