CN112965028A - Multi-beam phased array difference sum ratio angle estimation method - Google Patents

Multi-beam phased array difference sum ratio angle estimation method Download PDF

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CN112965028A
CN112965028A CN202110183866.0A CN202110183866A CN112965028A CN 112965028 A CN112965028 A CN 112965028A CN 202110183866 A CN202110183866 A CN 202110183866A CN 112965028 A CN112965028 A CN 112965028A
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angle
theta
phased array
difference
echo
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CN112965028B (en
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杨顺平
任思
蒋凯
邵龙
何海丹
李秀梅
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Southwest Electronic Technology Institute No 10 Institute of Cetc
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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
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
    • G01S3/14—Systems for determining direction or deviation from predetermined direction
    • G01S3/28—Systems for determining direction or deviation from predetermined direction using amplitude comparison of signals derived simultaneously from receiving antennas or antenna systems having differently-oriented directivity characteristics
    • G01S3/32—Systems for determining direction or deviation from predetermined direction using amplitude comparison of signals derived simultaneously from receiving antennas or antenna systems having differently-oriented directivity characteristics derived from different combinations of signals from separate antennas, e.g. comparing sum with difference
    • 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
    • G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
    • 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 multi-band phased array antenna rotation testing device disclosed by the invention is simple in structure, convenient to install, high in precision and capable of controlling angle rotation. The invention is realized by the following technical scheme: the U-shaped cantilever support (1) is in a curved surface or plane structure according to the shape of the inner side of the antenna housing and is fixedly connected with the inner side of the antenna housing of the antenna to be detected in a conformal mode, the scale plate (3) is fixedly connected through the U-shaped cantilever support, and then a shaft and a bearing in the bearing seat (4) are fixedly connected to form a rotary cantilever connected with the rocking handle (5); the scale plate is provided with circular array indexing hole systems and indexing lines thereof which are evenly distributed around the circle center of the bearing in an evenly-divided mode, the rocking handle is rotated to drive the tested antenna body (8) to rotate, the steering angle of the scale plate is controlled, the pointer (2) fixed to the top end of the bearing seat indicates the rotating angle of the tested antenna through the tip, and the locking function of the rotating angle is achieved through the elastic indexing pin (6) arranged on the lower side of the bearing seat. The invention can be adapted to different darkroom turntables and meet the installation requirements of various turntables.

Description

Multi-beam phased array difference sum ratio angle estimation method
Technical Field
The invention relates to the field of communication, radar, measurement and control and the like with requirements on estimation of the direction of arrival of electromagnetic waves, in particular to an angle estimation method under simultaneous multi-beam receiving by utilizing a digital phased array antenna.
Background
The single pulse is used as an angle measurement technology of the radar, mainly the radar technology which obtains point source or target angle information through signals of two or more simultaneous beams, and meanwhile, the multiple beams enable two-dimensional angle estimation to be possible only through a single target echo pulse. In the tracking radar, the single pulse technology can precisely track and measure the target. The multi-beam phased array antenna forms sum and difference beams by weighting the sum beam and the difference beam of the data received by the array elements. The sum and difference beam forming is generally based on the output end of a common beam forming receiving system, and the sum and difference beam tracking algorithm and engineering realize the forming of the sum beam and the difference beam. The sum beam forms the main lobe at the designated beam and the difference beam forms the null in that direction. The sum-difference angle measurement is to obtain the target angle according to the sum-difference beam ratio. The phased array can form beams in a plurality of receiving directions, so that sum and difference beams in a plurality of receiving directions can be formed to perform multi-target sum and difference angle measurement. The sum-difference beam forming method is a symmetrical negation method, one method is a symmetrical negation method, and the sum-difference beam shares a set of weights, namely the weights of the difference beam are obtained by symmetrical negation on the basis of the weights of the sum beam; one method is a double-direction method, which generates two parts of covered basic beams, and respectively forms sum and difference beams by the output module values of the two basic beams; the sum and difference wave beams have wide angle measurement range and controllable side lobe, and the lower side lobe can inhibit interference from entering from the side lobe so as to achieve the aim of resisting interference. However, in many real situations, automatic tracking of multiple targets is required, and although a radar receiving system based on multiple sets of surface antennas and mechanical servo has the advantage of simple implementation, the radar receiving system has the obvious disadvantages of large equipment amount, high cost, difficult cooperative work and the like. The sum and difference angle measurement based on the phased array can realize multi-target direction finding and tracking, and has the advantages of flexible beam switching, high direction finding and tracking precision and the like. The single pulse sum and difference direction finding is a mature technology, and has the advantages of high angle finding precision, strong anti-interference capability, high data rate and the like, thereby being widely applied. The amplitude comparison and difference angle measurement is the most widely applied method, and is widely used in precision tracking radars. The amplitude comparison and difference beams adopt two same beams which are partially overlapped with each other, the direction of the target deviating from the equal signal axis is judged mainly by comparing the strength of the echoes of the two beams, and the size of the deviating equal signal axis can be estimated by a table look-up method. When the multi-beam phased array antenna tracks a target, due to the existence of beam sliding, beam crossing and the like, the test error range, the data precision and the like of the dynamic angle tracking performance of the multi-beam phased array antenna need to be tested. When multiple beams track a target, due to changes of beam coverage and weighting coefficients (including the weighting coefficient in the case of multiple beam forming and the weighting coefficient in the case of sum-difference beam forming), the angular tracking performance of the phased array antenna for beam sliding may have errors, and therefore, the angular tracking performance of the multiple beam phased array antenna needs to be tested in these special cases. When the beam traversing angle tracking multi-beam phased array antenna tracks multiple targets, different beams are required to be adopted to respectively correspond to different targets. For the multi-beam phased array antenna, when a plurality of targets are close to each other in space, a signal of one target may enter a side lobe or even a main lobe of a receiving beam of another target, and a tracking beam is crossed and crossed, so that strong interference is formed on the tracking of the beam. The multi-beam antenna angle tracking performance at this time also needs to be tested.
In modern radars, the system usually adopts a monopulse algorithm to estimate the angle of a target, so that the angle measurement accuracy can be improved. The monopulse angle measurement has the characteristics of high angle measurement precision, strong anti-interference capability, high data rate and the like, is widely applied to large phased array multi-target monopulse angle measurement in the field of radar, estimates the angle of electromagnetic wave incident to a receiving antenna, is called direction-of-arrival estimation, and is widely applied to the technical fields of communication, radar, measurement and control and the like. The most common angle estimation method is the amplitude and difference monopulse goniometry technique employed in radar. The amplitude sum and difference monopulse angle measurement technology can generally utilize sum and difference multi-beams to realize a multi-target direction measurement method at a subarray level, the sum and difference multi-beams are realized through a plurality of sets of subarray level phase steering vectors and a symmetrical inversion mode after the complexity of a system is reduced by combining array element outputs, and a target two-dimensional deflection angle in any directional beam can be estimated by obtaining the direction and the pitch dimension normal slope. In some cases, a direction-finding technique alone may not be suitable for the actual signal environment or meet specifications. Therefore, the requirement of combining a plurality of direction-finding technologies is met, and the aim of optimizing the system performance is fulfilled. In order to overcome many defects of a mechanical scanning antenna, a phased array antenna in the prior art adopts a more advanced amplitude and difference monopulse angle measurement technology, however, a traditional monopulse system usually realizes simultaneous multi-beam by symmetrically placing a plurality of feed sources near an antenna focus, but the antenna design of the monopulse system is complex, the balance of a sum channel and a difference channel is difficult to control, in addition, the existing monopulse tracking system does not have the simultaneous multi-target precise tracking capability, the simultaneous precise tracking of a plurality of targets is very difficult to realize, meanwhile, the traditional radar realizes the change of beam direction by the mechanical scanning of a radar front, and when the quick scanning is needed, the traditional radar cannot meet the real-time requirement. In this case, the use of amplitude and difference monopulse goniometry for phased array antennas overcomes many of the disadvantages of mechanically scanned antennas. However, in the existing amplitude and difference monopulse angle measurement technology based on the phased array antenna, when the number of beams to be formed is large, the amount of hardware equipment is increased greatly and is difficult to test and adjust. The following disadvantages are also present: firstly, when calculating the theoretical value of the amplitude of the sub-beam receiving signal, the directional diagram rotation is adopted to represent the actual sub-beam directional diagram, and the approximation generates errors; secondly, when the amplitude of the wavelet signal received by the sub-beam is approximately expressed by the Taylor expansion, only the first-order Taylor expansion is adopted, and the error is further increased by the approximation. Ultimately, these errors result in poor accuracy of the angle estimation.
Disclosure of Invention
The invention aims to solve the problems that: how to accurately represent the sub-beam pattern, and the problem of insufficient angle estimation precision caused by the error is solved. Therefore, aiming at the problems and the defects existing in the prior art, the invention provides the multi-beam phased array difference and ratio angle estimation method which can reduce the error, improve the estimation precision and solve the technical problem.
The above object of the present invention can be achieved by the following means: a multi-beam phased array difference sum ratio angle estimation method is characterized by comprising the following steps: establishing a phased array antenna uniform linear array model with a uniform linear array body array surface by adopting a digital phased array system, electrically scanning a digital phased array antenna in a full-space domain, carrying out angle coarse capture on a received echo signal to obtain an approximate angle of the echo signal, converting the echo signal into an Nx 1-dimensional digital intermediate-frequency signal vector direction x (N) through a receiving channel, inputting the vector direction x (N) into a digital signal processing DSP module, and receiving echo signals y received by two wave beams1(n) and y2(n) estimating the amplitudes of the signals to obtain amplitudes E1And E2Two echo signals of (a); adjusting phased array receiving weight vectors in a DSP module, and then performing echo angle estimation by adopting simultaneous multi-beam phased array difference and ratio angle estimation;
determining a width which is less than 3dB of a phased array wave beam and is greater than an angle theta to be estimated in a DSP moduletAbsolute value of angle value thetakSimultaneously calculating the weight vectors w corresponding to the two wave beams according to the calculation method of the receiving weight vectors of the phased array antenna1And w2To obtain amplitudes respectively E1And E2Two echo signals of (a); DSP module estimates two wave beam signal amplitude E1And E2And for the amplitude E1And E2Sum and difference processing to obtain the amplitude E of the received signalsΣ＝E1+E2Difference beam received signal amplitude E△＝E1-E2，Further calculating to obtain the sum of the differences S and E of the phased array receiving signals△/EΣ。
Compared with the prior art, the invention has the beneficial effects that:
the invention adopts a digital phased array system to establish a phased array antenna uniform linear array model with a uniform linear array,the digital phased array antenna performs full-space domain electrical scanning, performs angle coarse capture on a received echo signal to obtain the approximate angle of the echo signal, converts the echo signal into an Nx 1-dimensional digital intermediate frequency signal vector direction x (N) through a receiving channel, inputs the vector direction into a digital signal processing DSP module, and receives echo signals y received by two wave beams1(n) and y2(n) estimating the amplitudes of the signals to obtain amplitudes E1And E2Two echo signals of (a); when the sub-beam directional diagram is calculated, a directional diagram calculation mode according to the weight is adopted, and a high-order Taylor expansion is used for approximation, so that the error is reduced, and the estimation precision is improved.
The method adopts the SP module to determine that the width of the wave beam is less than 3dB of the phased array wave beam and is more than the angle theta to be estimatedtAbsolute value of angle value thetakAccording to the method for calculating the receiving weight vector of the phased array antenna, the weight vectors w corresponding to the two wave beams are calculated simultaneously1And w2To obtain amplitudes respectively E1And E2Two echo signals of (a); it can be seen that as the cross coverage area of the two basic beams changes, the slope of the angle identification curve and the linear range of the angle measurement curve change simultaneously, the linear range is widest near the 3dB beam width, the linear range on both sides of the 3dB beam width is in a decreasing trend, and the slope gradually decreases with the increase of the cross area. Therefore, in the following simulation, the basic beams of the method all intersect at about 3dB, and a wider angle measurement range can be ensured. The method can accurately represent the sub-beam pattern, and overcome the problem of insufficient angle estimation precision caused by pattern rotation and only one-order Taylor expansion.
The invention adopts a DSP module to estimate the amplitude E of two wave beam signals1And E2And for the amplitude E1And E2Sum and difference processing to obtain the amplitude E of the received signalsΣ＝E1+E2Difference beam received signal amplitude E△＝E1-E2，Further calculating to obtain the sum of the differences S and E of the phased array receiving signals△/EΣ. The difference beam has lower side lobe, so that the entrance of stronger interference from the side lobe can be inhibited, and the interference resistance is stronger, and meanwhile, the difference beam has stronger interference resistanceThe direct weighting method has the maximum slope and wider angle identification curve linear range, so that the method has higher angle measurement precision. Compared with the traditional sum and difference angle measurement, the phased array-based sum and difference angle measurement has the advantages of simultaneous tracking of multiple targets, flexible beam switching and high direction-finding tracking precision.
The method can be applied to the fields of radar, communication, measurement and control and the like for estimating the incident angle of the electromagnetic wave.
Drawings
Figure 1 is a flow chart of multi-beam phased array difference and ratio angle estimation of the present invention;
figure 2 is a schematic diagram of a uniform linear array geometry;
FIG. 3 is a schematic diagram of a phased array antenna pattern F (θ);
figure 4 is a schematic diagram of simultaneous multi-beam phased array difference and ratio angle estimation.
DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION
See fig. 1. According to the invention, a phased array antenna uniform linear array model with a uniform linear array is established by a digital phased array system, the digital phased array antenna is subjected to full-space-domain electrical scanning, the received echo signals are subjected to angle coarse capture to obtain approximate angles of the echo signals, the echo signals are converted into N multiplied by 1-dimensional digital intermediate-frequency signal vector directions x (N) through a receiving channel and are input into a digital signal processing DSP module, and echo signals y received by two wave beams are subjected to1(n) and y2(n) estimating the amplitudes of the signals to obtain amplitudes E1And E2Two echo signals of (a); adjusting phased array receiving weight vectors in a DSP module, and then performing echo angle estimation by adopting simultaneous multi-beam phased array difference and ratio angle estimation; determining a width which is less than 3dB of a phased array wave beam and is greater than an angle theta to be estimated in a DSP moduletAbsolute value of angle value thetakAccording to the method for calculating the receiving weight vector of the phased array antenna, the weight vectors w corresponding to the two wave beams are calculated simultaneously1And w2To obtain amplitudes respectively E1And E2Two echo signals of (a); DSP module estimates two wave beam signal amplitude E1And E2And for the amplitude E1And E2Performing sum and difference processing to obtain sumAmplitude E of the beam received signalΣ＝E1+E2Difference beam received signal amplitude E△＝E1-E2，Further calculating to obtain the sum of the differences S and E of the phased array receiving signals△/EΣ。
Determining a beam pointing function F (theta) and two beam pattern functions F (theta) of the phased array antenna according to the basic theory of the phased array antenna1(theta) and F2(theta), and enabling the patterns of the two beams to be equal to theta0Expanding by second-order Taylor expansion, and taking theta as thetas＝θ0+θtObtaining another expression of the amplitudes of the two beam received signals:
Figure BDA0002942241750000041
see fig. 2. The DSP module carries out coarse capture on the angle of the echo signal to obtain the approximate angle theta of the echo with the center pointing0And theta0∈[-π/2，π/2]According to the angle theta to be estimated at which the echo signal is directed away from the centertObtaining the true angle theta of the echo signals＝θ0+θt。。
The DSP module will determine an absolute angle value thetakWill thetakThe deviation angle between the two beams and the central axis is smaller than the 3dB width of the phased array beam and larger than the angle theta to be estimatedtAbsolute value of (d); according to the method for calculating the receiving weight vector of the phased array antenna, the weight vectors w corresponding to two wave beams are calculated simultaneously1And w2Wherein w is1Corresponding to a beam pointing angle theta0+θk，w2Corresponding to a beam pointing angle thetas＝θ0-θkWeight vector w1And w2Dimension is N × 1; specifically, the weight vector w corresponding to the first beam1＝v(θ0+θk) The weight vector w corresponding to the second beam2＝v(θ0-θk) In the formula, the vector v (θ) is an N × 1-dimensional direction vector corresponding to the argument θ, and the vector v (θ) is functionally expressed as:
Figure BDA0002942241750000051
where v is a direction vector, j is an imaginary unit, and k is an approximate slope obtained from an angle curve.
In the DSP block, w1And w2The two weight vectors form a beam receiving signal of
Figure BDA0002942241750000052
And
Figure BDA0002942241750000053
the symbol "H" represents taking the conjugate transpose; echo signals y received for two beams1(n) and y2(n) performing signal amplitude estimation to obtain the amplitudes E of the echo signals received by the two wave beams respectively1And E2(ii) a To E1And E2Sum and difference processing is carried out to obtain sum beam receiving signal amplitude EΣ＝E1+E2Difference beam received signal amplitude E△＝E1-E2，(ii) a Further calculating to obtain the sum of the differences S and E of the phased array receiving signals△/EΣ；
As shown in fig. 3. According to the basic theory of phased array antennas, when the beam of a phased array antenna is pointed at theta0When the weight vector takes on the value w0＝v(θ0) The directional diagram expression is
Figure BDA0002942241750000054
As shown in fig. 4. The DSP module may represent the first beam pattern as F (theta) based on the basic definition of the pattern function F (theta)1(θ)＝F(θ-θk) The second beam direction diagram is denoted as F2(θ)＝F(θ+θk) (ii) a Method for solving echo signal angle theta by simultaneous formulasThe two beam patterns are defined as theta0Expanding by second-order Taylor expansion, and taking theta as thetas＝θ0+θtAnother expression of the amplitude of the two beam receive signals can be obtained: obtaining the angle A of the target deviation from the guide angle
Figure BDA0002942241750000055
Figure BDA0002942241750000056
According to the angle A of the target deviation guide angle1,A2Further obtaining the difference and the ratio of the received echo signals of the two beams:
Figure BDA0002942241750000057
α＝F(θ0-θk)+F(θ0+θk)，β＝F′(θ0-θk)-F′(θ0+θk)，γ＝F″(θ0-θk)+F″(θ0+θk)
the equation S is set up to S', since only thetatIs an unknown number, so that an estimated value is obtained as
Figure BDA0002942241750000058
What will be shown
Figure BDA0002942241750000059
The smaller of the absolute values of (a) and (b) is used as an estimated value, so that the echo angle theta can be calculatedsThe final estimate is:
Figure BDA00029422417500000510
in the formula, F' (θ) represents that the function F (θ) takes the first derivative of the argument θ, F ″ (θ) represents that the function F (θ) takes the second derivative of the argument θ, α represents the angle 0 derivative influence factor, β represents the angle 1 derivative influence factor, γ represents the angle 2 derivative influence factor, and t represents time.
The method can improve the angle estimation precision of the echo signal under the conditions of flexible target maneuvering and poor echo signal coarse capture effect. The method can be applied to the fields of radar, communication, measurement and control and the like for estimating the incident angle of the electromagnetic wave.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (10)

1. A multi-beam phased array difference sum ratio angle estimation method is characterized by comprising the following steps: establishing a phased array antenna uniform linear array model with a uniform linear array body array surface by adopting a digital phased array system, electrically scanning a digital phased array antenna in a full-space domain, carrying out angle coarse capture on a received echo signal to obtain an approximate angle of the echo signal, converting the echo signal into an Nx 1-dimensional digital intermediate-frequency signal vector direction x (N) through a receiving channel, inputting the vector direction x (N) into a digital signal processing DSP module, and receiving echo signals y received by two wave beams1(n) and y2(n) estimating the amplitudes of the signals to obtain amplitudes E1And E2Two echo signals of (a); adjusting phased array receiving weight vectors in a DSP module, and then performing echo angle estimation by adopting simultaneous multi-beam phased array difference and ratio angle estimation; determining a width which is less than 3dB of a phased array wave beam and is greater than an angle theta to be estimated in a DSP moduletAbsolute value of angle value thetakSimultaneously calculating the weight vectors w corresponding to the two wave beams according to the calculation method of the receiving weight vectors of the phased array antenna1And w2To obtain amplitudes respectively E1And E2Two echo signals of (a); DSP module estimates two wave beam signal amplitude E1And E2And for the amplitude E1And E2Sum and difference processing to obtain the amplitude E of the received signalsΣ＝E1+E2Difference beamAmplitude E of received signal△＝E1-E2，Further calculating to obtain the sum of the differences S and E of the phased array receiving signals△/EΣ。
2. The multi-beam phased array difference and ratio angle estimation method of claim 1, characterized in that: determining a beam pointing function F (theta) and two beam pattern functions F (theta) of the phased array antenna according to the basic theory of the phased array antenna1(theta) and F2(theta), and changing the pattern of the two beams into theta in the independent variable theta0Expanded by a second-order Taylor expansion, and the argument theta is taken as thetas＝θ0+θtObtaining another expression of the amplitudes of the two beam received signals:
Figure FDA0002942241740000011
3. the multi-beam phased array difference and ratio angle estimation method of claim 1, characterized in that: the array surface is the number N of array elements of the uniform linear array, and the array element spacing d is lambda/2, wherein lambda refers to the echo wavelength.
4. The multi-beam phased array difference and ratio angle estimation method of claim 1, characterized in that: the DSP module carries out coarse capture on the angle of the echo signal to obtain the pointing angle theta of the approximate wave beam with the center pointing as the echo0Angle and theta0∈[-π/2，π/2]According to the angle theta to be estimated at which the echo signal is directed away from the centertObtaining the true echo angle theta of the echo signals＝θ0+θt。
5. The multi-beam phased array difference and ratio angle estimation method of claim 1, characterized in that: the DSP module will determine an absolute angle value thetakAs the deflection angles of the two beams and the central axis, the weight vectors w corresponding to the two beams are simultaneously calculated according to the method for calculating the receiving weight vector of the phased array antenna1And w2Wherein w is1Corresponding waveThe beam pointing angle is theta0+θk，w2The corresponding beam pointing angle is the echo angle thetas＝θ0-θkWeight vector w1And w2The dimension is N × 1.
6. The multi-beam phased array difference and ratio angle estimation method of claim 5, wherein: weight vector w corresponding to the first beam1＝v(θ0+θk) The weight vector w corresponding to the second beam2＝v(θ0-θk) In the formula, the vector v (θ) is an N × 1-dimensional direction vector corresponding to an angle as an argument θ, and its vector v (θ) is functionally expressed as:
Figure FDA0002942241740000012
where v is a direction vector, j is an imaginary unit, and k is an approximate slope obtained from an angle curve.
7. The multi-beam phased array difference and ratio angle estimation method of claim 1, characterized in that: in the DSP block, w1And w2The two weight vectors form a beam receiving signal of
Figure FDA0002942241740000021
And
Figure FDA0002942241740000022
the symbol "H" represents taking the conjugate transpose; echo signals y received for two beams1(n) and y2(n) performing signal amplitude estimation to obtain the amplitudes E of the echo signals received by the two wave beams respectively1And E2。
8. The multi-beam phased array difference and ratio angle estimation method of claim 1, characterized in that: according to the basic theory of phased array antennas, when the beam of a phased array antenna points at an angle theta0When the vector takes the value w0＝v(θ0) The method ofThe expression of the graph is
Figure FDA0002942241740000023
9. The multi-beam phased array difference and ratio angle estimation method of claim 1, characterized in that: the DSP module may represent the first beam pattern as F (theta) based on the basic definition of the pattern function F (theta)1(θ)＝F(θ-θk) The second beam direction diagram is denoted as F2(θ)＝F(θ+θk) (ii) a Method for solving echo signal angle theta by simultaneous formulasThe patterns of the two beams are set to be theta at the independent variable theta0Expanding by second-order Taylor expansion, and taking argument theta as thetas＝θ0+θtAnother expression of the amplitude of the two beam receive signals can be obtained: obtaining the angle A of the target deviation from the guide angle1、A2：
Figure FDA0002942241740000024
Figure FDA0002942241740000025
Wherein F' (θ) represents the first derivative of the argument θ by the function F (θ), and F ″ (θ) represents the second derivative of the argument θ by the function F (θ); according to the angle A of the target deviation from the lead angle1,A2Further obtaining the difference and the ratio of the received echo signals of the two beams:
Figure FDA0002942241740000026
wherein degree 0 order derivative influence factor alpha is F (theta)0-θk)+F(θ0+θk) Angle 1 order derivative influence factor β ═ F' (θ)0-θk)-F′(θ0+θk) The angle 2 order derivative influence factor γ ═ F ″ (θ)0-θk)+F″(θ0+θk)。
10. The multi-beam phased array difference and ratio angle estimation method of claim 1, characterized in that: the DSP module represents the first beam direction as F (theta) according to the basic definition mode of the directional diagram function F (theta)1(θ)＝F(θ-θk) The second beam direction diagram is denoted as F2(θ)＝F(θ+θk) (ii) a The directional patterns of the two beams are defined as theta0Expanding by second-order Taylor expansion, and taking argument theta as thetas＝θ0+θtObtaining another expression of the amplitudes of the two beam received signals: obtaining the angle A of the target deviation from the guide angle1、A2，
Angle of target deviation from steering angle of beam 1
Figure FDA0002942241740000027
The target angle of beam 2 from the steering angle
Figure FDA0002942241740000028
According to the angle A of the target deviation guide angle1、A2. Further obtaining the difference and the ratio of the received echo signals of the two beams:
Figure FDA0002942241740000031
α＝F(θ0-θk)+F(θ0+θk)，
β＝F′(θ0-θk)-F′(θ0+θk)，
γ＝F″(θ0-θk)+F″(θ0+θk)
the equation S is set up to S', since only thetatIs an unknown number, thereforeThe estimated value obtained is
Figure FDA0002942241740000032
The angle theta to be estimatedtIs estimated value of
Figure FDA0002942241740000033
The smaller of the absolute values of (a) and (b) is used as an estimated value, so that the echo angle theta can be calculatedsThe final estimate is:
Figure FDA0002942241740000034
in the formula, F' (θ) represents that the function F (θ) calculates the first derivative of the independent variable θ, F ″ (θ) represents that the function F (θ) calculates the second derivative of the independent variable θ, α represents the angle 0 derivative influence factor, β represents the angle 1 derivative influence factor γ represents the angle 2 derivative influence factor, and t is time.
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