CN111220954B - Radar angle error correction method based on self-correcting amplitude normalization - Google Patents
Radar angle error correction method based on self-correcting amplitude normalization Download PDFInfo
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Abstract
The invention discloses a radar angle error correction method based on self-correcting amplitude normalization, which comprises the following steps: s1, performing amplitude-to-amplitude ratio phase processing by using sum and difference channel data to obtain a radar angle error; s2, normalizing the self-correcting amplitude of the radar angle error to the current frame to obtain a normalized radar angle error; and S3, matching the normalized radar angle error with a standard angle curve to obtain a final angle measurement result. The advantages are that: the method utilizes the corresponding relation between the angle identification curve of the radar system and the self-correction amplitude of the sum channel and the difference channel, utilizes the self-correction amplitude to carry out normalization processing on the angle identification curve and the radar angle error, and corrects the radar target angle measurement value, thereby further improving the radar angle measurement precision.
Description
Technical Field
The invention relates to the field of monopulse angle measurement of radar systems, in particular to a radar angle error correction method based on self-correction amplitude normalization.
Background
The main technical method of the existing radar monopulse angle measurement technology is as follows: calculating by using the antenna and difference channel data through a ratio amplitude phase to obtain a radar angle error; and then obtaining the included angle between the real direction of arrival and the normal direction of the array surface by angle identification curve fitting.
For tracking or guidance radars, a servo control system or a wave control system of the radar controls the tracking convergence speed of radar beams by using radar angle errors to complete angle tracking of targets, and the tracking speed is higher when the radar angle errors are larger. In this case the radar angle error provides information only about one motion trend.
For searching radar, in the searching process, radar beams are searched according to a given sweep sequence, and the purpose of radar angle measurement is to clarify the specific position of a target in the radar beams. The radar searching needs to correct the position of the target in the beam by using a radar angle error measured value, so that the searching and positioning accuracy of the target is improved. Therefore, the accuracy requirements for radar angle error measurement for search radars are much higher than for tracking or guidance radars. The traditional single pulse angle measurement precision cannot meet the requirement of radar angle measurement search.
By search, we found the following related materials.
The thesis includes: (1) in the chapter 8 of the book 2015, the book 36, 8, the influence of amplitude-phase inconsistency of monopulse radar on angle measurement characteristics, the paper analyzes the angle measurement principle of amplitude-contrast monopulse radar, points out that the influence of amplitude inconsistency of sum and difference channels on angle measurement is larger than that of amplitude inconsistency of sum and difference channels on angle measurement, but a method for improving the influence of amplitude inconsistency of sum and difference channels on angle measurement is not provided.
(2) In the system engineering and electronic technology, 7 month in 2013, 35, 7 th edition, the thesis provides an adaptive monopulse angle measurement method based on angle discrimination curve fitting, and the method relates to angle discrimination curve fitting but does not analyze the influence of channel self-calibration amplitude on the angle discrimination curve.
(3) In the modern defense technology, 6.2017, 45, 3 rd new method for high-resolution angle measurement by combining four channels of a monopulse radar, the paper provides a new monopulse radar system structure, and received signals of a radar diagonal difference channel are skillfully extracted and utilized to improve the angle measurement resolution of a traditional radar system, but the method relates to flexible application of four channels of an antenna and does not relate to the influence of self-correcting amplitude on angle measurement errors.
(4) In radar and countermeasure, 2018, 3.38, volume 1, the paper proposes an improved method for phased array radar and difference beam angle measurement, which is to convert a wave control angle in a geodetic coordinate system into a sinusoidal space, and use the characteristic that an antenna directional pattern does not change along with beam pointing in the sinusoidal space, so that a plurality of antenna directional patterns with different beam pointing angles do not need to be stored, thereby achieving the purpose of saving hardware resources, but it does not give specific analysis about the influence of self-calibration amplitude on angle measurement precision.
(5) In the scientific and technical consultation report 2007, the 15 th research on the single pulse angle measurement and correction method of the broadband phased array system, the paper proposes a variable substitution method to eliminate the influence of the frequency and the scanning angle on the angle sensitive function, but does not mention the influence of the self-correcting amplitude on the angle sensitive function, and also does not provide a corresponding improvement method.
(6) In radar science and technology, 2009, 10 th, 5 th, a new method for improving angle measurement accuracy of a monopulse radar is provided, and the paper proposes a new method for improving angle measurement accuracy by using an adaptive moving object display (AMTI) and APES (Amplitude and Phase Estimation) algorithm based on a maximum average improvement factor, so as to inhibit the reduction of doppler frequency detection accuracy caused by rain clutter, thereby improving the angle measurement accuracy of a system, and the method has no direct relation with the influence of self-correcting Amplitude on the angle measurement accuracy.
(7) In "communication countermeasure" 2016, 9.9.35, 3 rd paragraph, "a single-pulse direction-finding and positioning method for automatic phase calibration on satellite", the paper proposes a method for simultaneously estimating the phase difference between a radiation source position and a sum-difference channel by using a nonlinear filtering method to realize rapid and accurate positioning of the radiation source, and the method relates to estimation of the phase difference of the sum-difference channel, but does not mention the influence of the amplitude difference (namely, self-calibration amplitude) between the sum-difference channel and the difference channel on the angle measurement precision.
The patents include:
(1) a single-pulse high-precision angle measuring system and an angle measuring method thereof are disclosed in the patent numbers: CN 103792532 a, which proposes a method for calculating target azimuth by using sum and difference amplitude phase information and an OBA (Off Boresight Angle, Angle included from aiming axis of antenna beam) value function, and does not calculate Angle measurement accuracy of the method, nor analyze the related influence caused by the difference of sum and difference channel self-calibration amplitudes.
(2) A high-precision angle measurement technology implementation method based on amplitude monopulse is disclosed in the patent number: CN 106990400 a, which is a patent technology for air traffic control radar response angle measurement, has a great difference from the conventional single pulse angle measurement, and therefore has no substantial relationship with the technical method of the present patent.
(3) A method and a device for improving the accuracy of single pulse angle measurement of a search radar are disclosed in the patent number: CN 105093184 a, which proposes a method for improving the accuracy of angle measurement of a search radar, including angle error preprocessing and angle error correction. The angle error result is corrected by adopting an interpolation fitting method. The method needs to define parameters affecting the angle error at the beginning of execution, but the patent does not take the channel self-calibration amplitude as one of the factors affecting the angle error.
Therefore, the above-mentioned papers and patents do not relate to a more precise radar angle error correction method based on self-calibration amplitude normalization.
As shown in fig. 1, the conventional method for self-calibration of radar system channels includes: the sum channel signal and the difference channel signal are respectively processed by digital I/Q after being digitalized, and then the two paths of digital signals are processed by self-calibration, namely, the sum channel data is compared with the difference channel data, so that the self-calibration amplitude and the self-calibration phase of the sum channel are obtained. When the radar system measures the radar angle error, the channel data needs to be corrected by utilizing the self-correcting amplitude and the self-correcting phase, and then the radar error measurement is carried out. The calculation formula of the self-correcting amplitude and the self-correcting phase is as follows:
in the formula, AadjustIn order to be self-correcting in amplitude,
for self-correcting phase, SΣTo andnumber signal, SΔFor the difference complex signal, abs () is the modulo operation and angle () is the phase angle operation.
As shown in fig. 2, which is a schematic view of an angle measurement process of a conventional radar system, after pulse compression and coherent accumulation of a sum channel are completed, the radar system performs CFAR (Constant False Alarm Rate) detection on the sum channel, determines a point target coordinate, extracts sum-difference channel data in a sum-difference channel data plane according to the point target coordinate, and performs amplitude-to-phase ratio processing according to the sum-difference channel data plane to obtain a radar angle error. After the radar angle error is obtained through calculation, the angle of the final target in the wave beam relative to the normal direction of the antenna, namely the included angle between the real direction of arrival and the normal direction of the array surface is obtained through the calibration angle curve.
As can be seen from the above, in a small phased array search radar, it is generally required to accurately locate an object during a search. However, because the radar beam width is wide, the positioning accuracy requirement cannot be met only by beam sweeping positioning, and the conventional sum and difference angle measurement method has a certain angle identification curve fitting error, can only be used for the trend of a target position, is suitable for target beam tracking and a proportional guidance system, and is not suitable for certain application scenes with high positioning accuracy requirements.
Disclosure of Invention
The invention aims to provide a radar angle error correction method based on self-correcting amplitude normalization, which utilizes the corresponding relation between an angle identifying curve of a radar system and a self-correcting amplitude of a sum-difference channel and utilizes the self-correcting amplitude to carry out normalization processing on the angle identifying curve and a radar angle error so as to correct a radar target angle measurement value and further improve the radar angle measurement precision.
In order to achieve the purpose, the invention is realized by the following technical scheme:
a radar angle error correction method based on self-correction amplitude normalization comprises the following steps:
s1, performing amplitude-to-amplitude ratio phase processing by using sum and difference channel data to obtain a radar angle error;
s2, normalizing the self-correcting amplitude of the radar angle error to the current frame to obtain a normalized radar angle error;
and S3, obtaining a final angle measurement result by using the normalized radar angle error versus standard angle curve.
Preferably, the angle curve is obtained by the following method:
t1, recording the self-correcting amplitude value of the current sum and difference channel;
t2, traversing all angle positions in the beam range to obtain the radar angle error at each angle position;
t3, respectively normalizing the radar angle errors at all angle positions to the current self-correcting amplitude value to obtain a plurality of normalized radar angle errors;
and T4, obtaining an angle identification curve based on the normalized radar angle error and the angle position in the corresponding beam.
Preferably, in the step T4, an angle identification curve is obtained by a polynomial fitting method based on the normalized radar angle error and the corresponding angle position in the beam.
Preferably, the pair of index angle curves is: and marking the normalized radar angle error pair to a corresponding signal arrival angle on an angle identification curve.
Preferably, before radar angle error correction based on self-correcting amplitude normalization is carried out, angle identification curve fitting is carried out.
Preferably, channel self-correction compensation is carried out in the amplitude-to-amplitude ratio phase processing process.
Compared with the prior art, the invention has the following advantages:
(1) according to the radar angle error correction method based on self-correcting amplitude normalization, in the radar angle measurement process, the radar angle error obtained by processing a radar system through a ratio phase is normalized for the self-correcting amplitude, and then the normalized radar angle error is compared with a standard angle curve to obtain a final angle measurement result;
(2) according to the radar angle error correction method based on self-calibration amplitude normalization, when the angle discrimination curve is fitted, the radar angle errors corresponding to different angles are normalized to the self-calibration amplitude, the influence of self-calibration amplitude change on radar angle error measurement is removed, the normalized radar angle error is obtained, then the angle discrimination curve of a radar system is fitted according to the normalized radar angle error, and the accuracy of radar angle measurement is improved.
Drawings
FIG. 1 is a conventional radar system channel self-calibration method;
FIG. 2 is a schematic diagram of a conventional angle measurement process for a radar system;
FIG. 3 is a schematic diagram of a radar angle error correction method based on self-calibration amplitude normalization according to the present invention;
FIG. 4 is a schematic view of an angle curve;
FIGS. 5(a) -5(c) are schematic diagrams of the slope of the linear segment of the angle finding curve with the self-correcting amplitude;
FIG. 6 is a method of fitting an angle discrimination curve of the present invention.
Detailed Description
The present invention will now be further described by way of the following detailed description of a preferred embodiment thereof, taken in conjunction with the accompanying drawings.
As shown in fig. 3, a schematic diagram of a radar angle error correction method based on self-calibration amplitude normalization according to the present invention is shown, and the method includes the following steps:
and S1, performing amplitude-to-amplitude ratio phase processing by using the sum and difference channel data to obtain a radar angle error (namely a radar error value).
The channel self-correction compensation is carried out in the amplitude-to-amplitude ratio phase processing process, namely, when the amplitude-to-amplitude ratio phase processing is carried out, the system can compensate the channel self-correction data into a processing result so as to make up for inherent errors existing in the corrected channel.
And S2, normalizing the self-correcting amplitude of the radar angle error to the current frame to obtain a normalized radar angle error.
And S3, comparing the normalized radar angle error with a standard angle curve to obtain a final angle measurement result, namely the angle of the final target in the beam relative to the normal direction of the antenna. Wherein the pair of index angle curves are: and marking the normalized radar angle error pair to a corresponding signal arrival angle on an angle identification curve.
As shown in fig. 4, it is a schematic diagram of an angle finding curve, in which the abscissa is the angle of arrival of a signal, and the ordinate is the radar angle error, and it can be known that the relationship between the radar angle error and the corresponding angle is an angle finding curve, in which the radar angle error and the angle position within a certain angle range are approximately linear.
In practical engineering application and test, the slope of the linear section of the angle discrimination curve of the radar system is related to the self-correction amplitude of the channel, and the larger the self-correction amplitude is, the larger the slope of the linear section of the angle discrimination curve is. As shown in fig. 5(a) -5(c), the slope of the linear segment of the angle finding curve varies with the self-calibration amplitude, and it can be known that the slope of the linear segment of the angle finding curve of the radar system varies with the self-calibration amplitude. In practical application, in order to facilitate engineering implementation, the change of the slope of the linear section of the angle identification curve caused by the change of the self-calibration amplitude is not considered, and only the established angle identification curve is used for angle measurement, so that the method can meet the requirement in the application occasions with the requirement on the conventional angle measurement precision, but in the application occasions with higher requirement on the positioning precision, the angle measurement precision cannot meet the requirement, for example, in microwave infrared composite detection, when the microwave provides a target for infrared, if the microwave positioning precision is not high, the situation that the target is not in an infrared view field can occur, and the success rate of mode shift switching is reduced.
Therefore, the present invention provides a method for fitting an angle discrimination curve, as shown in fig. 6, when fitting the angle discrimination curve, normalizing the current self-calibration amplitude with radar angle errors corresponding to different angles to obtain a normalized radar angle error, and then fitting the angle discrimination curve of a radar system with the normalized radar angle error, wherein the specific method is as follows:
t1, recording the self-correcting amplitude value of the current sum and difference channel;
t2, traversing all angle positions in the beam range to obtain the radar angle error at each angle position;
t3, respectively normalizing the radar angle errors at all angle positions to the current self-correcting amplitude value to obtain a plurality of normalized radar angle errors;
and T4, obtaining an angle discrimination curve by a polynomial fitting method based on the normalized radar angle error obtained in the step T3 and the angle position in the corresponding beam.
In this embodiment, before performing the radar angle error correction based on the self-calibration amplitude normalization, the fitting of the angle discrimination curve of the radar system needs to be performed, and the angle measurement result needs to be calculated according to the angle discrimination curve.
In conclusion, the radar angle error correction method based on self-correction amplitude normalization analyzes the angle measurement curve on the basis of the conventional sum and difference angle measurement method, and defines the relationship between the slope (linear section slope) of the angle identification curve and the self-correction amplitude of the sum and difference channel; and when fitting the angle discrimination curve, fitting normalized radar angle errors under a plurality of different sum and difference channel self-correction amplitudes, and fitting the angle discrimination curve of the radar system by the normalized radar angle errors. When the radar system searches for the angle measurement, the self-calibration amplitude of the current sum and difference channel is normalized by the radar angle error measured by the radar system to obtain the normalized radar angle error, and the angle identification curve is used for calibration to obtain the final angle measurement result.
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 limited only by the attached claims.
Claims (5)
1. A radar angle error correction method based on self-correction amplitude normalization is characterized by comprising the following steps:
s1, carrying out amplitude-to-amplitude ratio phase processing by using sum and difference channel data to obtain a radar angle error;
s2, normalizing the self-correcting amplitude of the radar angle error to the current frame to obtain a normalized radar angle error;
s3, matching the normalized radar angle error with a standard angle curve to obtain a final angle measurement result;
the angularity curve is obtained by the following method:
t1, recording the self-correcting amplitude value of the current sum and difference channel;
t2, traversing all angle positions in the beam range to obtain the radar angle error at each angle position;
t3, respectively normalizing the radar angle errors at all angle positions to the current self-correcting amplitude value to obtain a plurality of normalized radar angle errors;
and T4, obtaining an angle identification curve based on the normalized radar angle error and the angle position in the corresponding beam.
2. The radar angle error correction method based on self-correcting amplitude normalization of claim 1,
in the step T4, an angle finding curve is obtained by a polynomial fitting method based on the normalized radar angle error and the angle position in the beam corresponding to the normalized radar angle error.
3. The radar angle error correction method based on self-correcting amplitude normalization of claim 1,
the calibration angle curve is as follows: and marking the normalized radar angle error pair to a corresponding signal arrival angle on an angle identification curve.
4. The radar angle error correction method based on self-correcting amplitude normalization of claim 1,
before radar angle error correction based on self-correcting amplitude normalization is carried out, angle identification curve fitting needs to be carried out.
5. The radar angle error correction method based on self-correcting amplitude normalization of claim 1,
and carrying out channel self-correction compensation in the amplitude-to-amplitude ratio phase processing process.
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