CN110988825B - Radar seeker angle measurement curve fitting method - Google Patents
Radar seeker angle measurement curve fitting method Download PDFInfo
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- CN110988825B CN110988825B CN201911292089.2A CN201911292089A CN110988825B CN 110988825 B CN110988825 B CN 110988825B CN 201911292089 A CN201911292089 A CN 201911292089A CN 110988825 B CN110988825 B CN 110988825B
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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
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
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Abstract
The invention relates to a fitting method of a radar seeker angle measurement curve, which is used for solving the problems that the angle error limit at some special moments is invalid due to the fact that the double-valued characteristic exists in the traditional angle measurement curve fitting method of a radar seeker, generated curve parameters are more, and input workload is large. According to the method, the fitting polynomial is constructed by only using the odd power term, the bivariate of the fitting curve is eliminated, the aim of correct limitation of the radar pilot head angle error is achieved on the premise that the fitting precision is not changed, and the number of parameters is reduced to a certain extent. The practical use result of a certain radar seeker shows that the method can effectively solve the bivariate problem of the fitting curve, avoid the phenomenon of angular error limiting failure on the premise of ensuring the precision and reduce the workload of parameter input to a certain extent.
Description
Technical Field
The invention relates to the field of calibration of angle measurement parameters of radar seeker, in particular to a method for fitting angle measurement curves of a radar seeker.
Background
The radar seeker mostly adopts single-pulse angle measurement, and an angle error original value is calculated by a difference signal amplitude ratio. The original value is a curved hyperbolic curve, and is in one-to-one correspondence with the true angle error in the linear angle measurement area. The real angle error is an included angle between a target sight angle and an electric axis, and the output angle error of the radar seeker needs to be consistent with the real angle error as much as possible in guidance. Therefore, the radar seeker needs to fit the original angle error in the linear angle measurement area to the real angle error through a mathematical relation before using the radar seeker.
The angular error raw value is expressed as x and the true angular error is expressed as y, and the angular error raw value x is mapped onto the true angular error y, typically using y = f (x), where f (x) is a multi-order polynomial. In past engineering applications, f (x) was typically a 3 rd order polynomial, which is expressed as follows
y＝a·x 3 +b·x 2 +c·x+d
Wherein a is a coefficient of cubic term, b is a coefficient of quadratic term, c is a coefficient of primary term, and d is a coefficient of constant term. That is, a coefficient meeting the least square principle in a certain interval is obtained according to the test value x and the target value y, and the algorithm is classic and is not described here again. And continuously substituting the measured original angle error x into the formula in the real use process to obtain the calibrated standard angle error. The method has the defect that the third-order polynomial contains even power terms, so that a part of two-value intervals exist outside the fitting interval, namely, the same y corresponds to a plurality of x values. Because the calibration range of the radar seeker must have certain redundancy, the radar still has the angle measuring capability within a certain range actually exceeding the width. Taking a certain radar seeker as an example, setting a limit value of-2.5 degrees < y < +2.5 degrees aiming at an output standard angle error y in a program, aiming at ensuring that the absolute value of the output angle error of which the actual position is greater than the angle is 2.5, so as to drive an antenna to track a target at the maximum speed, wherein when the output angle error x continuously increases towards a positive axis, as shown in figure 1, the output angle error x is smaller than the output angle error x before after being mapped by a polynomial, so that the limit value of the angle error is invalid when the initial position of the radar antenna is greater than the target deviation, and the closed loop gain does not accord with the design expectation. Secondly, the method comprises four parameters of a cubic term, a quadratic term, a primary term and a constant term after calibration is completed, each 64 curves of azimuth pitching correspond to 512 parameters, and input workload is large.
Therefore, the invention designs a novel seeker angle measurement curve fitting method, improves the defects, eliminates the bivariate of the fitting curve by constructing the fitting polynomial by using odd power terms, achieves the aim of correct limitation of radar seeker angle errors on the premise of keeping the fitting precision unchanged, and reduces the parameter quantity to a certain extent.
Disclosure of Invention
Technical problem to be solved
The invention provides a seeker angle measurement curve fitting method which is easy to realize in engineering without changing calibration system hardware and solves the problem of angle error limit error under certain conditions caused by the fact that a third-order polynomial in an original method has double values.
Technical scheme
A radar seeker angle measurement curve fitting method is characterized by comprising the following steps:
step 1: recording the measurement angle error x of each appointed position of the radar seeker 1 -x 11 ；
And 2, step: recording the real angle error y of each measurement position according to the rotary table return value 1 -y 11 ；
And step 3: using the measured value input matlab of step 1 to build an 11-row 3-column matrix
And 4, step 4: inputting matlab to establish a column vector matrix by using the real value obtained in the step 2
And 5: inputting the following expression A = V/Y in matlab, and completing matrix division to obtain a coefficient matrix
And updating the tertiary term coefficient a, the primary term coefficient b and the constant term c into the radar seeker to complete coefficient verification.
Advantageous effects
The method solves the problems that the angle error limit at some special moments is invalid due to the bivariate existing in the traditional angle measurement curve fitting method of the radar seeker, the generated curve parameters are more, and the input workload is large. According to the method, the fitting polynomial is constructed by using the odd power term only, the bivariate of the fitting curve is eliminated, the aim of correct limitation of the radar leading head angle error is achieved on the premise that the fitting precision is not changed, and the parameter quantity is reduced to a certain extent. The practical use result of a certain radar seeker shows that the method can effectively solve the bivariate problem of the fitting curve, avoid the phenomenon of angular error limiting failure on the premise of ensuring the precision and reduce the workload of parameter input to a certain extent.
The radar seeker is automatically calibrated by adopting the method, and the angle measurement curve is shown in figure 3. The test result shows that the fitting method of the angle measurement curve can effectively solve the bivariate problem of the fitting curve and avoid the phenomenon of angle error limit failure. As shown in fig. 4, the fitting accuracy is comparable to that of the original method. The method generates three parameters of a cubic term, a primary term and a constant term, and the total number of the azimuth pitching 64 curves is 384. The workload of parameter input is reduced to a certain extent.
Drawings
FIG. 1 is a graph of fitting angle measurement curves by the prior art method
FIG. 2 is a graph of an odd-power polynomial fitting angle measurement
FIG. 3 is a graph of error comparison of two methods
FIG. 4 is a flow chart of the present invention
Detailed Description
The main idea of the radar seeker angle measurement curve fitting method is to form a fitting polynomial by using odd power terms, so that a fitting curve becomes an odd function, and the bivariate of the fitting curve is eliminated mathematically. The goniometric curve is represented as:
y＝a·x 3 +b·x+c
wherein a is a cubic term coefficient, b is a primary term coefficient, c is a constant term coefficient, and y is a standard angle error x is a measured angle error. It can be seen that the even power terms have been removed. And fitting by using a least square method, wherein the essence of the method is that the error between each fitting point and a data point is squared and then summed, if a fitting curve enables the sum of squares to be minimum, the best fitting coefficient is obtained, and if N test data exist, the sum of squares of errors is as follows:
y i for different position standard angle errors, x i And measuring the angle error for the corresponding position, wherein the delta y is a standard angle error interval and corresponds to the movement interval of the rotary table during real engineering application. Make chi 2 The minimum solution is:
wherein a, b and c are cubic term coefficient, primary term coefficient and constant term respectively.
Now, the present invention will be further described with reference to an embodiment, in a calibration process of a certain radar seeker, a total of 11 equally spaced angles are measured, as shown in fig. 4:
1. recording the angle error x of each appointed position of the radar seeker 1 -x 11 ；
2. Recording the real angle error y of each measurement position according to the rotary table return value 1 -y 11 ；
3. Using the measured value input matlab of step 1 to build an 11-row 3-column matrix
4. Inputting matlab to establish a column vector matrix by using the real value obtained in the step 2
5. Inputting the following expression A = V/Y in matlab, and completing matrix division to obtain a coefficient matrix
And updating the coefficient a of the third term, the coefficient b of the first term and the constant term c into the radar seeker to complete coefficient verification.
Claims (1)
1. A method for fitting an angle measurement curve of a radar seeker measures 11 equally spaced angles, and is characterized by comprising the following steps of:
step 1: recording radar seekerMeasuring the angular error x at each specified location 1 -x 11 ；
And 2, step: recording the real angle error y of each measurement position according to the rotary table return value 1 -y 11 ；
And step 3: using the measured value input matlab of step 1 to build an 11-row 3-column matrix
And 4, step 4: inputting matlab to establish a column vector matrix by using the real value obtained in the step 2
And 5: inputting the following expression A = V/Y in matlab, and completing matrix division to obtain a coefficient matrix
And updating the tertiary term coefficient a, the primary term coefficient b and the constant term c into the radar seeker to complete coefficient verification.
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Citations (4)
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| JP2011196863A (en) * | 2010-03-19 | 2011-10-06 | Jfe Steel Corp | Leakage magnetic flux flaw detection method, and leakage magnetic flux flaw detection apparatus |
| CN107092580A (en) * | 2017-03-30 | 2017-08-25 | 北京航天控制仪器研究所 | A kind of curve-fitting method minimum based on relative error |
| CN110554366A (en) * | 2019-09-02 | 2019-12-10 | 北京电子工程总体研究所 | Method and device for automatically calibrating amplitude-phase consistency of seeker |
| CN110554365A (en) * | 2019-09-02 | 2019-12-10 | 北京电子工程总体研究所 | Seeker multi-frequency point difference directional diagram automatic calibration method and device |
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2019
- 2019-12-16 CN CN201911292089.2A patent/CN110988825B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011196863A (en) * | 2010-03-19 | 2011-10-06 | Jfe Steel Corp | Leakage magnetic flux flaw detection method, and leakage magnetic flux flaw detection apparatus |
| CN107092580A (en) * | 2017-03-30 | 2017-08-25 | 北京航天控制仪器研究所 | A kind of curve-fitting method minimum based on relative error |
| CN110554366A (en) * | 2019-09-02 | 2019-12-10 | 北京电子工程总体研究所 | Method and device for automatically calibrating amplitude-phase consistency of seeker |
| CN110554365A (en) * | 2019-09-02 | 2019-12-10 | 北京电子工程总体研究所 | Seeker multi-frequency point difference directional diagram automatic calibration method and device |
Non-Patent Citations (1)
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| 应用分块三次多项式的导引头测角精度标定;袁东明等;《兵工学报》;20191031;第40卷(第10期);2042-2049 * |
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