CN114594419B - Method and device for detecting frequency and direction by beam domain reconnaissance - Google Patents

Method and device for detecting frequency and direction by beam domain reconnaissance Download PDF

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CN114594419B
CN114594419B CN202210495862.0A CN202210495862A CN114594419B CN 114594419 B CN114594419 B CN 114594419B CN 202210495862 A CN202210495862 A CN 202210495862A CN 114594419 B CN114594419 B CN 114594419B
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frequency
angle
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CN114594419A (en
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陈辉
李槟槟
李锡武
杜庆磊
许霄龙
张昭建
刘维建
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Air Force Early Warning Academy
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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
    • G01S3/143—Systems for determining direction or deviation from predetermined direction by vectorial combination of signals derived from differently oriented antennae
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R23/00—Arrangements for measuring frequencies; Arrangements for analysing frequency spectra
    • G01R23/02—Arrangements for measuring frequency, e.g. pulse repetition rate; Arrangements for measuring period of current or voltage

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Abstract

The invention discloses a method for detecting frequency and direction by beam domain reconnaissance, which comprises the following steps: carrying out average blocking on the array antenna to obtain sub-channel data; obtaining three beams by using a beam forming technology; measuring frequency by using the main beam, and extracting beam space data needing angle measurement by combining a frequency measurement result; obtaining beam space data by utilizing preprocessing calculation; performing decorrelation on the beam space data by using a smoothing technology; then, the azimuth angle and the pitch angle are measured by utilizing a super-resolution angle measurement technology; and finally, matching the azimuth angle and the pitch angle by using a matching technology, and outputting three-dimensional parameters of signals. The method of the invention fully utilizes the wave beam domain of the array antenna, can greatly reduce the computation amount of frequency measurement and angle measurement, and the algorithm does not need to change the system structure, only needs to adjust the signal processing algorithm, and is convenient for engineering realization. The invention also provides a corresponding beam domain reconnaissance frequency and direction measuring device.

Description

Method and device for detecting frequency and direction by beam domain reconnaissance
Technical Field
The invention belongs to the technical field of radars and electronic countermeasures, and particularly relates to a method and a device for detecting frequency and direction by beam domain reconnaissance, which are suitable for electronic equipment provided with an array antenna and also can be used for other electronic countermeasures and electronic reconnaissance equipment of radars.
Background
The methods for detecting direction are many, but generally, the methods are mainly divided into three categories: amplitude-based, phase-based, and array-based approaches. The amplitude-based method can be completed by adopting one channel or two to three channels, and the maximum signal-to-noise ratio criterion is utilized, so that the method has the advantages of small operand and convenience for engineering realization, but has the defect of poor direction-finding precision and can not carry out angle measurement on two or more targets in one beam width. The phase-based method usually needs two to three channels, and performs direction finding by using the phase difference of the same signal reaching different channels, which has the advantages of higher direction finding precision, but the computation amount is obviously larger than that of the amplitude-based method, and the angle finding cannot be performed on two signals which arrive at the same time. The array-based method needs to measure the angle by using the spatial phase relationship of the array elements, and because the number of the array elements is large, the angle measurement of two signals which arrive at the same time can be realized, and the angle measurement of two targets in the same beam width can also be realized, but the method has the defects of high operation amount and is not suitable for coherent sources.
Disclosure of Invention
The present invention is directed to the above-mentioned deficiencies in the prior art. The invention realizes the high-precision angle measurement of two signals in one beam width by fully utilizing the beam domain data of the array and through beam forming, frequency measurement, preprocessing, super-resolution angle measurement and matching technologies. Firstly, carrying out average blocking on an array antenna to obtain sub-channel data; obtaining three beams by using a beam forming technology; measuring frequency by using the main beam, and extracting beam space data needing angle measurement by combining a frequency measurement result; utilizing preprocessing calculation to obtain beam space data; performing decorrelation on the beam space data by using a smoothing technology; then, the azimuth angle and the pitch angle are measured by utilizing a super-resolution angle measurement technology; and finally, matching the azimuth angle and the pitch angle by using a matching technology, and outputting three-dimensional parameters of signals. The method of the invention fully utilizes the wave beam domain of the array antenna, can greatly reduce the computation amount of frequency measurement and angle measurement, and the algorithm does not need to change the system structure, only needs to adjust the signal processing algorithm, and is convenient for engineering realization. The technology of the invention can be used in various electronic countermeasures and electronic reconnaissance equipment of radar, is simple to realize and has wide application prospect.
To achieve the above object, according to one aspect of the present invention, there is provided a method for detecting frequency and direction by beam domain scouting, comprising the steps of:
(1) averagely partitioning the array antenna to obtain four sub-channel data
Figure 91020DEST_PATH_IMAGE001
Wherein each subchannel data vector length is
Figure 546272DEST_PATH_IMAGE002
The upper left block data is
Figure 118199DEST_PATH_IMAGE003
The upper right block data is
Figure 215468DEST_PATH_IMAGE004
The lower left block data is
Figure 172929DEST_PATH_IMAGE005
The lower right block data is
Figure 64661DEST_PATH_IMAGE006
；
(2) Obtaining three beam data by using the four sub-channel data
Figure 858305DEST_PATH_IMAGE007
The calculation formula is as follows
Figure 759265DEST_PATH_IMAGE008
Wherein,
Figure 311512DEST_PATH_IMAGE009
thus, the three data vectors of the beam forming are all of length
Figure 639725DEST_PATH_IMAGE010
；
(3) Using a main beam
Figure 655086DEST_PATH_IMAGE011
Measuring frequency, and designing filter pair by using the frequency value
Figure 359736DEST_PATH_IMAGE012
Filtering and extracting data needing angle measurement
Figure 26210DEST_PATH_IMAGE013
Vectors, each data vector of length
Figure 525324DEST_PATH_IMAGE014
；
(4) Preprocessing calculation is carried out on the extracted data to obtain two data matrixes
Figure 27981DEST_PATH_IMAGE015
，
Figure 270744DEST_PATH_IMAGE016
Wherein,
Figure 791724DEST_PATH_IMAGE017
dimension of
Figure 461739DEST_PATH_IMAGE018
；
(5) Calculating covariance matrix, and smoothing to obtain two
Figure 717271DEST_PATH_IMAGE019
Data matrix
Figure 888359DEST_PATH_IMAGE020
，
Figure 404791DEST_PATH_IMAGE021
Wherein,
Figure 386653DEST_PATH_IMAGE022
it is indicated that the conjugate is taken,
Figure 378749DEST_PATH_IMAGE023
the representation is taken of the conjugate transpose,
Figure 104259DEST_PATH_IMAGE024
；
(6) using super-resolution angle measurement technique pair
Figure 396569DEST_PATH_IMAGE025
Angle measurement is carried out to obtain azimuth angle, pair
Figure 408388DEST_PATH_IMAGE026
Carrying out angle measurement to obtain a pitch angle;
(7) and matching azimuth angles and pitch angles by using a matching technology, and outputting frequency, azimuth and pitch three-dimensional information of signals.
In an embodiment of the present invention, the frequency measurement in step (3) includes two steps, in the first step, a DFT (Discrete Fourier Transform) technique is used to perform coarse frequency measurement on the main beam data, and then a time-domain MVM (Minimum Variance Method), a Multiple Signal Classification (Multiple Signal Classification), or a Linear Prediction (LP) algorithm is used to perform fine frequency measurement.
In an embodiment of the present invention, in the super-resolution angle measurement technique in step (6), the azimuth angle and the pitch angle are measured by using an MVM algorithm in an airspace, or by using an ML (Maximum Likelihood estimation) algorithm in an airspace.
In one embodiment of the present invention, the super-resolution goniometry technique in step (6) is performed using a root-finding method or an ESPRIT (Estimation of Signal Parameters via Rotational invariant Techniques) algorithm.
In an embodiment of the present invention, in the super-resolution angle measurement technique in step (6), the azimuth angle and the pitch angle are calculated by using an spatial domain MVM algorithm, and an azimuth angle formula is calculated
Figure 107353DEST_PATH_IMAGE027
The formula for calculating the pitch angle is as follows
Figure 495609DEST_PATH_IMAGE028
In the formula
Figure 845688DEST_PATH_IMAGE029
And
Figure 762828DEST_PATH_IMAGE030
an azimuth guide vector and a pitch guide vector.
In one embodiment of the present invention, in the step (7), the pairing is calculated by using a traversal method with the maximum signal-to-noise ratio.
In one embodiment of the present invention, the pairing in the step (7) adopts a traversal method, and traverses two possibilities, that is, the pairing is performed
Figure 214670DEST_PATH_IMAGE031
And
Figure 141037DEST_PATH_IMAGE032
or alternatively
Figure 345622DEST_PATH_IMAGE033
And
Figure 964823DEST_PATH_IMAGE034
then, howeverCalculating the signal-to-noise ratio of the two pairing results
Figure 638381DEST_PATH_IMAGE035
And
Figure 368439DEST_PATH_IMAGE036
the small signal-to-noise ratio is the pairing result.
According to another aspect of the present invention, there is also provided a beam domain scouting frequency and direction finding apparatus: the system comprises at least one processor and a memory, wherein the at least one processor and the memory are connected through a data bus, and the memory stores instructions capable of being executed by the at least one processor, and the instructions are used for completing the beam domain scouting frequency-measuring direction-finding method after being executed by the processor.
Generally, compared with the prior art, the technical scheme of the invention has the following beneficial effects:
(1) due to the adoption of the super-resolution angle measurement technology, the estimation precision of the angle can be obviously improved;
(2) the angle resolution of two coherent targets in one beam width can be realized;
(3) because a beam domain processing method is adopted, the inverse of a two-dimensional covariance matrix is only involved in super-resolution angle estimation, and the calculation amount is obviously reduced;
(4) the method only relates to the signal processing flow, namely only a processing system and software need to be upgraded, other system structures are not changed, and the method has popularization and application values.
Drawings
Fig. 1 is a schematic flow chart of a method for detecting frequency and direction by beam domain scout in an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The principle of implementing the invention is as follows: firstly, carrying out average blocking on an array antenna to obtain sub-channel data; obtaining three beams by using a beam forming technology; measuring frequency by using the main beam, and extracting beam space data needing angle measurement by combining a frequency measurement result; obtaining beam space data by utilizing preprocessing calculation; performing decorrelation on the beam space data by using a smoothing technology; then, the azimuth angle and the pitch angle are measured by utilizing a super-resolution angle measurement technology; and finally, matching the azimuth angle and the pitch angle by using a matching technology, and outputting three-dimensional parameters of signals.
Fig. 1 is a block diagram of the structure of an embodiment of the present invention. Referring to fig. 1, the embodiment of the present invention is composed of a receiving sub-channel 1, a beam forming 2, a frequency measurement and extraction 3, a preprocessing 4, a smooth decoherence 5, a super-resolution angle measurement 6, and a pairing 7.
In the embodiment, a receiving subchannel 1 divides an array into blocks to obtain subchannel data; beam forming 2 forms three different beams; measuring frequency and extracting 3, measuring frequency of the main beam, and extracting data needing angle measurement; preprocessing 4, completing the calculation of beam space data; the smoothing decorrelation 5 obtains a covariance matrix after the decorrelation through smoothing processing; the super-resolution angle measurement 6 respectively completes the measurement of a target azimuth angle and a pitch angle; and the pairing 7 realizes the pairing of the target parameters and outputs three-dimensional information.
Specifically, the method for detecting frequency and direction by beam domain scouting provided by the invention comprises the following technical steps:
(1) carrying out average blocking on the array antenna to obtain four sub-channel data
Figure 445109DEST_PATH_IMAGE001
Wherein each subchannel data vector has a length of
Figure 235211DEST_PATH_IMAGE002
The upper left block data is
Figure 396065DEST_PATH_IMAGE003
The upper right block data is
Figure 664235DEST_PATH_IMAGE004
The lower left block data is
Figure 843412DEST_PATH_IMAGE005
The lower right block data is
Figure 69994DEST_PATH_IMAGE006
；
(2) Obtaining three beam data by using the four sub-channel data
Figure 452565DEST_PATH_IMAGE007
The calculation formula is as follows
Figure 524426DEST_PATH_IMAGE008
Wherein,
Figure 823690DEST_PATH_IMAGE009
thus, the three data vectors of the beam forming are all of length
Figure 424435DEST_PATH_IMAGE010
；
(3) Using a main beam
Figure 559882DEST_PATH_IMAGE011
Measuring frequency, and designing filter pair by using the frequency value
Figure 169854DEST_PATH_IMAGE012
Filtering and extracting data needing angle measurement
Figure 323624DEST_PATH_IMAGE013
Vectors, each data vector of length
Figure 360850DEST_PATH_IMAGE014
；
(4) Preprocessing calculation is carried out on the extracted data to obtain two data matrixes
Figure 983593DEST_PATH_IMAGE015
，
Figure 397256DEST_PATH_IMAGE037
Wherein,
Figure 405533DEST_PATH_IMAGE017
dimension of
Figure 879239DEST_PATH_IMAGE018
；
(5) Calculating covariance matrix, and smoothing to obtain two
Figure 723698DEST_PATH_IMAGE019
Data matrix
Figure 675474DEST_PATH_IMAGE020
，
Figure 69415DEST_PATH_IMAGE021
Wherein,
Figure 182865DEST_PATH_IMAGE022
it is indicated that the conjugate is taken,
Figure 514620DEST_PATH_IMAGE023
the representation is taken of the conjugate transpose,
Figure 270086DEST_PATH_IMAGE038
；
(6) pair using super-resolution angle measurement technique
Figure 252955DEST_PATH_IMAGE025
Angle measurement is carried out to obtain an azimuth angle, pair
Figure 68464DEST_PATH_IMAGE039
Carrying out angle measurement to obtain a pitch angle;
(7) and matching the azimuth angle and the pitch angle by using a matching technology, and outputting frequency, azimuth and pitch three-dimensional information of signals.
The following detailed steps of the present invention are described in conjunction with the accompanying drawings and examples:
(1) averagely partitioning the array antenna to obtain four sub-channel data
Figure 887515DEST_PATH_IMAGE040
Wherein each subchannel data vector length is
Figure 181093DEST_PATH_IMAGE002
The upper left block data is
Figure 18468DEST_PATH_IMAGE041
The upper right block data is
Figure 4879DEST_PATH_IMAGE004
The lower left block data is
Figure 311226DEST_PATH_IMAGE042
The lower right block data is
Figure 674075DEST_PATH_IMAGE006
；
In the examples, the existence of
Figure 637395DEST_PATH_IMAGE043
The planar array has data vector length of 2000, and is divided into four blocks, four sub-arrays, each block has array elements
Figure 935652DEST_PATH_IMAGE044
And directly synthesizing the four subarrays to obtain four subchannel data
Figure 853929DEST_PATH_IMAGE045
Each data is a vector of length 2000.
(2) Obtaining three beam data by using the four sub-channel data
Figure 613944DEST_PATH_IMAGE046
The calculation formula is as follows
Figure 442223DEST_PATH_IMAGE008
Wherein,
Figure 36015DEST_PATH_IMAGE009
thus, the three data vectors of the beam forming are all of length
Figure 566222DEST_PATH_IMAGE010
；
In the embodiment, the four sub-channel data are directly calculated by a formula to obtain three beam data
Figure 146239DEST_PATH_IMAGE047
The vector length of each data is 2000.
(3) Using a main beam
Figure 688079DEST_PATH_IMAGE011
Measuring frequency, and designing filter pair by using the frequency value
Figure 577407DEST_PATH_IMAGE012
Filtering and extracting data needing angle measurement
Figure 798172DEST_PATH_IMAGE013
Vectors, each data vector of length
Figure 916301DEST_PATH_IMAGE014
；
In the embodiment, for the main beam
Figure 578227DEST_PATH_IMAGE048
Measuring the frequency with the frequency value of the embodiment
Figure 638455DEST_PATH_IMAGE049
By using
Figure 893987DEST_PATH_IMAGE050
Designing a filter, filtering the three beam data, and extracting the data needing angle measurement
Figure 940441DEST_PATH_IMAGE051
Vectors, each data vector is assumed to be 100 in length.
(4) Preprocessing calculation is carried out on the extracted data to obtain two data matrixes
Figure 847086DEST_PATH_IMAGE015
，
Figure 828948DEST_PATH_IMAGE037
Wherein,
Figure 821044DEST_PATH_IMAGE017
dimension of
Figure 671188DEST_PATH_IMAGE018
；
In the embodiment, the extracted data is preprocessed and calculated to obtain two data matrixes,
Figure 183072DEST_PATH_IMAGE052
dimension numbers are all
Figure 844823DEST_PATH_IMAGE053
。
(5) Calculating covariance matrix, and smoothing to obtain two
Figure 74947DEST_PATH_IMAGE054
Data matrix
Figure 587837DEST_PATH_IMAGE055
，
Figure 219807DEST_PATH_IMAGE056
Wherein,
Figure 668106DEST_PATH_IMAGE057
it is indicated that the conjugate is taken,
Figure 634794DEST_PATH_IMAGE058
the representation is a conjugate transpose taken of,
Figure 702107DEST_PATH_IMAGE059
；
in the embodiment, the covariance matrix is calculated and smoothed to obtain
Figure 172271DEST_PATH_IMAGE060
Two matrices of dimensions
Figure 57051DEST_PATH_IMAGE061
。
(6) Pair using super-resolution angle measurement technique
Figure 730609DEST_PATH_IMAGE062
Angle measurement is carried out to obtain azimuth angle, pair
Figure 850880DEST_PATH_IMAGE063
Carrying out angle measurement to obtain a pitch angle;
in the embodiment, super-resolution angle measurement technology and frequency value are utilized
Figure 191863DEST_PATH_IMAGE064
All together complete a pair
Figure 247543DEST_PATH_IMAGE065
Angle measurement is carried out to obtain azimuth angle
Figure 657665DEST_PATH_IMAGE066
To is aligned with
Figure 332360DEST_PATH_IMAGE067
Angle measurement is carried out to obtain a pitch angle
Figure 42696DEST_PATH_IMAGE068
。
(7) And matching azimuth angles and pitch angles by using a matching technology, and outputting frequency, azimuth and pitch three-dimensional information of signals.
In the embodiment, the pairing of the azimuth angle and the pitch angle is realized by using a matching technology, and the result of the pairing is assumed to be
Figure 738119DEST_PATH_IMAGE069
And
Figure 917428DEST_PATH_IMAGE070
and outputting three-dimensional information of frequency, azimuth and pitch of the signal as
Figure 379502DEST_PATH_IMAGE071
And
Figure 695077DEST_PATH_IMAGE072
。
in addition, the frequency measurement in step (3) includes two steps, and in the first step, the DFT technique may be used to perform coarse frequency measurement on the main beam data, and then the time domain MVM, MUSIC, LP, and other algorithms are used to perform fine frequency measurement. In the embodiment, the DFT technology is firstly used for estimating to obtain a coarse frequency measurement result
Figure 223054DEST_PATH_IMAGE073
And then obtaining a fine frequency measurement result by utilizing the time domain MVM technology
Figure 358500DEST_PATH_IMAGE074
。
In the super-resolution angle measurement technology in the step (6), the method can adopt an MVM algorithm of an airspace to measure the azimuth angle and the pitch angle, or adopt an ML algorithm to measure the azimuth angle and the pitch angle. In the embodiment, the azimuth angle and the pitch angle are calculated by adopting an MVM algorithm of an airspace, and an azimuth angle formula is calculated
Figure 234052DEST_PATH_IMAGE075
The pitch angle is calculated as follows
Figure 653401DEST_PATH_IMAGE076
In the formula
Figure 831572DEST_PATH_IMAGE077
And
Figure 234741DEST_PATH_IMAGE078
an azimuth guide vector and a pitch guide vector.
The method solving algorithm in the super-resolution angle measurement technology in the step (6) can be carried out by adopting a root-finding method or an ESPRIT algorithm. Pair in the examples
Figure 913984DEST_PATH_IMAGE079
Calculating to obtain an azimuth angle by adopting a root-finding algorithm
Figure 672992DEST_PATH_IMAGE080
To, for
Figure 271333DEST_PATH_IMAGE081
Calculating to obtain a pitch angle by adopting a root-finding algorithm
Figure 240426DEST_PATH_IMAGE082
。
Pairing in the step (7) by adopting a traversal methodAnd performing pairing calculation by using the maximum signal-to-noise ratio criterion. In the embodiment, the traversal method is adopted, and two possibilities are traversed, namely
Figure 333147DEST_PATH_IMAGE083
And
Figure 336875DEST_PATH_IMAGE084
or alternatively
Figure 106117DEST_PATH_IMAGE085
And
Figure 562506DEST_PATH_IMAGE086
then calculating the signal-to-noise ratio of the two pairing results
Figure 193338DEST_PATH_IMAGE087
And
Figure 51573DEST_PATH_IMAGE088
the small signal-to-noise ratio is the pairing result. In the hypothetical example
Figure 257295DEST_PATH_IMAGE089
Then the result of the pairing should be
Figure 341926DEST_PATH_IMAGE090
And
Figure 291296DEST_PATH_IMAGE091
and then output.
Furthermore, the invention also provides a beam domain scouting frequency and direction measuring device: the system comprises at least one processor and a memory, wherein the at least one processor and the memory are connected through a data bus, and the memory stores instructions capable of being executed by the at least one processor, and the instructions are used for completing the beam domain scouting frequency-measuring direction-finding method after being executed by the processor.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (8)

1. A method for detecting frequency and direction by beam domain reconnaissance is characterized by comprising the following steps:
(1) averagely partitioning the array antenna to obtain four sub-channel data
Figure 127779DEST_PATH_IMAGE001
Wherein each subchannel data vector length is
Figure 472173DEST_PATH_IMAGE002
The upper left block data is
Figure 235730DEST_PATH_IMAGE003
The upper right block data is
Figure 148322DEST_PATH_IMAGE004
The lower left block data is
Figure 364540DEST_PATH_IMAGE005
The lower right block data is
Figure 512624DEST_PATH_IMAGE006
；
(2) Obtaining three beam data by using the four sub-channel data
Figure 130687DEST_PATH_IMAGE007
The calculation formula is as follows
Figure 712716DEST_PATH_IMAGE008
Wherein,
Figure 416230DEST_PATH_IMAGE009
thus, the three data vectors of the beam forming are all of length
Figure 836847DEST_PATH_IMAGE010
；
(3) Using a main beam
Figure 840575DEST_PATH_IMAGE011
Measuring frequency, and designing filter pair by using the frequency value
Figure 94970DEST_PATH_IMAGE012
Filtering and extracting data needing angle measurement
Figure 285780DEST_PATH_IMAGE013
Vectors, each data vector of length
Figure 775667DEST_PATH_IMAGE014
；
(4) Preprocessing calculation is carried out on the extracted data to obtain two data matrixes
Figure 102743DEST_PATH_IMAGE015
，
Figure 528040DEST_PATH_IMAGE016
Wherein,
Figure 206146DEST_PATH_IMAGE017
dimension of
Figure 499724DEST_PATH_IMAGE018
；
(5) Calculating covariance matrix, and smoothing to obtain two
Figure 946886DEST_PATH_IMAGE019
Data matrix
Figure 277504DEST_PATH_IMAGE020
，
Figure 442906DEST_PATH_IMAGE021
Wherein,
Figure 274596DEST_PATH_IMAGE022
it is indicated that the conjugate is taken,
Figure 841843DEST_PATH_IMAGE023
the representation is a conjugate transpose taken of,
Figure 856547DEST_PATH_IMAGE024
；
(6) pair using super-resolution angle measurement technique
Figure 509245DEST_PATH_IMAGE025
Angle measurement is carried out to obtain an azimuth angle, pair
Figure 144625DEST_PATH_IMAGE026
Carrying out angle measurement to obtain a pitch angle;
(7) and matching the azimuth angle and the pitch angle by using a matching technology, and outputting frequency, azimuth and pitch three-dimensional information of signals.
2. The method of claim 1, wherein the frequency measurement in step (3) comprises two steps, wherein in the first step, a discrete fourier transform is used to perform a coarse frequency measurement on the main beam data, and then a time domain minimum variance method, a multi-signal classification method, or a linear prediction algorithm is used to perform a fine frequency measurement.
3. The method for detecting frequency and direction according to the beam domain scout of claim 1 or 2, wherein the super-resolution angle measurement in step (6) is performed by using a minimum variance algorithm in the spatial domain or by using a maximum likelihood estimation method in the spatial domain.
4. The method according to claim 3, wherein the super-resolution angle measurement in step (6) is performed by a root method or an algorithm for estimating signal parameters by a rotation invariant technique.
5. The method for detecting frequency and direction according to the beam domain scouting claim 1 or 2, wherein the super-resolution angle measurement technique in step (6) adopts the MVM algorithm in the space domain to calculate the azimuth angle and the pitch angle, and calculates the azimuth angle formula
Figure 300800DEST_PATH_IMAGE027
The pitch angle is calculated as follows
Figure 238800DEST_PATH_IMAGE028
In the formula
Figure 113216DEST_PATH_IMAGE029
And
Figure 552287DEST_PATH_IMAGE030
an azimuth guide vector and a pitch guide vector.
6. The method for detecting frequency and direction according to claim 1 or 2, wherein the pairing in step (7) is performed by a traversal method with the signal-to-noise ratio being the maximum.
7. The method for detecting frequency and direction according to claim 6, wherein the pairing in step (7) adopts a traversal method to traverse two possibilities, i.e. the two possibilities are traversed
Figure 562968DEST_PATH_IMAGE031
And
Figure 937449DEST_PATH_IMAGE032
or
Figure 299160DEST_PATH_IMAGE033
And
Figure 276344DEST_PATH_IMAGE034
then calculating the signal-to-noise ratio of the two pairing results
Figure 407111DEST_PATH_IMAGE035
And
Figure 686913DEST_PATH_IMAGE036
the small signal-to-noise ratio is the pairing result.
8. A beam domain scouting frequency and direction finding device is characterized in that:
comprising at least one processor and a memory, said at least one processor and memory being connected by a data bus, said memory storing instructions executable by said at least one processor, said instructions upon execution by said processor, for performing the beam domain spying frequency and direction finding method of any one of claims 1-7.
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