CN110764059B - Method for transmitting and receiving vertical beam three-coordinate phased array radar - Google Patents
Method for transmitting and receiving vertical beam three-coordinate phased array radar Download PDFInfo
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- CN110764059B CN110764059B CN201911068407.7A CN201911068407A CN110764059B CN 110764059 B CN110764059 B CN 110764059B CN 201911068407 A CN201911068407 A CN 201911068407A CN 110764059 B CN110764059 B CN 110764059B
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
Abstract
The invention provides a transmitting and receiving vertical beam three-coordinate phased array radar method which comprises the steps of designing a transmitting and receiving vertical beam phased array antenna, adopting an MIMO radar processing algorithm, improving the radar detection data rate, adopting a super-resolution direction finding method, realizing accurate direction finding, adopting a sum and difference beam angle finding method and realizing high-precision angle finding. The receiving and transmitting antennas adopt one-dimensional phased array antennas, receive multiple beams simultaneously at the azimuth dimension and transmit single beams of the antennas; receiving single wave beams of the antenna in the pitching dimension and transmitting multiple wave beams of the antenna; assuming that the transmitting antenna is an Nx1 vector and the receiving antenna is a 1 xM vector, through algorithm cooperation, an NxM matrix can be generated at the same time, the resolution capability of a two-dimensional phased array is realized, and simultaneously, the data rate is improved, so that the requirements of low-speed and small-target detection are met.
Description
Field of the method
The invention relates to a phased array radar system, in particular to a method for transmitting and receiving a vertical beam three-coordinate phased array radar.
Background method
Domestic unmanned aerial vehicle control system develops rapidly in recent years, but anti-unmanned aerial vehicle system that can be practical under the complex environment is rare, and the main problem wherein is the problem that the radar reliably detected unmanned aerial vehicle under the complex environment. Unmanned aerial vehicle detection belongs to low-slow small target detection, and domestic low-slow small target detection radars mainly comprise the following three types:
first, the anti unmanned aerial vehicle radar of three-dimensional that two coordinate radar pieced together, this type of radar gets up comparatively conveniently. But the performance of the radar cannot meet the detection requirement in a complex background.
And the second type is a high-performance low-speed small target detection radar represented by a medium-power array radar, and the radar has the capability of detecting and scanning at the same time, and can provide the tracking capability of high data rate for a heavy target on the basis of ensuring the detection capability. However, the radar is high in manufacturing cost, the price of the radar is over 400 ten thousand yuan, and the cost is hard to bear in common application occasions.
The third type is radar with low speed and high detection performance, which has the capability of detecting and scanning at the same time, but is a mechanical scanning system in the direction, so that the data rate is low, and the radar can not be suitable for tracking when the unmanned aerial vehicle maneuvers; in addition, the radar is mechanically scanned, and the improvement factor index is seriously influenced by the modulation of an antenna directional diagram, so the detection capability of a small target is still insufficient under a complex background.
Further: in the traditional centralized radar system, the receiving and transmitting antennas are necessarily identical in beam coverage and beam scheduling, that is, at the same time, the spatial coverage is identical and the beam changes are identical, so that the energy utilization rate can be ensured. Aiming at the detection of low-slow small targets, particularly consumer-grade unmanned aerial vehicles, severe environments such as urban background need to be considered, the improvement factor of the radar is required to be greater than 65dB, and under the requirement, the radar needs to adopt a phased array system (the improvement factor of a mechanical scanning system is difficult to exceed 50 dB).
The measurement of the target three-coordinate (azimuth, elevation, distance) is completed by adopting a classical phased array body, and then a two-dimensional phased array needs to be adopted, which brings two main problems:
a) assuming that the number of channels required by the 1-dimensional phased array is N, the number of channels required by the 2-dimensional phased array is N2Namely, the cost of the 2-dimensional phased array is about N times of that of the 1-dimensional phased array, and the 2-dimensional phased array is difficult to bear in the civil field;
b) the three-dimensional pattern of the 2-dimensional phased array is a pin beam, if the mission range azimuth is 90 ° and the pitch is 20 °, the solid angle range is 1800 °; assuming a needle beam of 7.5 in azimuth and 5 in elevation, the needle beam solid angle is 37.5 °; assuming that the probe time for each pin beam is 0.8s, the radar data rate is 38.4s, and the data rate cannot meet the requirement.
In conclusion, there is a serious contradiction between performance and cost in the detection of low and slow small targets, especially in the detection of consumption unmanned aerial vehicles in China, so that few radars capable of meeting the mainstream requirements of the current market exist so far.
Disclosure of Invention
The invention aims to provide a method for transmitting and receiving a vertical beam three-coordinate phased array radar aiming at the defects of the existing method, wherein a transmitting and receiving antenna respectively adopts one-dimensional vectors with the unit number of M and N, so that the resolution effect of an M multiplied by N matrix of the traditional two-dimensional phased array radar is achieved, and the data rate is improved.
In order to achieve the purpose, the invention adopts the following method scheme:
the invention provides a method for transmitting and receiving a vertical beam three-coordinate phased array radar, which comprises the following steps:
s1 designing transmitting-receiving vertical wave beam phased array antenna
The receiving antenna is a horizontal 16-path one-dimensional phased array antenna, 12 wave beam directions are simultaneously realized in the horizontal direction by adopting a digital DBF method, and the horizontal 90-degree coverage is completed; 5-6 patch units are connected in series in a 1-path manner in the vertical direction, so that the coverage of a beam vertical to 16 degrees is ensured;
the transmitting antenna adopts 2 16 multiplied by 1 one-dimensional phased array antennas, 2 adjacent beam directions can be formed at the same time in space by using a frequency diversity method, beam coverage is met in time sharing through electronic scanning, each beam horizontally covers 90 degrees and vertically covers 4 degrees;
s2, radar working process
Radar operation can be divided into two processes: a detection process and a tracking process;
s3, improving the radar detection data rate by adopting an MIMO radar processing algorithm;
s4, realizing accurate direction finding by adopting a super-resolution direction finding method;
s5, adopting a sum and difference beam angle measurement method to realize high-precision angle measurement;
in order to ensure the measurement precision of the elevation angle, the angle measurement is carried out by adopting a sum and difference angle measurement mode, difference beams are realized by a frequency diversity method, and sum beams are formed by a transmitting digital beam synthesis method.
Further, the radar working process comprises the following steps:
s2.1, in the detection process, 12 beams are simultaneously formed by 16 paths of receiving channels in the horizontal direction within the range of 90 degrees of the azimuth by using a DBF method, and the 90 degrees of the azimuth is subjected to gaze detection;
setting 4 preset elevation angles in the vertical direction, and adjusting the preset elevation angles according to different specific sites;
s2.2, when a newly-appeared target is a non-ground target, height measurement is needed, and a tracking mode is entered;
s2.3, when entering a tracking mode, roughly measuring the target elevation angle, setting a height measuring and elevation angle presetting bit according to a roughly measuring result, and traversing the height measuring and elevation angle presetting bit to finish elevation angle accurate measurement;
and S2.4, after one-time elevation angle accurate measurement is completed, the radar enters a tracking mode, and the tracking mode is inserted into the air target in the tracking mode.
Further, the processing procedure of the MIMO radar processing algorithm is as follows:
s3.1, the transmitting antenna uses two frequencies and simultaneously generates two paths of transmitting beams;
s3.2, 16 receiving channels, wherein each channel receives the transmitted data of two frequencies, and after AD sampling, orthogonal phase discrimination is respectively carried out on the two frequencies to form two paths of baseband signals;
s3.3, extracting and filtering each frequency, and performing DBF on the baseband signal corresponding to each frequency after DDC to respectively form 12 paths of receiving channels;
s3.4, respectively carrying out moving target detection and constant false alarm detection on the 12 paths of receiving channels corresponding to each frequency to form a detection video;
s3.5, performing point trace aggregation on the detection videos of the 12 channels corresponding to each frequency;
s3.6, fusing the traces of the two frequencies, and then carrying out super-resolution direction finding and sum-difference beam angle finding;
and S3.7, finally, tracking the flight path.
Further, the receiving antenna and the transmitting antenna complete the spatial coverage of 90 degrees in azimuth and 16 degrees in elevation under a single array plane by using a transmitting-receiving vertical beam phased array method.
The invention has the beneficial effects that: the transmitting and receiving antennas all adopt one-dimensional phased array antennas, and adopt a scheme of transmitting and receiving beams for vertical arrangement: receiving multiple beams simultaneously by the antennas in the azimuth dimension, and transmitting single beams by the antennas; receiving single wave beams of the antenna in the pitching dimension and transmitting multiple wave beams of the antenna; assuming that a transmitting antenna is an Nx1 vector and a receiving antenna is a 1 xM vector, through algorithm cooperation, an NxM matrix can be generated at the same time, the resolution capability of the two-dimensional phased array is realized, the requirement of low-speed small target detection is met, meanwhile, the data rate is improved to be NxM times of the two-dimensional phased array, and the cost is reduced by (M.N)/(M + N) times compared with that of a 2-dimensional phased array; therefore, the detection performance of the two-dimensional phased array radar is realized at lower cost and higher data rate.
Drawings
FIG. 1 is a diagram of an antenna layout according to the present invention;
FIG. 2 is a schematic view of the instantaneous coverage of the transmit and receive antenna in the azimuth dimension;
FIG. 3 is a view of the transmit and receive antenna elevation dimension coverage (time-sharing);
FIG. 4 is a radar workflow block diagram;
FIG. 5 is a view of the transmit and receive antenna elevation dimension coverage (instantaneous);
FIG. 6 is a schematic diagram of beam forming 12 paths in the horizontal plane of a receiving antenna;
fig. 7 shows a radar signal processing procedure.
Detailed Description
In order to make the objects, method schemes and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
A method for transmitting and receiving a vertical beam three-coordinate phased array radar comprises the following steps:
s1 designing transmitting-receiving vertical wave beam phased array antenna
The transmit-receive antennas are structurally quite different, where the layout of the antennas is shown in fig. 1:
the receiving antenna 1 is a horizontal 16-path one-dimensional phased array antenna, 12 wave beam directions are simultaneously realized in the horizontal direction by adopting a digital DBF method, and the horizontal 90-degree coverage is completed; 5-6 patch units are connected in series in a 1-path manner in the vertical direction, so that the coverage of a beam vertical to 16 degrees is ensured;
the transmitting antenna 2 adopts 2 16 multiplied by 1 one-dimensional phased array antennas, 2 adjacent wave beam directions can be formed at the same time in space by using a frequency diversity method, the wave beam coverage is met in time sharing through electronic scanning, each wave beam horizontally covers 90 degrees and vertically covers 4 degrees;
the effect of covering the beams in the azimuth direction of the transmitting and receiving antenna is shown in fig. 2, wherein the receiving directional diagram 101 is a multi-beam, the transmitting directional diagram 201 is a single-beam, and the transmitting antenna receives the multi-beam in the azimuth dimension in a single-beam covering manner.
The beam coverage on the elevation of the transceiving antenna is shown in fig. 3, the receiving directional diagram 202 is a single beam, the transmitting directional diagram is four beams 102, 103, 104 and 105, and the receiving antenna transmits multiple beams in the single beam coverage of the elevation dimension;
the receiving antenna and the transmitting antenna complete the spatial coverage of 90 degrees in azimuth and 16 degrees in elevation under a single array plane by using a transmitting-receiving vertical beam phased array method.
S2, radar working process
Radar operation can be divided into two processes: a detection process and a tracking process, as shown in fig. 4;
the radar working process comprises the following steps:
s2.1, in the detection process, 12 beams are simultaneously formed by 16 receiving channels in the horizontal direction within the range of 90 degrees of the azimuth by using a DBF method, and the 90 degrees of the azimuth is detected;
in the vertical direction, 4 preset elevation angles are set, such as: -6 °, -2 °, 6 °, according to a specific position, adjusting the preset elevation angle; at time t1, the radar forms 2 beam directions (different frequencies) simultaneously with two transmit antennas: 6 ° and-2 °, at time t2 the radar simultaneously forms two further beam directions: 2 degrees and 6 degrees, thus finishing the beam coverage in the vertical direction and finishing the target elevation measurement by a subsequent super-resolution direction finding algorithm;
s2.2, when a newly-appeared target is a non-ground target, height measurement is needed, and a tracking mode is entered;
s2.3, when entering a tracking mode, roughly measuring the target elevation angle, and setting a preset elevation angle measuring position according to a roughly measured result, for example: the rough elevation angle is 5 degrees, and then the preset elevation angle is: and the elevation angle precision measurement is completed by traversing preset positions of elevation angle measurement at-5 degrees, -1 degree, 3 degrees and 7 degrees.
And S2.4, after one-time elevation angle accurate measurement is completed, the radar enters a tracking mode, and the tracking mode is inserted into the air target in the tracking mode.
S3, improving the radar detection data rate by adopting an MIMO radar processing algorithm;
under the radar method system of the invention, in order to improve the data rate, an MIMO radar processing algorithm is adopted, and the processing process is shown in FIG. 6.
The processing process of the MIMO radar processing algorithm comprises the following steps:
s3.1, using two frequencies f1, f2, generating a transmit beam as shown in fig. 5;
s3.2, 16 receiving channels, wherein each channel receives the transmitted data of two frequencies, and after AD sampling, orthogonal phase discrimination is respectively carried out on the two frequencies to form two paths of baseband signals; f1 and f2 in FIG. 7;
s3.3, performing decimation and filtering for each frequency, as shown in the DDC in fig. 7, and performing DBF on the baseband signal corresponding to f1 after DDC to form 12 paths of receiving channels as shown in fig. 6; performing DBF on a baseband signal corresponding to f2 after DDC to form a 12-channel receiving channel as shown in fig. 1;
s3.4, respectively carrying out moving target detection and constant false alarm detection on the 12 paths of receiving channels corresponding to each frequency to form a detection video;
s3.5, performing point trace aggregation on the detection videos of the 12 channels corresponding to each frequency;
s3.6, fusing the traces of the two frequencies, and then carrying out super-resolution direction finding and sum-difference beam angle finding;
and S3.7, finally, tracking the flight path.
S4, realizing accurate direction finding by adopting a super-resolution direction finding method;
in order to control the cost, the number of receiving channels is limited, so the wave beam is wider, meanwhile, because the wave beam is not scanned but is multi-wave beam, a super-resolution direction finding method is needed, the algorithm has very high spatial resolution, and can distinguish two signals which are very close to each other in space, thereby solving the problem of azimuth resolution brought by the wide wave beam and realizing accurate direction finding;
s5, adopting sum and difference beam angle measurement method to realize high-precision angle measurement
In order to ensure the measurement precision of the elevation angle, the angle measurement is carried out by adopting a sum and difference angle measurement mode, difference beams are realized by a frequency diversity method, and sum beams are formed by a transmitting digital beam synthesis method.
The innovative antenna method system: the detection effect of a two-dimensional array (an M multiplied by N dimensional matrix) is realized by using a one-dimensional receiving antenna (a vector of M units) and a one-dimensional transmitting antenna (a vector of N units), and the production cost of the radar is reduced on the basis of ensuring the high-performance detection of the radar, so that the radar is close to the level of a one-dimensional phased array radar.
The successful development of the method is a great improvement of radar equipment in the fields of low-altitude navigation, land defense and unmanned aerial vehicle management and control, and a radar product supported by the method can be capable of detecting unmanned aerial vehicles under various backgrounds, so that other systems in an unmanned aerial vehicle management and control system are supported to achieve a good use effect.
The method for manufacturing the radar meets the use requirement, is relatively low in cost, has relatively good market competitiveness and is wide in application market. At present, the novel system radar has already completed key method index demonstration, has successfully established terms, and is in the process of further development.
The above-mentioned embodiments only express the embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, many variations and modifications can be made without departing from the spirit of the invention, which falls within the scope of the invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (3)
1. A method for transmitting and receiving a vertical beam three-coordinate phased array radar, comprising:
s1 designing transmitting-receiving vertical wave beam phased array antenna
The receiving antenna is a horizontal 16-path one-dimensional phased array antenna, 12 wave beam directions are simultaneously realized in the horizontal direction by adopting a digital DBF method, and the horizontal 90-degree coverage is completed; 5-6 patch units are connected in series in a 1-path manner in the vertical direction, so that the coverage of a beam vertical to 16 degrees is ensured;
the transmitting antenna adopts 2 16 multiplied by 1 one-dimensional phased array antennas, 2 adjacent beam directions can be formed at the same time in space by using a frequency diversity method, beam coverage is met in time sharing through electronic scanning, each beam horizontally covers 90 degrees and vertically covers 4 degrees;
s2, radar working process
Radar operation can be divided into two processes: a detection process and a tracking process;
s3, improving the radar detection data rate by adopting an MIMO radar processing algorithm;
s4, realizing accurate direction finding by adopting a super-resolution direction finding method;
s5, adopting sum and difference beam angle measurement method to realize high-precision angle measurement
In order to ensure the measurement precision of the elevation angle, the angle measurement is carried out by adopting a sum and difference angle measurement mode, difference beams are realized by a frequency diversity method, and sum beams are formed by a transmitting digital beam synthesis method;
the processing process of the MIMO radar processing algorithm comprises the following steps:
s3.1, the transmitting antenna uses two frequencies and simultaneously generates two paths of transmitting beams;
s3.2, 16 receiving channels, wherein each channel receives the transmitted data of two frequencies, and after AD sampling, orthogonal phase discrimination is respectively carried out on the two frequencies to form two paths of baseband signals;
s3.3, extracting and filtering each frequency, and performing DBF on the baseband signal corresponding to each frequency after DDC to respectively form 12 paths of receiving channels;
s3.4, respectively carrying out moving target detection and constant false alarm detection on the 12 paths of receiving channels corresponding to each frequency to form a detection video;
s3.5, performing point trace aggregation on the detection videos of the 12 channels corresponding to each frequency;
s3.6, fusing the traces of the two frequencies, and then carrying out super-resolution direction finding and sum-difference beam angle finding;
and S3.7, finally, tracking the flight path.
2. The method of claim 1, wherein the radar operation comprises the steps of:
s2.1, in the detection process, 12 beams are simultaneously formed by 16 paths of receiving channels in the horizontal direction within the range of 90 degrees of the azimuth by using a DBF method, and the 90 degrees of the azimuth is subjected to gaze detection;
setting 4 preset elevation angles in the vertical direction, and adjusting the preset elevation angles according to different specific sites;
s2.2, when a newly-appeared target is a non-ground target, height measurement is needed, and a tracking mode is entered;
s2.3, when entering a tracking mode, roughly measuring the target elevation angle, setting a height elevation angle preset position according to a roughly measuring result, and traversing the height elevation angle preset position to finish elevation angle accurate measurement;
and S2.4, after one-time elevation angle accurate measurement is completed, the radar enters a tracking mode, and the tracking mode is inserted into the air target in the tracking mode.
3. The method of claim 1, wherein the method comprises: the receiving antenna and the transmitting antenna complete the spatial coverage of 90 degrees in azimuth and 16 degrees in elevation under a single array plane by using a transmitting-receiving vertical beam phased array method.
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| CN112051568B (en) * | 2020-09-01 | 2023-06-30 | 西安电子工程研究所 | Pitching angle measurement method of two-coordinate radar |
| CN113933844A (en) * | 2021-10-13 | 2022-01-14 | 黄兵 | Phased array multiband integrated transmitting and receiving radar and radar detection method |
| WO2023159461A1 (en) * | 2022-02-25 | 2023-08-31 | Qualcomm Incorporated | Multiple input, multiple output (mimo) radar with beamforming |
| CN115877346B (en) * | 2023-03-04 | 2023-05-12 | 安徽隼波科技有限公司 | Unmanned aerial vehicle-mounted off-target vector detection method based on two-dimensional phased array radar |
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