CN111123250B - Pulse Doppler radar based on pattern search algorithm and beam forming method - Google Patents

Pulse Doppler radar based on pattern search algorithm and beam forming method Download PDF

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CN111123250B
CN111123250B CN201911389423.6A CN201911389423A CN111123250B CN 111123250 B CN111123250 B CN 111123250B CN 201911389423 A CN201911389423 A CN 201911389423A CN 111123250 B CN111123250 B CN 111123250B
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CN111123250A (en
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鲁瑞莲
汪宗福
杨为华
金敏
孙南
费德介
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Chengdu Huirong Guoke Microsystem Technology Co ltd
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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
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • 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
    • G01S7/28—Details of pulse systems
    • G01S7/2813—Means providing a modification of the radiation pattern for cancelling noise, clutter or interfering signals, e.g. side lobe suppression, side lobe blanking, null-steering arrays
    • 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
    • G01S7/28—Details of pulse systems
    • G01S7/285—Receivers
    • G01S7/292—Extracting wanted echo-signals
    • 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
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S2013/0236—Special technical features
    • G01S2013/0245—Radar with phased array antenna

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Abstract

The invention provides a pulse Doppler radar and a beam forming method based on a pattern search algorithm, which comprises the following steps: s1: measuring radar receiving gain of a front array surface of the radar phased array according to different azimuth angles and pitching angles to obtain different array element receiving antenna directional diagrams; s2: initializing numbers and beam generation coefficients, designing different search step lengths, determining base vectors in different search directions, and initializing convergence conditions; s3: determining a sum beam generation coefficient objective function according to the sum beam distribution characteristics; s4: solving a target function value corresponding to the sum beam generation coefficient, and judging whether the target function reaches a convergence condition; s5: and obtaining different sum beam generation coefficients and corresponding objective function values by using different step lengths and basis vectors, and selecting the sum beam generation coefficient which enables the objective function value to be minimum as a final result for outputting. The invention synthesizes ideal and channel antenna directional patterns by a mode search optimization method.

Description

Pulse Doppler radar based on pattern search algorithm and beam forming method
Technical Field
The invention belongs to the technical field of radars, and particularly relates to a pulse Doppler radar based on a pattern search algorithm and a beam forming method.
Background
Radar, i.e. radio detection and ranging, as the name suggests, one of the basic functions of radar is target detection. When the radar completes the digital beam synthesis function, it is generally assumed that the front end of the radar phased array has completed amplitude-phase consistency calibration of each array element, that is, there is no difference between amplitude and phase between each array element, but in practical engineering application, because the amplitude and phase of the echo of each array element are different due to inconsistency of the manufacturing elements or manufacturing processes of each array element, there will be a certain difference between amplitude and phase, and under the condition of the amplitude-phase difference, if a traditional "sum beam" forming method is used, the problem that the synthesized beam may have asymmetry of the main lobe and attenuation of the main lobe gain will be caused. The attenuation of the main lobe gain can cause the attenuation of radar detection power, and the asymmetry of the main lobe can cause the reduction of subsequent radar angle measurement precision, so that how to synthesize ideal 'sum beams' through the echo data of each array element with amplitude-phase difference has important engineering application value.
Disclosure of Invention
The invention provides a pulse Doppler radar and beam forming method based on a pattern search algorithm based on the existing problems, and aims to solve the problem that when amplitude differences exist among array elements at the front end, an effective sum beam generation coefficient is obtained through a pattern search optimization algorithm.
S1: according to a front-end array surface of the radar phased array, measuring radar receiving gains of the array surface in different directions according to different azimuth angles and pitching angles, and obtaining different array element receiving antenna directional diagrams;
s2: initializing numbers and beam generation coefficients, designing different search step lengths, determining base vectors in different search directions, and initializing convergence conditions;
s3: determining a sum beam generation coefficient objective function according to the sum beam distribution characteristics;
s4: solving a target function value corresponding to the sum beam generation coefficient, judging whether the target function reaches a convergence condition, if not, determining the direction according to the basis vector, taking the step length as stepping to obtain the next sum beam generation coefficient, solving the corresponding target function, if the convergence condition is reached, ending the search, and outputting the current sum beam generation coefficient;
s5: and (4) performing the operation of the step (S4) for multiple times according to the different step lengths and the basis vectors determined in the step (S2) to obtain different sum beam generation coefficients and corresponding objective function values, and selecting the sum beam generation coefficient which enables the objective function value to be minimum as a final result to be output.
In another embodiment of the above pulse doppler radar and beam forming method based on the pattern search algorithm of the present invention, the obtaining of the directional patterns of the different array element receiving antennas according to the radar receiving gains of the radar phased array front end array surfaces in different directions and according to different azimuth angles and elevation angles includes:
according to the azimuth angle range of the front array surface of the radar phased array
Figure GDA0003193273800000021
In angular steps
Figure GDA0003193273800000022
Obtaining a set of azimuthal measurements for a step
Figure GDA0003193273800000023
According to the pitch angle range [ theta ] of the front-end array surface of the radar phased arraymax，θmin]Taking the angle step delta theta as a stepping to obtain a pitch angle measurement set theta;
obtain a set of angles
Figure GDA0003193273800000024
Echo power of each receiving array element at front end of phased array for measuring each angle coordinate in angle set
Figure GDA0003193273800000025
And m x n is the area array dimension of the front array surface of the phased array.
In another embodiment of the above pulse doppler radar and beam forming method based on the pattern search algorithm of the present invention, the initialization numbers and the beam generating coefficients are designed to have different search step lengths and to determine basis vectors in different search directions, and the initialization convergence condition includes:
initializing numbers and beamforming coefficients
Figure GDA0003193273800000026
Wherein 0 represents an initial time;
initial search step λ ═ λ1,λ2,...,λk]Designing a plurality of different search step lengths, and selecting a plurality of search step lengths to compare optimization results;
determining search basis vectors V ═ V in different directions1,v2,...,vk]Determining search coordinates at different moments in cooperation with the search step length;
initializing a convergence condition, wherein the search condition is used for judging whether the convergence result reaches a set index, and the convergence condition is as follows: and (4) giving a search threshold delta, judging that the search is finished when the objective function value is smaller than the search threshold, and returning an optimal value result.
In another embodiment of the above pulse doppler radar and beam forming method based on the pattern search algorithm of the present invention, the determining a sum beam generation coefficient objective function from the sum beam distribution characteristics includes:
the echo power of each receiving array element at the front end of the phased array
Figure GDA0003193273800000031
And the number and beam forming coefficients
Figure GDA0003193273800000032
The initial sum beam is calculated in combination with the following equation:
Figure GDA0003193273800000033
determining a corresponding objective function from the sum beam main lobe peak power
Figure GDA0003193273800000034
In the formula (f)1(w) determining a corresponding objective function, P, for the peak power of the sum beam mainlobepeakIs the peak power, the position L of the peak powerpeakIs the peak power PpeakThe location of the location;
from the position L of the peak power of the main lobepeakDetermining a corresponding objective function to the width of the main lobe
Figure GDA0003193273800000035
Figure GDA0003193273800000036
Ppeak-f2(w)≤ΔgmwIn the formula,. DELTA.gmwIs a main lobe gain attenuation value, AmwIs the main lobe width;
obtaining a corresponding objective function according to the included angle between the peak value of the first minor lobe and the main lobe and the width of the minor lobe
Figure GDA0003193273800000037
Figure GDA0003193273800000038
Figure GDA0003193273800000039
Ppeak-f3(w)≥Δgsw；
In the formula,. DELTA.gswThe ratio of the main lobe to the auxiliary lobe is,
Figure GDA00031932738000000310
is the included angle between the peak value of the first minor lobe and the main lobe, AswThe minor lobe width.
Obtaining a final objective function f (w) ═ k1f1(w)+k2f2(w)+k3f3(w) in the formula, k1,k2,k3Representing the weight coefficients of the respective objective functions.
In another embodiment of the above pulse doppler radar and beam forming method based on the pattern search algorithm of the present invention, the solving and beam forming coefficients correspond to objective function values, and determine whether the objective function meets a convergence condition, if not, determine a direction according to a basis vector, obtain a next sum beam forming coefficient by taking a step length as a step, solve the corresponding objective function, if the convergence condition is met, end the search, and include the current sum beam forming coefficient:
by a number andbeamforming coefficients
Figure GDA0003193273800000041
And the objective function obtains an initial objective function value
Figure GDA0003193273800000042
Judging objective function value
Figure GDA0003193273800000043
Whether the value is less than a search termination threshold delta;
if less than, outputting the digital sum beam forming coefficient
Figure GDA0003193273800000044
Otherwise, calculating by the search base vector and the search step length
Figure GDA0003193273800000045
Determining a next generation weight coefficient;
until the corresponding objective function meets the search termination condition, outputting the corresponding weight coefficient w1opt。
In another embodiment of the above pulse doppler radar and beam forming method based on the pattern search algorithm according to the present invention, the performing the operation of step S4 for a plurality of times according to the different step sizes and basis vectors determined in step S2 to obtain different sum beam generating coefficients and corresponding objective function values, and selecting the sum beam generating coefficient that minimizes the objective function value as a final result for outputting includes:
different iteration step lengths are selected to obtain corresponding weight coefficients [ w ]2opt,w3opt,...,wkopt]；
Finding out optimal weight coefficient set woptThe optimal weight coefficient w for minimizing the objective functionoptAs a final output result;
calculation of the resulting optimal weight coefficients
Figure GDA0003193273800000046
To obtainAnd a beam antenna pattern.
According to the pulse Doppler radar and the beam forming method based on the mode search algorithm, when phase differences exist among array elements of a radar receiver, the problems that detection probability is reduced and angle measurement errors are large in partial angles due to the fact that gain of a directional diagram of the receiver is asymmetric when the radar receiver is synthesized and channels are synthesized by a traditional method are solved.
Drawings
Fig. 1 is a flowchart of an embodiment of a pulse doppler radar and a beam forming method based on a pattern search algorithm according to the present invention.
Fig. 2 is a measured data sum beam azimuth elevation antenna pattern obtained based on the method of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The following describes a pulse doppler radar and a beam forming method based on a pattern search algorithm in more detail with reference to the accompanying drawings and embodiments.
As shown in fig. 1, the pulse doppler radar and beamforming method based on the pattern search algorithm includes:
s1: according to a front-end array surface of the radar phased array, measuring radar receiving gains of the array surface in different directions according to different azimuth angles and pitching angles, and obtaining different array element receiving antenna directional diagrams;
s2: initializing numbers and beam generation coefficients, designing different search step lengths, determining base vectors in different search directions, and initializing convergence conditions;
s3: determining a sum beam generation coefficient objective function according to the sum beam distribution characteristics;
s4: solving a target function value corresponding to the sum beam generation coefficient, judging whether the target function reaches a convergence condition, if not, determining the direction according to the basis vector, taking the step length as stepping to obtain the next sum beam generation coefficient, solving the corresponding target function, if the convergence condition is reached, ending the search, and outputting the current sum beam generation coefficient;
s5: and (4) performing the operation of the step (S4) for multiple times according to the different step lengths and the basis vectors determined in the step (S2) to obtain different sum beam generation coefficients and corresponding objective function values, and selecting the sum beam generation coefficient which enables the objective function value to be minimum as a final result to be output.
In another embodiment of the above pulse doppler radar and beam forming method based on the pattern search algorithm of the present invention, the obtaining of the directional patterns of the different array element receiving antennas according to the radar receiving gains of the radar phased array front end array surfaces in different directions and according to different azimuth angles and elevation angles includes:
according to the azimuth angle range of the front array surface of the radar phased array
Figure GDA0003193273800000051
In angular steps
Figure GDA0003193273800000052
Obtaining a set of azimuthal measurements for a step
Figure GDA0003193273800000053
According to the pitch angle range [ theta ] of the front-end array surface of the radar phased arraymax，θmin]Taking the angle step delta theta as a stepping to obtain a pitch angle measurement set theta;
obtain a set of angles
Figure GDA0003193273800000061
Echo power of each receiving array element at front end of phased array for measuring each angle coordinate in angle set
Figure GDA0003193273800000062
And m x n is the area array dimension of the front array surface of the phased array.
In another embodiment of the above pulse doppler radar and beam forming method based on the pattern search algorithm of the present invention, the initialization numbers and the beam generating coefficients are designed to have different search step lengths and to determine basis vectors in different search directions, and the initialization convergence condition includes:
initializing numbers and beamforming coefficients
Figure GDA0003193273800000063
Wherein 0 represents an initial time;
initial search step λ ═ λ1,λ2,...,λk]Designing a plurality of different search step lengths, and selecting a plurality of search step lengths to compare optimization results;
determining search basis vectors V ═ V in different directions1,v2,...,vk]Determining search coordinates at different moments in cooperation with the search step length;
initializing a convergence condition, wherein the search condition is used for judging whether the convergence result reaches a set index, and the convergence condition is as follows: and (4) giving a search threshold delta, judging that the search is finished when the objective function value is smaller than the search threshold, and returning an optimal value result.
In another embodiment of the above pulse doppler radar and beam forming method based on the pattern search algorithm of the present invention, the determining a sum beam generation coefficient objective function from the sum beam distribution characteristics includes:
the echo power of each receiving array element at the front end of the phased array
Figure GDA0003193273800000064
With initial and digital sum beamforming coefficients
Figure GDA0003193273800000065
The initial sum beam is calculated in combination with the following equation:
Figure GDA0003193273800000066
determining a corresponding objective function from the sum beam main lobe peak power
Figure GDA0003193273800000067
In the formula (f)1(w) determining a corresponding objective function, P, for the peak power of the sum beam mainlobepeakIs the peak power, the position L of the peak powerpeakIs the peak power PpeakThe location of the location;
from the position L of the peak power of the main lobepeakDetermining a corresponding objective function to the width of the main lobe
Figure GDA0003193273800000068
Figure GDA0003193273800000069
Ppeak-f2(w)≤ΔgmwIn the formula,. DELTA.gmwIs a main lobe gain attenuation value, AmwIs the main lobe width;
obtaining a corresponding objective function according to the included angle between the peak value of the first minor lobe and the main lobe and the width of the minor lobe
Figure GDA0003193273800000071
Figure GDA0003193273800000072
Figure GDA0003193273800000073
Ppeak-f3(w)≥Δgsw；
In the formula,. DELTA.gswThe ratio of the main lobe to the auxiliary lobe is,
Figure GDA0003193273800000074
is the included angle between the peak value of the first minor lobe and the main lobe, AswThe minor lobe width.
Obtaining a final objective function f (w) ═ k1f1(w)+k2f2(w)+k3f3(w) in the formula, k1,k2,k3Representing the weight coefficients of the respective objective functions.
In another embodiment of the above pulse doppler radar and beam forming method based on the pattern search algorithm of the present invention, the solving and beam forming coefficients correspond to objective function values, and determine whether the objective function meets a convergence condition, if not, determine a direction according to a basis vector, obtain a next sum beam forming coefficient by taking a step length as a step, solve the corresponding objective function, if the convergence condition is met, end the search, and include the current sum beam forming coefficient:
generating coefficients from numbers and beams
Figure GDA0003193273800000075
And the objective function obtains an initial objective function value
Figure GDA0003193273800000076
Judging objective function value
Figure GDA0003193273800000077
Whether the value is less than a search termination threshold delta;
if less than, outputting the digital sum beam forming coefficient
Figure GDA0003193273800000078
Otherwise, calculating by the search base vector and the search step length
Figure GDA0003193273800000079
Determining a next generation weight coefficient;
until the corresponding objective function meets the search termination condition, outputting the corresponding weight coefficient w1opt。
In another embodiment of the above pulse doppler radar and beam forming method based on the pattern search algorithm according to the present invention, the performing the operation of step S4 for a plurality of times according to the different step sizes and basis vectors determined in step S2 to obtain different sum beam generating coefficients and corresponding objective function values, and selecting the sum beam generating coefficient that minimizes the objective function value as a final result for outputting includes:
different iteration step lengths are selected to obtain corresponding weight coefficients [ w ]2opt,w3opt,...,wkopt]；
Finding out optimal weight coefficient set woptThe optimal weight coefficient w for minimizing the objective functionoptAs a final output result;
calculation of the resulting optimal weight coefficients
Figure GDA0003193273800000081
A sum beam antenna pattern is obtained.
FIG. 2 is a diagram of a sum beam azimuth elevation antenna pattern obtained based on measured data according to the method of the present invention, as shown in FIG. 2, and in FIG. 2, a main lobe gain attenuation value Δ g is setmw2, main-to-side lobe ratio Δ g sw25; the result analysis shows that the method of the invention can obtain a more ideal antenna directional pattern.
It will be evident to those skilled in the art that the embodiments of the present invention are not limited to the details of the foregoing illustrative embodiments, and that the embodiments of the present invention are capable of being embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the embodiments being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. Several units, modules or means recited in the system, apparatus or terminal claims may also be implemented by one and the same unit, module or means in software or hardware. The terms first, second, etc. are used to denote names, but not any particular order.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the embodiments of the present invention and not for limiting, and although the embodiments of the present invention are described in detail with reference to the above preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the embodiments of the present invention without departing from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (3)

1. A pulse Doppler radar and a beam forming method based on a pattern search algorithm are characterized by comprising the following steps:
s1: according to a front-end array surface of the radar phased array, measuring radar receiving gains of the array surface in different directions according to different azimuth angles and pitching angles, and obtaining different array element receiving antenna directional diagrams;
s2: initializing numbers and beam generation coefficients, designing different search step lengths, determining base vectors in different search directions, and initializing convergence conditions;
s3: determining a sum beam generation coefficient objective function according to the sum beam distribution characteristics;
s4: solving a target function value corresponding to the sum beam generation coefficient, judging whether the target function reaches a convergence condition, if not, determining the direction according to the basis vector, taking the step length as stepping to obtain the next sum beam generation coefficient, solving the corresponding target function, if the convergence condition is reached, ending the search, and outputting the current sum beam generation coefficient;
s5: performing the operation of step S4 a plurality of times according to the different step lengths and basis vectors determined in step S2 to obtain different sum beam generating coefficients and corresponding objective function values, and selecting the sum beam generating coefficient that minimizes the objective function value as a final result to output;
the method for acquiring the directional diagrams of the receiving antennas of different array elements according to the radar receiving gains of the front-end array surface of the radar phased array and the measurement array surface in different directions according to different azimuth angles and elevation angles comprises the following steps:
according to the azimuth angle range of the front array surface of the radar phased array
Figure FDA0003193273790000011
In angular steps
Figure FDA0003193273790000012
Obtaining a set of azimuthal measurements for a step
Figure FDA0003193273790000013
According to the pitch angle range [ theta ] of the front-end array surface of the radar phased arraymax，θmin]Taking the angle step delta theta as a stepping to obtain a pitch angle measurement set theta;
obtain a set of angles
Figure FDA0003193273790000014
Echo power of each receiving array element at front end of phased array for measuring each angle coordinate in angle set
Figure FDA0003193273790000015
m x n is the area array dimension of the front array surface of the phased array;
the initialization digit and the beam generating coefficient are used for designing different search step lengths and determining base vectors in different search directions, and the initialization convergence condition comprises the following steps:
initializing numbers and beamforming coefficients
Figure FDA0003193273790000016
Wherein 0 represents an initial time;
initial search step λ ═ λ1,λ2,...,λk]Designing a plurality of different search step lengths, and selecting a plurality of search step lengths to compare optimization results;
determining search basis vectors V ═ V in different directions1,v2,...,vk]Determining search coordinates at different moments in cooperation with the search step length;
initializing a convergence condition, wherein the search condition is used for judging whether the convergence result reaches a set index, and the convergence condition is as follows: a search threshold delta is given, when the objective function value is smaller than the search threshold, the search is judged to be finished, and an optimal value result is returned;
the determining a sum beam generation coefficient objective function from the sum beam profile characteristics comprises:
the echo power of each receiving array element at the front end of the phased array
Figure FDA0003193273790000021
And the number and beam forming coefficients
Figure FDA0003193273790000022
The initial sum beam is calculated in combination with the following equation:
Figure FDA0003193273790000023
determining a corresponding objective function from the sum beam main lobe peak power
Figure FDA0003193273790000024
In the formula (f)1(w) determining a corresponding objective function, P, for the peak power of the sum beam mainlobepeakIs the peak power, the position L of the peak powerpeakIs the peak power PpeakThe location of the location;
from the position L of the peak power of the main lobepeakDetermining a corresponding objective function to the width of the main lobe
Figure FDA0003193273790000025
Figure FDA0003193273790000026
Ppeak-f2(w)≤ΔgmwIn the formula,. DELTA.gmwIs a main lobe gain attenuation value, AmwIs the main lobe width;
obtaining a corresponding objective function according to the included angle between the peak value of the first minor lobe and the main lobe and the width of the minor lobe
Figure FDA0003193273790000027
Figure FDA0003193273790000028
Figure FDA0003193273790000029
In the formula,. DELTA.gswThe ratio of the main lobe to the auxiliary lobe is,
Figure FDA00031932737900000210
is the included angle between the peak value of the first minor lobe and the main lobe, AswIs the minor lobe width;
obtaining a final objective function f (w) ═ k1f1(w)+k2f2(w)+k3f3(w) in the formula, k1,k2,k3Representing the weight coefficients of the respective objective functions.
2. The pulse doppler radar and beam forming method according to claim 1, wherein the solving and beam forming coefficients correspond to objective function values, and determine whether the objective function meets a convergence condition, if not, determine a direction according to a basis vector, obtain a next sum beam forming coefficient by taking a step length as a step, solve the corresponding objective function, if the convergence condition is met, end the search, and include a current sum beam forming coefficient:
generating coefficients from numbers and beams
Figure FDA0003193273790000031
And the objective function obtains an initial objective function value
Figure FDA0003193273790000032
Judging objective function value
Figure FDA0003193273790000033
Whether the value is less than a search termination threshold delta;
if less than, outputting the optimal number and beam forming coefficient
Figure FDA0003193273790000034
Otherwise, calculating by the search base vector and the search step length
Figure FDA0003193273790000035
Determining a next generation weight coefficient;
until the corresponding objective function meets the search termination condition, outputting the corresponding weight coefficient w1opt。
3. The pulse doppler radar and beam forming method based on pattern search algorithm of claim 2, wherein the step S4 is performed a plurality of times according to the different step sizes and basis vectors determined in step S2 to obtain different sum beam generating coefficients and corresponding objective function values, and the selecting the sum beam generating coefficient that minimizes the objective function value as a final result comprises:
different iteration step lengths are selected to obtain corresponding weight coefficients [ w ]2opt,w3opt,...,wkopt]；
Finding out optimal weight coefficient set woptThe optimal weight coefficient w for minimizing the objective functionoptAs a final output result;
calculation of the resulting optimal weight coefficients
Figure FDA0003193273790000036
A sum beam antenna pattern is obtained.
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