CN110673086A - Two-dimensional angle super-resolution method based on digital array radar - Google Patents
Two-dimensional angle super-resolution method based on digital array radar Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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- G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
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Abstract
The invention discloses a two-dimensional angle super-resolution method based on a digital array radar, which comprises the following steps: step 1: receiving echo signals reflected by a target through a digital array radar multi-channel to perform azimuth calculation, and generating a target signal vector of the target; step 2: carrying out covariance matrix calculation and decomposition according to the target signal vector to generate a characteristic vector matrix; and step 3: respectively selecting a signal subspace and a noise subspace from the feature vector matrix according to the target signal vector; and 4, step 4: and searching a two-dimensional spectrum peak according to the echo signal and the noise subspace, and judging the position of the target. The system breaks through the limitation of single-pulse angle measurement by an amplitude method, realizes the estimation of the direction of arrival of a plurality of high-precision measurement target points under a complex background, and is better applied to engineering practice.
Description
Technical Field
The invention relates to the technical field of angle super-resolution, in particular to a two-dimensional angle super-resolution method based on a digital array radar.
Background
The traditional radar angle measurement mode is monopulse angle measurement, and when a monopulse antenna measures the angle of a target, only one target is usually in a main lobe of a sum beam. When a plurality of targets appear in the main lobe of the sum beam, the traditional monopulse angle measurement method cannot distinguish the targets, so that the angle measurement error is obviously increased. Especially under complex interference background conditions, multiple indistinguishable targets appear in the monopulse antenna and the main lobe of the beam, resulting in erroneous target detection and tracking.
The digital array radar cancels parts such as an analog phase shifter unit, a power division network, a sum and difference device and the like of an analog phased array radar, converts microwave signals into digital signals in a full digital receiving mode, realizes multi-target resolution in wave beams through an angle super-resolution technology in array signal processing, improves the resolution capability of dense targets, avoids the defect that the angle measurement of single or more targets in the wave beams cannot be realized by a traditional mechanical scanning and analog system, and obviously increases the operational performance and the anti-interference capability of the radar.
Patent CN 104122548A: the method mainly comprises the steps of calculating a search weight vector of a pulse echo signal received by an antenna array, constructing a cost function, calculating an off-axis angle of a target according to the cost function, and effectively solving the problem of low angle measurement precision of the machine-scanning meter-wave array radar. The method has the advantages of small angle measurement error, high precision and good robustness, can be used for accurate positioning and target tracking of the machine-scanning meter-wave array radar on the target, but is not suitable for digital array radar signal processing and still does not meet the high-precision angle measurement requirement of the radar.
Patent CN 104698432A: a missile-borne radar angle measurement method based on a phased array antenna is introduced, the method is used for completing scanning of wave beams in four different directions by controlling the phased array antenna, firstly, amplitude of each wave beam direction is obtained respectively, and then, sum and difference signal amplitude is obtained by a calculation method capable of eliminating errors caused by distance change, so that angle measurement is carried out. The invention provides the angle measurement method with simple hardware structure, better angle measurement precision and low cost, but the method is not suitable for the digital array radar, can not realize the simultaneous detection of a plurality of targets, and still can not meet the requirement of the radar on high-precision angle measurement.
An angle super-resolution method based on a digital array radar is introduced in an angle super-resolution estimation algorithm research based on a digital array radar seeker disclosed in Shanghai space journal of No. 1 in 2016. The method carries out secondary derivation on the space spectrum of the multi-signal classification (MUSIC) algorithm, searches the negative spectral peak of the space spectrum, obtains higher multi-target angular resolution and angle estimation precision, and verifies the effectiveness and feasibility of the angle super-resolution estimation algorithm under different conditions through simulation. However, the method cannot realize two-dimensional angle measurement in the distance direction and the azimuth direction and cannot meet the angle measurement requirement of the planar phased array.
In the journal of radar and countermeasure 3 in 2014, a two-dimensional digital array radar and difference beam angle measurement method based on a window function is disclosed in a literature, namely a two-dimensional digital array radar and difference beam angle measurement method. The method can ensure that the angle measurement error signal is basically unchanged under the condition of large amplitude-phase noise, and the deviation of the target angle relative to the main beam is determined by using the sign of the imaginary part of the conjugate product of the sum beam and the difference beam, thereby simplifying the calculation process for determining the deviation of the target and providing the detailed process for measuring the angle by the digital sum and difference beams in the digital array radar. Although the method has good angle measurement performance, multi-target observation cannot be realized.
Disclosure of Invention
The invention aims to provide a two-dimensional angle super-resolution method based on a digital array radar. The method aims to break through the limitation of single-pulse angle measurement compared with an amplitude method, realize the estimation of the direction of arrival of a plurality of high-precision measurement target points under a complex background, and be better applied to engineering practice.
In order to achieve the above object, the present invention provides a two-dimensional angle super-resolution method based on digital array radar, which comprises the following steps:
step 1: receiving echo signals reflected by a target through a digital array radar multi-channel to perform azimuth calculation, and generating a target signal vector of the target;
step 2: carrying out covariance matrix calculation and decomposition according to a target signal vector of a target to generate a characteristic vector matrix;
and step 3: respectively selecting a signal subspace and a noise subspace from the feature vector matrix according to a target signal vector of a target;
and 4, step 4: and searching a two-dimensional spectrum peak according to the echo signal and the noise subspace, and judging the position of the target.
Most preferably, the echo signal comprises a complex envelope vector s (t) of the echo signal, a steering vector of the echo signal
And the noise vector n (t) of the target.
Most preferably, the orientation calculation comprises the steps of:
step 1.1: steering vector based on echo signal
Calculating a directional matrix of the target
And satisfies the following conditions:
wherein the content of the first and second substances,
a steering vector of the ith echo signal;
step 1.2: direction matrix according to the target
Calculating the target direction by the complex envelope vector S (t) of the echo signal and the noise vector N (t) of the target to generate a target signal vector of the target; target signal vectorIs X (t) and satisfies:
wherein, θ and
respectively an azimuth angle and a pitch angle of the target; the complex envelope vector s (t) satisfies:
S(t)＝[s1(t),s2(t),…,sp(t)]T
wherein S isiAnd (T) is a complex envelope vector of the ith echo signal, p is the number of incoherent wave sources received by a space two-dimensional area array of the digital array radar, and superscript T is a transposition function.
Most preferably, the i-th signal steering vector is obtained when the spatial two-dimensional arrays of the digital array radar are equally spacedSatisfies the following conditions:
the space two-dimensional area array of the digital array radar consists of N multiplied by M same-polarity array elements;
phase error between array elements in a pitching direction; phiA(θi) Is the phase error between the array elements in the azimuth direction and respectively meets the following requirements:
ΦA(θi)＝j2πdsinθi/λ
wherein, λ is the wavelength of the digital array radar receiving signal; d is the array element spacing.
Most preferably, the covariance matrix calculation and decomposition further comprises the steps of:
step 2.1: performing covariance matrix calculation according to the target signal vector X (t) to generate covariance matrix RxAnd satisfies the following conditions:
wherein A issA direction matrix of a target signal source; i is a unit array;
is the noise power; superscripts T and H are a transposition function and a conjugate transposition function, respectively; rsIs a covariance matrix of the signal source and satisfies:
RS＝E[S(t)SH(t)]；
step 2.2: for covariance matrix RxAnd decomposing the eigenvalue to decompose an eigenvector matrix U, wherein the eigenvalue matrix U meets the following requirements:
RX＝UΣUH
wherein Σ is a diagonal matrix composed of feature values.
Most preferably, the selected signal subspace and noise subspace in the feature vector matrix U are selected according to the number P of targets in the field of view of the digital array radar in the target information.
Most preferably, the eigenvector matrix U of the selected signal subspaceSEigenvector matrix U of sum noise subspaceNFurther comprising the steps of:
step 3.1: arranging all the N multiplied by M eigenvalues of the eigenvector matrix U according to the numerical value;
step 3.2: selecting the eigenvector matrixes with the same number as the target number P from the numerical value of the eigenvalue to the small value of the eigenvalue as the eigenvector matrix U of the signal subspaceS；
Step 3.3: using the feature vector matrix corresponding to the residual N multiplied by M-P feature values as the feature vector matrix U of the noise subspaceNAnd satisfies the following conditions:
wherein, sigmasA diagonal matrix is formed of eigenvalues of the signal subspace.
Most preferably, the two-dimensional spectral peak search further comprises the steps of:
step 4.1: based on steering vector of echo signal in echo signalEigenvector matrix U of sum noise subspaceNCalculating a two-dimensional spatial spectrum function; two-dimensional spatial spectral function of P2D-MUSICAnd satisfies the following conditions:
step 4.2: by applying a two-dimensional spatial spectral function P2D-MUSICSearching a two-dimensional spectral peak to search a maximum value point of a two-dimensional spatial spectral function;
step 4.3: calculating the azimuth angle theta and the pitch angle corresponding to the maximum point
I.e. the directional position of the target, and satisfies:
by applying the method, the limitation of single-pulse angle measurement by an amplitude-contrast method is broken through, the estimation of the direction of arrival of a plurality of high-precision measurement target points under a complex background is realized, and the method is better applied to engineering practice.
Compared with the prior art, the invention has the following beneficial effects:
1. the method has the advantages of simple design, small calculated amount, good universality and easy engineering realization.
2. The method has high target angle measurement precision, and can realize rapid and correct measurement of the target angle in a dense clutter environment.
3. The method breaks through the limitation of single-pulse angle measurement by an amplitude comparison method, and realizes the estimation of the direction of arrival of a plurality of high-precision measurement target points under a complex background.
Drawings
FIG. 1 is a flow chart of a two-dimensional angle super-resolution method provided by the present invention;
FIG. 2 is a three-dimensional schematic diagram of experimental results of a two-dimensional angle super-resolution method provided by the invention;
FIG. 3 is a top view of experimental results of the two-dimensional angular super-resolution method provided by the present invention.
Detailed Description
The invention will be further described by the following specific examples in conjunction with the drawings, which are provided for illustration only and are not intended to limit the scope of the invention.
The invention discloses a two-dimensional angle super-resolution method based on a digital array radar, which comprises the following steps as shown in figure 1:
step 1: receiving echo signals reflected by a target through a digital array radar multi-channel to perform azimuth calculation, and generating a target signal vector X (t) of the target; the echo signal comprises a complex envelope vector S (t) of the echo signal, a steering vector of the echo signal
And a noise vector n (t) of the target;
FIGS. 2 and 3 show the azimuth angle theta and the pitch angle theta of three incoherent sources when the number of uniform area array lines of the digital array radar is 8, the number of columns is 10, the array element spacing is half wavelengthRespectively (6 °, -5 °), (6 °,5 °), (0 ° ), the fast beat number is 200, the experimental result schematic diagram of the two-dimensional angular super-resolution method is performed when the signal-to-noise ratio is 20dB, fig. 2 is a three-dimensional schematic diagram of the experimental result, and fig. 3 is a top view of the experimental result.
Wherein, the azimuth calculation comprises the following steps:
step 1.1: from steering vectors in the echo signal
Calculating a directional matrix of the target
And satisfies the following conditions:
wherein the content of the first and second substances,
a steering vector of the ith echo signal; when the space two-dimensional area array of the digital array radar is equidistant, the guide vector of the ith signalSatisfies the following conditions:
the space two-dimensional area array of the digital array radar consists of N multiplied by M same-polarity array elements;
phase error between array elements in a pitching direction; phiA(θi) Is the phase error between the array elements in the azimuth direction and respectively meets the following requirements:
ΦA(θi)＝j2πdsinθi/λ
wherein, λ is the wavelength of the digital array radar receiving signal; d is the array element spacing.
Step 1.2: direction matrix according to the target
Complex envelope vector of echo signalCalculating the target direction with the quantity S (t) and the noise vector N (t) of the target to generate a target signal vector of the target; the target signal vector is X (t) and satisfies:
wherein, θ and
respectively an azimuth angle and a pitch angle of the target; the complex envelope vector s (t) satisfies:
S(t)＝[s1(t),s2(t),…,sp(t)]T
wherein S isiAnd (T) is a complex envelope vector of the ith echo signal, p is the number of incoherent wave sources received by a space two-dimensional area array of the digital array radar, and superscript T is a transposition function.
Step 2: carrying out covariance matrix calculation and decomposition according to a target signal vector X (t) of a target to generate a characteristic vector matrix U; the covariance matrix calculation and decomposition further comprises the steps of:
step 2.1: performing covariance matrix calculation according to target signal vector X (t) of target to generate covariance matrix RxAnd satisfies the following conditions:
wherein A issA direction matrix of a target signal source; i is a unit array;
is the noise power; superscripts T and H are a transposition function and a conjugate transposition function, respectively; rsIs a covariance matrix of the signal source and satisfies:
RS＝E[S(t)SH(t)]；
step 2.2: for covariance matrix RxAnd decomposing the eigenvalue to decompose an eigenvector matrix U, wherein the eigenvalue matrix U meets the following requirements:
RX＝UΣUH
wherein Σ is a diagonal matrix composed of feature values.
And step 3: a signal subspace and a noise subspace are respectively selected from the feature vector matrix U in accordance with the target signal vector x (t) of the target.
The signal subspace and the noise subspace selected in the characteristic vector matrix U are selected according to the number P of targets in the field range of the digital array radar in the target information; eigenvector matrix U of selected signal subspaceSEigenvector matrix U of sum noise subspaceNFurther comprising the steps of:
step 3.1: arranging all the N multiplied by M eigenvalues of the eigenvector matrix U according to the numerical value;
step 3.2: selecting the eigenvector matrixes with the same number as the target number P from the numerical values of the N multiplied by M eigenvalues to the small values as the eigenvector matrix U of the signal subspaceS；
Step 3.3: using the feature vector matrix corresponding to the residual N multiplied by M-P feature values as the feature vector matrix U of the noise subspaceNAnd satisfies the following conditions:
wherein, sigmasA diagonal matrix is formed of eigenvalues of the signal subspace.
And if the number P of the targets in the field range of the digital array radar is 3, selecting subspaces corresponding to 3 larger eigenvalues as signal subspaces, and taking the subspaces corresponding to the rest NxM-3 eigenvalues as noise subspaces.
And 4, step 4: searching a two-dimensional spectrum peak according to the echo signal and the noise subspace, and judging the position of a target; the two-dimensional spectral peak search further comprises the following steps:
step 4.1: based on steering vector of echo signal in echo signal
And features of said noise subspaceVector matrix UNCalculating a two-dimensional spatial spectrum function; two-dimensional spatial spectral function of P2D-MUSICAnd satisfies the following conditions:
step 4.2: by applying a two-dimensional spatial spectral function P2D-MUSICSearching a two-dimensional spectral peak to search a maximum value point of a two-dimensional spatial spectral function;
step 4.3: calculating the azimuth angle theta and the pitch angle corresponding to the maximum pointI.e. the directional position of the target, and satisfies:
the working principle of the invention is as follows:
receiving echo signals reflected by a target through a digital array radar multi-channel to perform azimuth calculation, and generating a target signal vector of the target; carrying out covariance matrix calculation and decomposition according to the target signal vector to generate a characteristic vector matrix; respectively selecting a signal subspace and a noise subspace from the feature vector matrix according to the target signal vector; and searching a two-dimensional spectrum peak according to the echo signal and the noise subspace, and judging the position of the target.
In conclusion, the method breaks through the limitation of single-pulse angle measurement by an amplitude method, realizes the estimation of the direction of arrival of a plurality of high-precision measurement target points under a complex background, and is better applied to engineering practice.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (8)
1. A two-dimensional angle super-resolution method based on a digital array radar is characterized by comprising the following steps:
step 1: receiving echo signals reflected by a target through a digital array radar multi-channel to perform azimuth calculation, and generating a target signal vector of the target;
step 2: carrying out covariance matrix calculation and decomposition according to the target signal vector to generate a characteristic vector matrix;
and step 3: respectively selecting a signal subspace and a noise subspace from the feature vector matrix according to the target signal vector;
and 4, step 4: and searching a two-dimensional spectrum peak according to the echo signal and the noise subspace, and judging the position of the target.
2. The two-dimensional angle super-resolution method based on digital array radar according to claim 1, wherein the echo signal comprises a complex envelope vector s (t) of the echo signal, a steering vector of the echo signal
And the noise vector n (t) of the target.
3. The two-dimensional angular super resolution method based on digital array radar according to claim 2, wherein said azimuth calculation comprises the steps of:
step 1.1: steering vector based on the echo signal
Calculating a directional matrix of the target
And satisfies the following conditions:
wherein the content of the first and second substances,a steering vector of the ith echo signal;
step 1.2: according to the direction matrix of the target
Calculating the target direction by the complex envelope vector S (t) of the echo signal and the noise vector N (t) of the target to generate a target signal vector of the target; the target signal vector is X (t) and satisfies:
wherein, θ and
respectively an azimuth angle and a pitch angle of the target; the complex envelope vector s (t) satisfies:
S(t)＝[s1(t),s2(t),…,sp(t)]T
wherein S isiAnd (T) is a complex envelope vector of the ith echo signal, p is the number of incoherent wave sources received by a space two-dimensional area array of the digital array radar, and superscript T is a transposition function.
4. The two-dimensional angle super-resolution method based on digital array radar as claimed in claim 3, wherein the steering vector of the ith signal is obtained when the spatial two-dimensional area array of the digital array radar is equally spaced
Satisfies the following conditions:
therein, numberThe space two-dimensional area array of the character array radar consists of N multiplied by M same-polarity array elements;
phase error between array elements in a pitching direction; phiA(θi) Is the phase error between the array elements in the azimuth direction and respectively meets the following requirements:
ΦA(θi)＝j2πdsinθi/λ
wherein, λ is the wavelength of the digital array radar receiving signal; d is the array element spacing.
5. The two-dimensional angular super resolution method based on digital array radar according to claim 4, wherein the covariance matrix calculation and decomposition further comprises the steps of:
step 2.1: performing covariance matrix calculation according to the target signal vector X (t) to generate a covariance matrix RxAnd satisfies the following conditions:
wherein A issA direction matrix of a target signal source; i is a unit array;
is the noise power; superscripts T and H are a transposition function and a conjugate transposition function, respectively; rsIs a covariance matrix of the signal source and satisfies:
RS＝E[S(t)SH(t)]；
step 2.2: for the covariance matrix RxAnd decomposing the eigenvalue to decompose an eigenvector matrix U, wherein the eigenvalue matrix U meets the following requirements:
RX＝UΣUH
wherein Σ is a diagonal matrix composed of feature values.
6. The two-dimensional angular super resolution method based on digital array radar according to claim 5, wherein the signal subspace and the noise subspace selected in the eigenvector matrix U are selected according to the number P of targets in the field of view of the digital array radar in the target information.
7. The two-dimensional angular super resolution method based on digital array radar according to claim 6, wherein the eigenvector matrix U of the selected signal subspaceSEigenvector matrix U of sum noise subspaceNFurther comprising the steps of:
step 3.1: arranging all the N multiplied by M eigenvalues of the eigenvector matrix U according to the numerical value;
step 3.2: selecting the eigenvector matrixes with the same number as the target number P from the numerical values of the eigenvalues to the small values as an eigenvector matrix U of a signal subspaceS；
Step 3.3: using the feature vector matrix corresponding to the residual N multiplied by M-P feature values as a feature vector matrix U of the noise subspaceNAnd satisfies the following conditions:
wherein, sigmasA diagonal matrix is formed of eigenvalues of the signal subspace.
8. The two-dimensional angular super resolution method based on digital array radar according to claim 7, wherein said two-dimensional spectral peak search further comprises the steps of:
step 4.1: according to the steering vector of the echo signal in the echo signal
And a feature vector matrix U of said noise subspaceNCalculating a two-dimensional spatial spectral function(ii) a The two-dimensional spatial spectrum function is P2D-MUSICAnd satisfies the following conditions:
step 4.2: by applying to said two-dimensional spatial spectral function P2D-MUSICSearching a two-dimensional spectral peak to search a maximum value point of the two-dimensional spatial spectral function;
step 4.3: calculating the azimuth angle theta and the pitch angle corresponding to the maximum point
I.e. the directional position of the target, and satisfies:
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| CN114879139B (en) * | 2022-07-13 | 2022-09-23 | 广东大湾区空天信息研究院 | Joint angle measurement method and device for vehicle-mounted 4D millimeter wave radar and related equipment |
| CN116106847A (en) * | 2023-01-18 | 2023-05-12 | 珠海微度芯创科技有限责任公司 | Millimeter wave radar two-dimensional combined super-resolution angle measurement method, device and storage medium |
| CN116106847B (en) * | 2023-01-18 | 2023-11-07 | 珠海微度芯创科技有限责任公司 | Millimeter wave radar two-dimensional combined super-resolution angle measurement method, device and storage medium |
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