CN115166715B - Signal detection and tracking method and device of continuous wave phased array system - Google Patents
Signal detection and tracking method and device of continuous wave phased array system Download PDFInfo
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Abstract
The invention relates to a signal detection and tracking method and a device of a continuous wave phased array system, which utilize synthetic signals of different areas of an antenna array surface to carry out cross-correlation operation, thereby quickly realizing the detection of high dynamic signals; in addition, the sum beam signal and the difference beam signal are synthesized by the antenna array surface and subjected to cross-correlation operation, so that the angle error value of the high-dynamic signal is quickly extracted, and the angle tracking is realized.
Description
Technical Field
The invention relates to the technical field of continuous wave signal phased array antennas, in particular to a signal detection and tracking method and device of a continuous wave phased array system.
Background
For capturing and tracking a high-speed target, a traditional mechanical scanning antenna is limited by servo dynamics and cannot be completed, a phased array antenna system is often adopted in engineering, and the problem is solved by utilizing the characteristic of high electric wave beam scanning speed. Accordingly, the speed requirements of the phased array antenna system on signal detection and angle error demodulation algorithms are greatly increased. Because the mechanical antenna is a servo bandwidth of the second order, the detection algorithm is completed in the hundred millisecond order. For the antenna millisecond-level electric scanning speed of the phased array system, the required signal detection and angle error demodulation algorithm is also millisecond-level.
The commonly used continuous wave signal angle capturing and tracking algorithm is to perform coherent demodulation on a difference signal on the basis of completing capturing and tracking of signals to complete extraction of angle error signals, thereby realizing angle tracking with higher precision. However, in this process, the demodulation time of the angular error demodulation is limited by the acquisition time of the signal, which is usually in the order of hundreds of milliseconds, as well as the demodulation threshold is limited by the loop operation threshold. For phased array systems, such detection times are significantly too long. Especially, when the system is a high-precision millimeter wave frequency band system, such a signal detection algorithm cannot be applied. For a millimeter wave frequency band system, the Doppler and Doppler change rate generated by target motion can reach orders of magnitude of hundreds and tens of kHz/s, and at the moment, an obvious coherent peak cannot be detected by a common matched filtering detection method, so that signal detection fails. The cyclic spectrum estimation method based on the modern spectrum estimation algorithm cannot be applied to an actual system because the engineering realizes efficient calculation.
Disclosure of Invention
The invention mainly solves the technical problem of how to improve the signal detection and tracking performance of a continuous wave phased array system.
According to a first aspect, there is provided in an embodiment a signal detection and tracking method for a continuous wave phased array system, wherein the continuous wave phased array system includes an antenna array, the signal detection method comprising:
acquiring signals received by a first array surface region and a second array surface region in an antenna array surface; wherein the first and second wavefront regions are symmetric about a vertical central axis or a horizontal central axis of the antenna wavefront;
performing cross-correlation operation on the signal received by the first array surface area and the signal received by the second array surface area to obtain a detection signal;
judging whether the detection signal contains a signal from a target or not;
if the detection signal does not contain a signal from a target, adjusting the direction of the antenna, and continuously acquiring signals received by a first array surface area and a second array surface area in the antenna array surface;
if the detection signal contains a signal from a target, acquiring a sum beam signal of the antenna array surface according to the detection signal; dividing the antenna array surface into four-quadrant regions according to a preset coordinate system, and determining corresponding azimuth difference beam signals and corresponding elevation difference beam signals in the four-quadrant regions according to the detection signals;
performing cross-correlation operation on the sum beam signal and the azimuth difference beam signal to obtain an azimuth error value, and performing cross-correlation operation on the sum beam signal and the elevation difference beam signal to obtain a pitch angle error value;
tracking based on the azimuth and pitch error values.
According to a second aspect, there is provided in one embodiment a signal detection and tracking apparatus for a continuous wave phased array system, comprising:
the signal acquisition module is used for acquiring signals received by a first array surface area and a second array surface area in the antenna array surface; wherein the first and second wavefront regions are symmetric about a vertical central axis or a horizontal central axis of the antenna wavefront;
the first cross-correlation module is used for carrying out cross-correlation operation on the signals received by the first array area and the signals received by the second array area to obtain detection signals;
the judging module is used for judging whether the detection signal contains a signal from a target or not;
a circulating module, configured to adjust an antenna pointing direction if the detection signal does not include a signal from the target, and continue to acquire signals received by a first array area and a second array area in the antenna array;
a sum and difference beam signal obtaining module, configured to obtain a sum beam signal of the antenna array according to the detection signal if the detection signal includes a signal from a target; dividing the antenna array surface into four-quadrant regions according to a preset coordinate system, and determining corresponding azimuth difference beam signals and corresponding elevation difference beam signals in the four-quadrant regions according to the detection signals;
the second cross-correlation module is used for performing cross-correlation operation on the sum beam signal and the azimuth difference beam signal to obtain an azimuth error value, and performing cross-correlation operation on the sum beam signal and the elevation difference beam signal to obtain a pitch angle error value;
and the tracking module is used for tracking based on the azimuth angle error value and the pitch angle error value.
According to the signal detection and tracking method/device of the continuous wave phased array system of the embodiment, cross-correlation operation is performed by utilizing the composite signals of different areas of the antenna array surface, so that the detection of high dynamic signals is rapidly realized; in addition, the sum beam signal and the difference beam signal are formed by the antenna array surface, and the cross correlation operation is carried out on the sum beam signal and the difference beam signal, so that the angle error value of the high-dynamic signal is extracted quickly.
Drawings
FIG. 1 is a flow diagram of a signal detection and tracking method of a continuous wave phased array system of an embodiment;
FIG. 2 is a schematic view of a four quadrant region;
FIG. 3 is a schematic diagram of sum and difference beam signal formation;
fig. 4 is a schematic diagram of a cross-correlation apparatus for sum and difference beam signals;
fig. 5 is a schematic structural diagram of a signal detection and tracking apparatus of a continuous wave phased array system according to an embodiment.
Detailed Description
The present invention will be described in further detail with reference to the following detailed description and accompanying drawings. Wherein like elements in different embodiments are numbered with like associated elements. In the following description, numerous details are set forth in order to provide a better understanding of the present application. However, those skilled in the art will readily recognize that some of the features may be omitted or replaced with other elements, materials, methods in different instances. In some instances, certain operations related to the present application have not been shown or described in detail in order to avoid obscuring the core of the present application from excessive description, and it is not necessary for those skilled in the art to describe these operations in detail, so that they may be fully understood from the description in the specification and the general knowledge in the art.
Furthermore, the described features, operations, or characteristics may be combined in any suitable manner to form various embodiments. Also, the various steps or actions in the description of the methods may be transposed or transposed in order, as will be apparent to a person skilled in the art. Thus, the various sequences in the specification and drawings are for the purpose of describing certain embodiments only and are not intended to imply a required sequence unless otherwise indicated where such sequence must be followed.
The ordinal numbers used herein for the components, such as "first," "second," etc., are used merely to distinguish between the objects described, and do not have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings).
Referring to fig. 1, fig. 1 is a flowchart of a signal detection and tracking method of a continuous wave phased array system according to an embodiment, wherein the continuous wave phased array system includes an antenna array, and the antenna array is used for receiving a signal transmitted by a target. Hereinafter, referred to as a signal detection and tracking method, the signal detection and tracking method includes steps 101 to 107, which will be described in detail below.
Step 101: acquiring signals received by a first array surface area and a second array surface area in an antenna array surface; wherein the first and second wavefront regions are symmetrical about a vertical central axis or a horizontal central axis of the antenna wavefront.
Step 102: and performing cross-correlation operation on the signal received by the first array area from the target and the signal received by the second array area to obtain a detection signal.
Step 103: it is determined whether the detection signal includes a signal from the target.
Step 104: if the detected signal does not include a signal from the target, the antenna orientation is adjusted, and the step 101 is returned to continue to acquire the signals received by the first and second wavefront regions in the antenna wavefront. The adjusting of the antenna pointing direction is to adjust the pointing direction of the antenna array, and the antenna array can receive a signal from a target by continuously adjusting the antenna pointing direction in this embodiment.
Step 105: if the detection signal contains a signal from a target, acquiring a sum beam signal of an antenna array surface according to the detection signal; and dividing the antenna array surface into four-quadrant regions according to a preset coordinate system, and determining corresponding azimuth difference beam signals and elevation difference beam signals in the four-quadrant regions according to the detection signals.
Step 106: and performing cross correlation operation on the sum beam signal and the azimuth difference beam signal to obtain an azimuth error value, and performing cross correlation operation on the sum beam signal and the elevation difference beam signal to obtain a pitch angle error value.
Step 107: tracking is based on the azimuth angle error value and the pitch angle error value.
In the embodiment of the invention, the signal detection and tracking method can be decomposed into an angle acquisition stage and an angle tracking stage.
In the angle capturing stage, which includes step 101 and step 104, specifically, the antenna array is partitioned into a first array area and a second array area, where the first array area may be an upper array area or a left array area, and the second array area may be a lower array area or a right array area, and a signal received by the first array area and a signal received by the second array area are subjected to a cross-correlation operation to obtain a detection signal. When the signals received by the first and second wavefront areas do not include the signal transmitted by the target, the detection signal is a relatively flat signal waveform without obvious peak. When the signals received by the first array surface area and the second array surface area contain signals transmitted by a target, the detection signals are signal waveforms with peaks, and because the signals received by different areas of the antenna array surface are from the target, ideal signal peaks can be obtained after the signals received by different areas are subjected to cross correlation, and Doppler caused by target movement is eliminated. If the signal-to-noise ratio is low, coherent accumulation can be carried out on the cross-correlation results of the signals received in different areas to form detection statistics, and a constant false alarm detection method is used for signal detection.
It should be noted that, in this embodiment, whether the signal from the target is included is determined by detecting whether the signal has a peak value, which is a common technical means in the art and can be implemented in various ways, for example: setting a threshold value, and when the peak value of the detection signal is greater than or equal to the threshold value, determining that the detection signal contains a signal from a target; when the peak value of the detection signal is smaller than the threshold value, the detection signal is considered to contain no signal from the target.
And entering an angle tracking stage after judging that the detection signal contains a signal from the target.
In the angular tracking phase, which includes steps 105 to 107, a difference beam signal needs to be constructed in the antenna front. In this embodiment, a difference beam signal is constructed by a symmetric inversion method, and for the symmetric inversion method, a difference beam can be implemented by a four-quadrant symmetric inversion method, which is schematically shown in fig. 2, an antenna array surface is divided into four quadrant regions according to a preset coordinate system, which are a first quadrant region I, a second quadrant region II, a third quadrant region III, and a fourth quadrant region IV, respectively, where the preset coordinate system uses a central point of the antenna array surface as an origin O, uses a horizontal direction of the antenna array surface as an X-axis, uses a vertical direction of the antenna array surface as a Y-axis, and the X-axis and the Y-axis intersect at the origin O. Adding a signal received by the first quadrant area I and a signal received by the second quadrant area II to obtain a first addition result, and adding a signal received by the third quadrant area III and a signal received by the fourth quadrant area IV to obtain a second addition result; subtracting the second addition result from the first addition result to obtain a pitching difference beam signal; the calculation mode of the azimuth difference beam signals is the same as that of the azimuth difference beam signals, and the signals received by the first quadrant region I and the signals received by the fourth quadrant region IV are added to obtain a third addition result; adding the signal received by the second quadrant area II and the signal received by the third quadrant area III to obtain a fourth addition result; and subtracting the fourth addition result from the third addition result to obtain the azimuth difference beam signal. After the sum beam signal, the azimuth difference beam signal and the pitch difference beam signal are obtained, the sum beam signal is subjected to cross-correlation operation with the azimuth difference beam signal and the pitch difference beam signal respectively to obtain an azimuth and difference beam ratio and a pitch and difference beam ratio, the ratios are accumulated, and a corresponding azimuth angle error value and a corresponding pitch angle error value are obtained for tracking.
The sum beam signal in this embodiment is obtained by adding signals of all regions of the antenna array.
In one implementation, dividing the antenna array into four quadrant regions according to a predetermined coordinate system includes:
taking an antenna array surface area surrounded by a positive half shaft of an X axis and a positive half shaft of a Y axis as a first quadrant area I; taking an antenna array surface area surrounded by a negative half shaft of an X axis and a positive half shaft of a Y circumference as a second quadrant area II; setting an antenna array surface area surrounded by the negative half shaft of the X axis and the negative half shaft of the Y circumference as a third quadrant area III; and setting the antenna array area surrounded by the positive half shaft of the X axis and the negative half shaft of the Y circumference as a fourth quadrant area IV.
The following describes analysis of obtaining an angle error value by performing a correlation operation based on the sum beam signal and the difference beam signal, taking the pitch direction as an example (azimuth analysis is similar).
In a sum-difference two-channel angular tracking system, the sum beam signal and the pitch difference beam signal are identical in signal form except for the difference in amplitude, and the sum beam signal and the pitch difference beam signal have good coherence.
Referring to fig. 3, in fig. 3, the wavefront area 1 is a first array area (e.g. the first quadrant area I + the second quadrant area II in fig. 2), the wavefront area 2 is a second wavefront area (e.g. the third quadrant area III + the fourth quadrant area IV in fig. 2), and the signal S received by the wavefront area 1 is received by the wavefront area 2 E1 The coherence of the signals in the figure is discussed for reference. Since the same target signal is received by the front area 2 and the front area 1, the signal S received by the front area 1 E1 And the signal S received by the front area 2 E2 Are coherent, the sum signal S resulting from their addition Σ And S E1 Still coherent, their difference signal S △E ＝S E1 －S E2 And S E1 Is also coherent, and when S is E1 ＞ S E2 When the result of the operation is positive (corresponding to the target being shifted upward), when S is positive E1 ＜ S E2 When the target is deviated downwards, the operation result is negative (corresponding to the downward deviation of the target), and the deviation direction of the target can be distinguished by using the positive and negative operation results, so that the target is tracked.
Moreover, because the feeder noise of the sum channel and the feeder noise of the difference channel are irrelevant to the internal noise of the receiver, the antenna noise may have certain coherence after passing through the sum channel and the difference channel, but the two channels have transmission delay difference, and the proportion of the influence of the antenna noise in the sum channel noise is not large, so that the noise entering the tracking receiver can be considered to be irrelevant.
Based on the above coherence analysis of the sum beam signal, the difference beam signal and the noise, please refer to fig. 4, fig. 4 is a schematic diagram of the principle of the device for cross-correlating the sum beam signal and the difference beam signal according to an embodiment, in which the input is the sum beam signal S Σ The sum and difference beam signals (which are azimuth difference beam signals and elevation difference beam signals) are output as azimuth error values and elevation error values, and the sum and difference beam signals are cross-correlatedThe device comprises a filter 1, a filter 2, an AGC amplifier 1 (automatic gain amplifier), an AGC amplifier 2, an analog-to-digital converter 1, an analog-to-digital converter 2, a delay corrector 1, a delay corrector 2, a DDS (direct digital frequency synthesizer), an azimuth phase shifter, a pitch phase shifter, a filter 3, a filter 4, a filter 5, a correlator 1, a correlator 2, a low-pass filter 1 and a low-pass filter 2.
The specific working process is as follows:
and respectively filtering and amplifying the sum beam signal, the azimuth difference beam signal and the elevation difference beam signal.
And respectively carrying out analog-to-digital conversion and time delay correction on the filtered and amplified sum beam signal, azimuth difference beam signal and pitch difference beam signal to obtain a digital sum beam signal, a digital azimuth difference beam signal and a digital pitch difference beam signal.
Respectively carrying out down-conversion and filtering on the digital sum beam signal, the digital azimuth difference beam signal and the digital pitch difference beam signal, and then carrying out correlation processing on the digital sum beam signal and the digital azimuth difference beam signal to obtain an azimuth correlation result; and carrying out correlation processing on the digital sum beam signal and the digital elevation difference beam signal to obtain an elevation correlation result.
And respectively accumulating and filtering the azimuth correlation result and the pitch correlation result to obtain an azimuth angle error value and a pitch angle error value.
The signal detection and tracking method provided by the present invention is explained by an example.
Taking PCM/FM signals as an example, the angle error signals are specifically analyzed by cross-correlation demodulation of sum beam signals and difference beam signals, and the analysis methods of other modulation and spread spectrum signals are similar. Setting:
S Σ is the sum beam signal;
is the carrier frequency;
is time;
frequency modulation index;
is a modulation frequency signal;
is a difference beam signal in which, among other things,
is a beam signal of an azimuth difference, and is,
is a pitch difference beam signal;V A is the azimuth signal amplitude;V E is the pitch signal amplitude;
is the delay difference between the sum channel and the difference channel.
After the down-conversion is subjected to low-pass filtering, the correlation and low-pass filtering are completed to obtain azimuth and pitch error signals
Respectively as follows:
wherein,
is a normalized coefficient;
a partial difference value which is a time-invariant phase angle of the azimuth direction;
the pitch direction phase angle does not vary by a partial difference over time.
when the antenna is not aligned in the azimuth direction and is aligned in the elevation direction, the antenna is driven by the angular error to be adjusted
So that
And then:
。
when the antenna is not right opposite in the pitching direction and is right opposite in the azimuth direction, the angle error drives the antenna to adjust so that
Then:
。
at this point, the angular error demodulation is complete.
Referring to fig. 5, the signal detecting and tracking method provided by the above embodiment further provides a signal detecting and tracking device of a continuous wave phased array system, which is hereinafter referred to as a signal detecting and tracking device, and includes: a signal acquisition module 201, a first cross-correlation module 202, a decision module 203, a loop module 204, a sum-difference beam acquisition module 205, a second cross-correlation module 206, and a tracking module 207.
The signal acquiring module 201 is configured to acquire signals received by a first array area and a second array area in an antenna array; wherein the first and second wavefront regions are symmetrical about a vertical central axis or a horizontal central axis of the antenna wavefront.
The first cross-correlation module 202 is configured to perform a cross-correlation operation on the signal received by the first array region and the signal received by the second array region to obtain a detection signal.
The determining module 203 is configured to determine whether the detection signal includes a signal from a target;
the circulation module 204 is configured to adjust the antenna pointing direction if the detection signal does not include a signal from the target, and continue to acquire signals received by the first wavefront area and the second wavefront area in the antenna wavefront;
the sum and difference beam obtaining module 205 is configured to obtain a sum beam signal of an antenna array according to the detection signal if the detection signal includes a signal from a target; and dividing the antenna array surface into four-quadrant areas according to a preset coordinate system, and determining corresponding azimuth difference beam signals and elevation difference beam signals in the four-quadrant areas according to the detection signals.
The second cross-correlation module 206 is configured to perform cross-correlation operation on the sum beam signal and the azimuth difference beam signal to obtain an azimuth error value, and perform cross-correlation operation on the sum beam signal and the pitch difference beam signal to obtain a pitch angle error value.
The tracking module 207 is configured to track based on the azimuth angle error value and the pitch angle error value.
It should be noted that the functional modules in this embodiment correspond to the method steps in the above embodiment, and the specific implementation thereof has been described in detail in the above embodiment, which is not described herein again.
Those skilled in the art will appreciate that all or part of the functions of the various methods in the above embodiments may be implemented by hardware, or may be implemented by computer programs. When all or part of the functions of the above embodiments are implemented by a computer program, the program may be stored in a computer-readable storage medium, and the storage medium may include: a read only memory, a random access memory, a magnetic disk, an optical disk, a hard disk, etc., and the program is executed by a computer to realize the above functions. For example, the program may be stored in a memory of the device, and when the program in the memory is executed by the processor, all or part of the functions described above can be implemented. In addition, when all or part of the functions in the above embodiments are implemented by a computer program, the program may be stored in a storage medium such as a server, another computer, a magnetic disk, an optical disk, a flash disk, or a portable hard disk, and may be downloaded or copied to a memory of a local device, or may be version-updated in a system of the local device, and when the program in the memory is executed by a processor, all or part of the functions in the above embodiments may be implemented.
The present invention has been described in terms of specific examples, which are provided to aid understanding of the invention and are not intended to be limiting. For a person skilled in the art to which the invention pertains, several simple deductions, modifications or substitutions may be made according to the idea of the invention.
Claims (10)
1. A signal detection and tracking method for a continuous wave phased array system, wherein the continuous wave phased array system includes an antenna array, the signal detection method comprising:
in an angle capturing stage, signals received by a first array surface area and a second array surface area in an antenna array surface are obtained; wherein the first and second wavefront regions are symmetric about a vertical central axis or a horizontal central axis of the antenna wavefront;
performing cross-correlation operation on the signal received by the first array surface area and the signal received by the second array surface area to obtain a detection signal;
judging whether the detection signal contains a signal from a target or not;
if the detection signal does not contain a signal from a target, adjusting the direction of the antenna, and continuously acquiring signals received by a first array surface area and a second array surface area in the antenna array surface;
if the detection signal contains a signal from a target, entering an angle tracking stage;
in the angle tracking stage, acquiring a sum beam signal of the antenna array surface according to the detection signal; dividing the antenna array surface into four-quadrant regions according to a preset coordinate system, and determining corresponding azimuth difference beam signals and elevation difference beam signals in the four-quadrant regions according to the detection signals;
performing cross-correlation operation on the sum beam signal and the azimuth difference beam signal to obtain an azimuth error value, and performing cross-correlation operation on the sum beam signal and the pitch difference beam signal to obtain a pitch angle error value;
tracking based on the azimuth error value and the pitch error value;
performing cross-correlation operation on the sum beam signal and the azimuth difference beam signal to obtain an azimuth error value, and performing cross-correlation operation on the sum beam signal and the elevation difference beam signal to obtain a pitch angle error value, wherein the step of performing cross-correlation operation on the sum beam signal and the elevation difference beam signal comprises the following steps:
suppose the sum beam signal is
Difference beam signal of
；
Wherein S is Σ Is the sum beam signal;
is the carrier frequency;
is time;
a frequency modulation index;
is a modulation frequency signal;
is a difference beam signal in which, among other things,
is a direction difference beam signal, and is,
is a pitch difference beam signal;V A is the azimuth signal amplitude;V E is the pitch signal amplitude;
is the delay difference between the sum channel and the difference channel;
obtaining an azimuth angle error value and a pitch angle error value according to the following expressions:
wherein,
is a normalized coefficient;
a partial difference value which is a time-invariant phase angle of the azimuth direction;
a partial difference that is a variation of the phase angle in pitch with time;
tracking based on the azimuth angle error value and the pitch angle error value comprises:
when the antenna is not aligned in the azimuth direction and is aligned in the elevation direction, the antenna is driven by the angular error to be adjusted
So that
Then:
；
when the antenna is not right opposite in the pitching direction and is right opposite in the azimuth direction, the angle error drives the antenna to adjust so that
And then:
。
2. the signal detecting and tracking method according to claim 1, wherein the preset coordinate system has an origin O at a center point of the antenna array, an X axis at a horizontal direction of the antenna array, and a Y axis at a vertical direction of the antenna array, the X axis and the Y axis intersecting the origin O.
3. The signal detecting and tracking method of claim 2, wherein the quadrant areas include a first quadrant area, a second quadrant area, a third quadrant area, and a fourth quadrant area;
dividing the antenna array plane into four quadrant areas according to a preset coordinate system, wherein the four quadrant areas comprise:
taking an antenna array surface area surrounded by a positive half shaft of an X axis and a positive half shaft of a Y axis as a first quadrant area;
taking an antenna array surface area surrounded by a negative half shaft of the X axis and a positive half shaft of the Y circumference as a second quadrant area;
taking an antenna array surface area surrounded by the negative half shaft of the X axis and the negative half shaft of the Y circumference as a third quadrant area;
and taking the antenna array surface area surrounded by the positive half shaft of the X axis and the negative half shaft of the Y circumference as a fourth quadrant area.
4. The signal detection and tracking method of claim 3 wherein determining corresponding azimuth difference beam signals and elevation difference beam signals from the detection signals comprises:
adding the signal received by the first quadrant area and the signal received by the second quadrant area to obtain a first addition result;
adding the signal received by the third quadrant area and the signal received by the fourth quadrant area to obtain a second addition result;
subtracting the second addition result from the first addition result to obtain a pitch difference beam signal;
adding the signal received by the first quadrant area and the signal received by the fourth quadrant area to obtain a third phase addition result;
adding the signal received by the second quadrant area and the signal received by the third quadrant area to obtain a fourth addition result;
and subtracting the fourth addition result from the third addition result to obtain an azimuth difference beam signal.
5. The signal detection and tracking method of claim 1 wherein cross-correlating the sum beam signal with the azimuth difference beam signal to obtain an azimuth error value and cross-correlating the sum beam signal with the elevation difference beam signal to obtain an elevation error value comprises:
filtering and amplifying the sum beam signal, the azimuth difference beam signal and the pitch difference beam signal respectively;
respectively performing analog-to-digital conversion and time delay correction on the filtered and amplified sum beam signal, azimuth difference beam signal and pitch difference beam signal to obtain a digital sum beam signal, a digital azimuth difference beam signal and a digital pitch difference beam signal;
carrying out correlation processing on the digital sum beam signal and the digital azimuth difference beam signal to obtain an azimuth correlation result;
performing correlation processing on the digital sum beam signal and the digital pitch difference beam signal to obtain a pitch correlation result;
and respectively accumulating and filtering the azimuth correlation result and the pitch correlation result to obtain an azimuth angle error value and a pitch angle error value.
6. A signal detection and tracking apparatus for a continuous wave phased array system, comprising:
the signal acquisition module is used for acquiring signals received by a first array surface area and a second array surface area in the antenna array surface in an angle acquisition stage; wherein the first and second wavefront regions are symmetric about a vertical central axis or a horizontal central axis of the antenna wavefront;
the first cross-correlation module is used for carrying out cross-correlation operation on the signals received by the first array surface area and the signals received by the second array surface area to obtain detection signals;
the judging module is used for judging whether the detection signal contains a signal from a target or not;
a circulating module, configured to adjust an antenna pointing direction if the detection signal does not include a signal from the target, and continue to acquire signals received by a first array area and a second array area in the antenna array;
the sum-difference beam acquisition module is used for entering an angle tracking stage if the detection signal contains a signal from a target; in the angle tracking stage, acquiring a sum beam signal of the antenna array surface according to the detection signal; dividing the antenna array surface into four-quadrant regions according to a preset coordinate system, and determining corresponding azimuth difference beam signals and corresponding elevation difference beam signals in the four-quadrant regions according to the detection signals;
the second cross-correlation module is used for performing cross-correlation operation on the sum beam signal and the azimuth difference beam signal to obtain an azimuth angle error value, and performing cross-correlation operation on the sum beam signal and the pitch difference beam signal to obtain a pitch angle error value;
a tracking module for tracking based on the azimuth error value and the pitch error value;
performing cross-correlation operation on the sum beam signal and the azimuth difference beam signal to obtain an azimuth error value, and performing cross-correlation operation on the sum beam signal and the elevation difference beam signal to obtain a pitch angle error value, wherein the step of performing cross-correlation operation on the sum beam signal and the elevation difference beam signal comprises the following steps:
suppose the sum beam signal is
Difference beam signal of
；
Wherein S is Σ Is the sum beam signal;
is the carrier frequency;
is time;
frequency modulation index;
is a modulation frequency signal;
is a difference beam signal in which, among other things,
is a beam signal of an azimuth difference, and is,
is a pitch difference beam signal;V A is the azimuth signal amplitude;V E is the pitch signal amplitude;
is the delay difference between the sum channel and the difference channel;
obtaining an azimuth angle error value and a pitch angle error value according to the following expressions:
wherein,
is a normalized coefficient;
a partial difference value of the azimuth phase angle which does not change along with time;
a partial difference that is a variation of the phase angle in pitch with time;
tracking based on the azimuth and pitch error values comprises:
when the antenna is not aligned in the azimuth direction and is aligned in the elevation direction, the antenna is driven by the angular error to be adjusted
So that
Then:
；
when the antenna is not right opposite in the pitching direction and is right opposite in the azimuth direction, the angle error drives the antenna to adjust so that
And then:
。
7. the signal detecting and tracking device according to claim 6, wherein the preset coordinate system has an origin O at a center point of the antenna array, an X axis at a horizontal direction of the antenna array, and a Y axis at a vertical direction of the antenna array, the X axis and the Y axis intersecting the origin O.
8. The signal detecting and tracking device of claim 7 wherein the quadrant region includes a first quadrant region, a second quadrant region, a third quadrant region and a fourth quadrant region;
dividing the antenna array plane into four quadrant areas according to a preset coordinate system, and the method comprises the following steps:
taking an antenna array surface area surrounded by a positive half shaft of an X axis and a positive half shaft of a Y axis as a first quadrant area;
taking an antenna array surface area surrounded by a negative half shaft of an X axis and a positive half shaft of a Y circumference as a second quadrant area;
taking an antenna array surface area surrounded by the negative half shaft of the X axis and the negative half shaft of the Y circumference as a third quadrant area;
and taking the antenna array surface area surrounded by the positive half shaft of the X axis and the negative half shaft of the Y circumference as a fourth quadrant area.
9. The signal detection and tracking device of claim 8 wherein determining from the detection signals corresponding azimuth difference beam signals and elevation difference beam signals comprises:
adding the signal received by the first quadrant area and the signal received by the second quadrant area to obtain a first addition result;
adding the signal received by the third quadrant area and the signal received by the fourth quadrant area to obtain a second addition result;
subtracting the second addition result from the first addition result to obtain a pitch difference beam signal;
adding the signal received by the first quadrant area and the signal received by the fourth quadrant area to obtain a third addition result;
adding the signal received by the second quadrant area and the signal received by the third quadrant area to obtain a fourth addition result;
and subtracting the fourth addition result from the third addition result to obtain an azimuth difference beam signal.
10. A computer-readable storage medium, characterized in that the medium has stored thereon a program which is executable by a processor to implement the method according to any one of claims 1-5.
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