CN115877346A - Unmanned aerial vehicle off-target vector detection method based on two-dimensional phased array radar - Google Patents
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Abstract
The invention relates to miss distance detection, in particular to an unmanned aerial vehicle carried miss distance vector detection method based on a two-dimensional phased array radar.A signal processing subsystem carries out frequency domain processing on an intermediate frequency signal, carries out spectral peak search on frequency domain data to obtain the position and phase information of a spectral peak, and calculates the distance of a target object by utilizing a multi-frequency point phase comparison ranging algorithm; the signal processing subsystem performs two-dimensional simultaneous multi-beam forming on amplitude and phase data of the azimuth channel and the pitch channel after amplitude and phase calibration, and calculates the azimuth angle and the pitch angle of a target object respectively through multi-beam amplitude-to-amplitude measurement; the data processing subsystem carries out point trace condensation on the distance, the azimuth angle and the pitch angle of the target object, carries out multi-array-surface target object parameter space coordinate system conversion, carries out track tracking on the converted target object parameters and realizes miss distance vector detection; the technical scheme provided by the invention can effectively overcome the defect that the high-speed small target is difficult to accurately and continuously detect and track in the prior art.
Description
Technical Field
The invention relates to miss distance detection, in particular to an unmanned aerial vehicle-mounted miss distance vector detection method based on a two-dimensional phased array radar.
Background
The development of weaponry cannot leave the shooting range test, and due to the rapid development of modern science and technology, the weaponry is continuously updated, and the updating of the weaponry puts higher requirements on the shooting range measurement condition. The performance of a shooting weapon and a guided weapon can be reflected in the encounter section of a target and a bullet in a relatively centralized way, and in order to analyze the error factors of a weapon system by using the data of the encounter section, the miss distance detection equipment needs to complete the following specific tasks: the method comprises the steps of identifying the shooting or guidance accuracy of a weapon system, recording the live encounter, measuring the detonation moment and the relative position and posture between the target and the weapon. The miss detection plays a key role in identifying and evaluating the attack performance and is one of the core contents of the shooting range measurement task.
Because unmanned aerial vehicle carries miss distance vector detection device and needs to install the aircraft nose position at the drone aircraft, the radar needs to realize miniaturization, high integration design, realizes the airspace cover to the hemisphere face through the form of a plurality of radar network deployment simultaneously to realize the small target of high speed (RCS =0.01 m) 2 V =1300 m/s), the detection device needs to have high-speed target detection capability, two-dimensional angle measurement capability, and high data refresh rate (1 Hz).
The existing miss distance vector detection method mainly adopts a frequency modulation continuous wave one-dimensional phased array system, the fuzzy speed measurement range is not small, the distance and speed coupling problems exist, the high-speed small target cannot be accurately measured, meanwhile, the one-dimensional phased array can only realize one-dimensional angle measurement, the data refresh rate is low due to the fact that the large-range searching and tracking are realized in a phase scanning mode, and the continuous detection and tracking of the high-speed small target are difficult to guarantee.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the unmanned aerial vehicle off-target vector detection method based on the two-dimensional phased array radar, which can effectively overcome the defect that the high-speed small target is difficult to accurately and continuously detect and track in the prior art.
In order to achieve the purpose, the invention is realized by the following technical scheme:
an unmanned aerial vehicle off-target vector detection method based on a two-dimensional phased array radar comprises the following steps:
s1, a transmitter subsystem generates multi-frequency-point continuous waves as transmitting signals, and the transmitting signals are radiated to a corresponding airspace;
s2, a receiver subsystem receives a target echo signal and generates an intermediate frequency signal based on the target echo signal;
s3, the signal processing subsystem carries out frequency domain processing on the intermediate frequency signal, carries out spectral peak search on frequency domain data to obtain spectral peak positions and phase information, and calculates the distance of a target object by utilizing a multi-frequency point phase comparison ranging algorithm;
s4, the signal processing subsystem respectively extracts target amplitude and phase information from an azimuth channel and a pitch channel in the receiver subsystem, and performs amplitude-phase calibration on the azimuth channel and the pitch channel;
s5, the signal processing subsystem performs two-dimensional simultaneous multi-beam forming on the amplitude and phase data of the azimuth channel and the pitch channel after amplitude and phase calibration, and calculates the azimuth angle and the pitch angle of the target object respectively through multi-beam amplitude-comparison angle measurement;
and S6, the data processing subsystem performs point trace condensation on the distance, the azimuth angle and the pitch angle of the target object, performs space coordinate system conversion on the parameters of the multi-array-surface target object, performs track tracking on the converted parameters of the target object, and realizes vector detection of the miss distance.
Preferably, the S1 transmitter subsystem generates multi-frequency continuous waves as transmission signals, and radiates the transmission signals to a corresponding space domain, including:
the transmitter generates a transmission signal with corresponding frequency, and the transmission signal is amplified by the power amplifier and then radiated to a corresponding airspace through the transmission antenna.
Preferably, the receiving subsystem in S2 receives the target echo signal and generates the intermediate frequency signal based on the target echo signal, including:
the receiving antenna receives a target echo signal, the target echo signal enters the receiver through the low noise amplifier, the receiver mixes the target echo signal and the local oscillation signal to generate an intermediate frequency signal, and the intermediate frequency signal is sent to the signal processing subsystem.
Preferably, the signal processing subsystem in S3 performs frequency domain processing on the intermediate frequency signal, including:
the signal processing subsystem acquires the intermediate frequency signal through an AD conversion chip and calls an FFT (fast Fourier transform) of the FPGA chip to check the acquired signal to perform frequency domain processing.
Preferably, in S3, performing a spectral peak search on the frequency domain data to obtain a spectral peak position and phase information, including:
extracting the emission frequencies respectively
、
Corresponding to the Doppler frequency component->
、
Wherein N represents the number of sampling points;
to pair
、
Make N point FFT, make the pair->
、
The maximum position of a spectral peak is determined for each respective discrete spectrum>
、
And acquire the respective initial phase difference->
、
；
Calculating the echo phase difference of the ith pair of transmitted signals
To, for
Make and/or>
Processing;
for the treated
Make a decision if->
Then->
(ii) a If->
Then->
No processing is required.
Preferably, in S3, the calculating the distance of the target object by using the multi-frequency point-to-phase ranging algorithm includes:
the transmitting signals are composed of single-frequency point continuous waves with different frequency points, and if the transmitter subsystem transmits M pairs of transmitting signals, the frequency difference values are respectively
Then it is corresponding toAt/are>
Has a maximum unambiguous distance of->
；
At the same time, the ambiguity distance measured from the i-th pair of transmitted signals is
Then the distance of the target object is represented as:
wherein k is i Is a multiple of the maximum unambiguous distance, c is the speed of light,
for the echo phase difference of the i-th pair of transmitted signals,
；
and obtaining a final value of the target object distance by combining the motion compensation distance.
Preferably, the step S4 of the signal processing subsystem respectively extracting target amplitude and phase information from the azimuth channel and the pitch channel in the receiver subsystem, and performing amplitude-phase calibration on the azimuth channel and the pitch channel includes:
and performing far-field active calibration on the azimuth channel and the pitch channel in a microwave darkroom, calculating to obtain corresponding amplitude-phase calibration matrixes, and multiplying the target amplitude and phase information of the azimuth channel and the pitch channel by the corresponding amplitude-phase calibration matrixes respectively to perform amplitude-phase calibration.
Preferably, the data processing subsystem in S6 performs trace-to-trace condensation on the distance, the azimuth angle and the pitch angle of the target object, performs multi-array-surface target object parameter space coordinate system conversion, performs track tracking on the converted target object parameters, and implements miss distance vector detection, including:
the signal processing subsystem sends the target object parameters to the data processing subsystem, and the data processing subsystem performs trace-point condensation on the distance, the azimuth angle and the pitch angle of the target object and performs multi-array-surface target object parameter space coordinate system conversion;
and the data processing subsystem carries out track tracking on the converted target object parameters and sends track tracking data to the test center.
Compared with the prior art, the unmanned aerial vehicle off-target vector detection method based on the two-dimensional phased array radar has the following beneficial effects:
1) The invention adopts a multi-frequency point continuous wave two-dimensional phased array system, and the multi-frequency point continuous wave can realize the aim of high-speed small targets (RCS =0.01 m) 2 ，
) Covering and accurately detecting a full airspace within 360 degrees in the axial direction of the target drone;
2) The invention adopts a multi-frequency-point continuous wave two-dimensional phased array system, and simultaneously performs two-dimensional simultaneous multi-beam forming based on a two-dimensional multi-channel digital receiving array, thereby realizing simultaneous multi-beam coverage to a detection airspace, playing a role in staring at the detection airspace, ensuring high data refresh rate (1 Hz), improving the angle measurement precision of a target object through multi-beam amplitude-comparison angle measurement, and improving the continuous detection and tracking capability of a high-speed small target;
3) The working frequency of the transmitter radar is 23 to 25GHz, the working bandwidth is large, the transmitting waveform is flexible and adjustable, and the problem of co-frequency interference can be effectively solved by arranging the working frequency of each transmitter radar in different areas in a frequency hopping mode.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a schematic flow diagram of the present invention;
FIG. 2 is a hardware schematic of the present invention;
FIG. 3 is a timing diagram of a multi-frequency continuous wave according to the present invention;
FIG. 4 is a schematic diagram of the distribution of transmitting antennas and receiving antennas in the present invention;
FIG. 5 is a schematic diagram of the present invention for performing spectral peak search on frequency domain data to obtain spectral peak position and phase information;
fig. 6 is a waveform diagram obtained by performing two-dimensional simultaneous multi-beam forming on the magnitude-phase data of the azimuth channel and the pitch channel after magnitude-phase calibration in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
A vector detection method for unmanned aerial vehicle miss distance based on two-dimensional phased array radar is disclosed, as shown in figure 1, (1) a transmitter subsystem generates multi-frequency point continuous waves as transmitting signals, and the transmitting signals are radiated to corresponding airspace, and the method specifically comprises the following steps:
the transmitter generates a transmission signal with corresponding frequency, and the transmission signal is amplified by the power amplifier and then radiated to a corresponding airspace through the transmission antenna.
(2) The method for receiving the target echo signal and generating the intermediate frequency signal based on the target echo signal by the receiver subsystem specifically comprises the following steps:
the sixteen-channel receiving antenna receives a target echo signal, the target echo signal enters a sixteen-channel receiver through a low noise amplifier, the sixteen-channel receiver carries out frequency mixing on the target echo signal and a local oscillator signal to generate sixteen intermediate frequency signals, and the sixteen intermediate frequency signals are sent to the signal processing subsystem.
(3) The signal processing subsystem carries out frequency domain processing on the intermediate frequency signal, carries out spectral peak searching on frequency domain data to obtain spectral peak positions and phase information, and calculates the distance of a target object by utilizing a multi-frequency point phase comparison ranging algorithm.
1) The signal processing subsystem carries out frequency domain processing on the intermediate frequency signal, and the frequency domain processing comprises the following steps:
the signal processing subsystem acquires the intermediate frequency signals through an AD conversion chip (wherein each AD conversion channel is respectively provided with two groups of 1024-point echo data), and calls an FFT (fast Fourier transform) core of an FPGA (field programmable gate array) chip to check the acquired signals and perform frequency domain processing (frequency domain processing of 32 groups of 1024-point echo data).
2) Performing spectral peak search on the frequency domain data to obtain the spectral peak position and phase information, as shown in fig. 5, includes:
extracting the emission frequencies respectively
、
Corresponding to the Doppler frequency component->
、
Wherein N represents the number of sampling points;
to pair
、
Make N point FFT, make the pair->
、
The maximum position of a spectral peak is determined for each respective discrete spectrum>
、
And acquiring respective initial phase difference>
、
；
Calculating the echo phase difference of the ith pair of transmitted signals
To, for
Make and/or>
Processing;
for the treated
Make a decision if->
Then->
(ii) a If->
Then>
No processing is required.
3) Calculating the distance of the target object by using a multi-frequency point phase comparison ranging algorithm, wherein the method comprises the following steps:
the transmitting signals are composed of single-frequency point continuous waves with different frequency points, and if the transmitter subsystem transmits M pairs of transmitting signals, the frequency difference values are respectively
Is then corresponding to->
Has a maximum unambiguous distance of->
；
At the same time, the ambiguity distance measured from the i-th pair of transmitted signals is
Then the distance of the target object is represented as:
wherein k is i Is a multiple of the maximum unambiguous distance, c is the speed of light,
for the echo phase difference of the ith pair of transmitted signals,
；
and obtaining a final value of the target object distance by combining the motion compensation distance.
(4) The signal processing subsystem respectively extracts target amplitude and phase information of an azimuth channel and a pitch channel in the receiver subsystem, and performs amplitude-phase calibration on the azimuth channel and the pitch channel, and specifically comprises the following steps:
and performing far-field active calibration on the azimuth channel and the pitch channel (each of which is provided with eight channels) in a microwave darkroom, calculating to obtain corresponding amplitude-phase calibration matrixes, and multiplying the target amplitude and phase information of the azimuth channel and the pitch channel by the corresponding amplitude-phase calibration matrixes respectively to perform amplitude-phase calibration.
(5) The signal processing subsystem performs two-dimensional simultaneous multi-beam forming (forming 26 beams as shown in fig. 6) on the amplitude and phase data of the azimuth channel and the pitch channel after amplitude and phase calibration, and calculates the azimuth angle and the pitch angle of the target object respectively through multi-beam amplitude-comparison angle measurement.
(6) The data processing subsystem carries out point trace condensation on the distance, the azimuth angle and the pitch angle of a target object, carries out conversion on a multi-array-surface target object parameter space coordinate system, carries out track tracking on the converted target object parameter, and realizes miss distance vector detection, and specifically comprises the following steps:
the signal processing subsystem sends the target object parameters to the data processing subsystem, and the data processing subsystem performs trace-point condensation on the distance, the azimuth angle and the pitch angle of the target object and performs multi-array-surface target object parameter space coordinate system conversion;
and the data processing subsystem carries out track tracking on the converted target object parameters and sends track tracking data to the test center.
In the technical scheme of this application, with 4 sets of unmanned aerial vehicle carried miss distance vector detection device (adopt multi-frequency point continuous wave two-dimensional phased array radar), install around the target drone machine equipment, realize the accurate detection of full airspace cover in the 360 target drone machine axial. Wherein, unmanned aerial vehicle carries miss distance vector detection device and includes that transmitter divides system, receiver branch system, signal processing branch system and data processing branch system, as shown in fig. 2:
the transmitter subsystem comprises a single-channel transmitter, a power amplifier and a transmitting antenna (a microstrip wide-beam antenna is adopted to realize the spatial coverage of 120 degrees of azimuth and 120 degrees of pitching);
the receiver subsystem comprises sixteen-channel receiving antennas (a two-dimensional sixteen-channel wide-beam antenna is adopted to realize the receiving of target echo signals in an airspace range with the azimuth of 120 degrees and the elevation of 120 degrees), a low-noise amplifier and a sixteen-channel receiver;
the signal processing subsystem comprises an FPGA chip and two eight-channel AD conversion chips, realizes signal processing of a target echo signal, calculates the distance of a target object by using a multi-frequency point phase comparison ranging algorithm, and respectively calculates the azimuth angle and the pitch angle of the target object by multi-beam amplitude comparison ranging;
and the data processing subsystem is used for performing point trace condensation on the distance, the azimuth angle and the pitch angle of the target object, performing multi-array-surface target object parameter space coordinate system conversion, and performing track tracking on the converted target object parameters to realize the vector detection of the miss distance.
FIG. 3 is a timing chart of multi-frequency continuous waves in the present invention, and it can be seen from FIG. 3 that every 1ms is a period, which satisfies the requirement of high data refresh rate (1 Hz); meanwhile, each transmitting signal consists of single-frequency point continuous waves of 2 different frequency points, and the transmitting frequency points of each transmitting signal in the invention are shown as the following table:
table 1 transmission frequency point table for each transmission signal
In order to prevent the 4 sets of unmanned aerial vehicle off-target vector detection devices from generating same frequency interference when working simultaneously, the transmitting frequency points of each set of radar respectively hop frequency of 100MHz. The transmitting frequency point of No. 1 radar is
、
And the frequency difference is delta f =3MHz, and according to a multi-frequency point continuous wave distance measurement formula:
the corresponding maximum unambiguous distance can be known
And the requirement of the range measurement range is met.
As shown in fig. 4, in order to ensure that no grating lobe occurs during beam scanning, certain requirements are required for the spacing between the receiving antennas. When the beam is scanned to the maximum beam scanning angle
In order to avoid grating lobes within the entire scanning beam, it is sufficient that:
where d represents the spacing between the receiving antennas,
representing the antenna operating wavelength. As can be seen from the above equation, the larger the antenna scanning angle, the smaller the spacing between the receiving antennas, and the higher the frequency, the smaller the spacing between the receiving antennas should be. The spacing between the receiving antennas in the present invention is designed to be ≦ considering that the maximum beam scan angle is 60 °>
。
In order to meet the requirements of airspace coverage of directions of +/-60 degrees and pitching of +/-60 degrees and guarantee the requirement of angle measurement accuracy of a target object, sixteen-channel target echo signals need to be subjected to two-dimensional simultaneous multi-beam forming, simultaneous multi-beam coverage of airspace detection is achieved, and the staring effect of the airspace detection is achieved. The specific strategy for two-dimensional simultaneous multi-beam formation is as follows: the sixteen-channel receiver receives the target echo signals at the same time, and 13 beams are formed simultaneously in the range of ± 60 ° in azimuth and elevation, so as to form 26 beams in total (the specific waveforms are shown in fig. 6), and the specific directions of the 26 beams are shown in the following table:
TABLE 2 Direction table for two-dimensional simultaneous multi-beam forming to obtain beams
| Number of wave beam | Azimuth multi-beam direction (°) | Beam number | Pitching multibeam direction (degree) |
| 1 | -60 | 14 | -60 |
| 2 | -50 | 15 | -50 |
| 3 | -40 | 16 | -40 |
| 4 | -30 | 17 | -30 |
| 5 | -20 | 18 | -20 |
| 6 | -10 | 19 | -10 |
| 7 | 0 | 20 | 0 |
| 8 | 10 | 21 | 10 |
| 9 | 20 | 22 | 20 |
| 10 | 30 | 23 | 30 |
| 11 | 40 | 24 | 40 |
| 12 | 50 | 25 | 50 |
| 13 | 60 | 26 | 60 |
The doppler frequency shift generated by the target object is extracted by using an FFT spectral analysis method, so that the radial velocity of the target object can be obtained (the radial velocity of the target object can be used as a target object parameter together with the distance, azimuth angle, and pitch angle of the target object). As shown in FIG. 3, the time sequence repetition period of the radar is 1 μ s, and the frequency point is
The maximum unambiguous speed in the invention is:
wherein f is r The Doppler frequency is calculated after a group of 1024-point echo data generated by signal acquisition of the intermediate frequency signal is subjected to frequency domain processing by an AD conversion chip for a signal processing subsystem.
Maximum unambiguous speed obtained by using the above formula
The requirement that the maximum non-fuzzy speed is more than 1300m/s and simultaneously the maximum non-fuzzy speed reaches at least 2000m/s is met. Meanwhile, the number of frequency domain processing points in the invention is 1024 points, and the corresponding speed measurement resolution is as follows:
。
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.
Claims (8)
1. An unmanned aerial vehicle carries the vector detection method of the miss distance based on two-dimentional phased array radar, characterized by that: the method comprises the following steps:
s1, a transmitter subsystem generates multi-frequency-point continuous waves as transmitting signals, and the transmitting signals are radiated to a corresponding airspace;
s2, receiving a target echo signal by a receiver subsystem, and generating an intermediate frequency signal based on the target echo signal;
s3, the signal processing subsystem carries out frequency domain processing on the intermediate frequency signal, carries out spectral peak search on frequency domain data to obtain spectral peak positions and phase information, and calculates the distance of a target object by utilizing a multi-frequency point phase comparison ranging algorithm;
s4, the signal processing subsystem respectively extracts target amplitude and phase information from an azimuth channel and a pitch channel in the receiver subsystem, and performs amplitude-phase calibration on the azimuth channel and the pitch channel;
s5, the signal processing subsystem performs two-dimensional simultaneous multi-beam forming on the amplitude and phase data of the azimuth channel and the pitch channel after amplitude and phase calibration, and calculates the azimuth angle and the pitch angle of the target object respectively through multi-beam amplitude-comparison angle measurement;
and S6, the data processing subsystem performs point trace condensation on the distance, the azimuth angle and the pitch angle of the target object, performs space coordinate system conversion on the parameters of the multi-array-surface target object, performs track tracking on the converted parameters of the target object, and realizes vector detection of the miss distance.
2. The unmanned aerial vehicle off-target vector detection method based on the two-dimensional phased array radar according to claim 1, characterized in that: in S1, a transmitter subsystem generates multi-frequency continuous waves as transmitting signals, and radiates the transmitting signals to a corresponding airspace, and the method comprises the following steps:
the transmitter generates a transmission signal with corresponding frequency, and the transmission signal is amplified by the power amplifier and then radiated to a corresponding airspace through the transmission antenna.
3. The unmanned aerial vehicle off-target vector detection method based on the two-dimensional phased array radar according to claim 2, characterized in that: s2, the receiver subsystem receives the target echo signal and generates an intermediate frequency signal based on the target echo signal, and the method comprises the following steps:
the receiving antenna receives a target echo signal, the target echo signal enters the receiver through the low noise amplifier, the receiver mixes the target echo signal and the local oscillation signal to generate an intermediate frequency signal, and the intermediate frequency signal is sent to the signal processing subsystem.
4. The unmanned aerial vehicle off-target vector detection method based on the two-dimensional phased array radar according to claim 3, characterized in that: s3, the signal processing subsystem performs frequency domain processing on the intermediate frequency signal, and the frequency domain processing comprises the following steps:
the signal processing subsystem acquires the intermediate frequency signal through an AD conversion chip and calls an FFT (fast Fourier transform) of the FPGA chip to check the acquired signal to perform frequency domain processing.
5. The unmanned aerial vehicle off-target vector detection method based on the two-dimensional phased array radar according to claim 4, characterized in that: and S3, performing spectral peak search on the frequency domain data to acquire spectral peak position and phase information, wherein the method comprises the following steps:
extracting the emission frequencies respectively
、
Corresponding to the Doppler frequency component->
、
Wherein N represents the number of sampling points;
for is to
、
Make N point FFT, make the pair->
、
Maximum position of a spectral peak is ascertained in each case for a discrete spectrum>
、
And acquiring respective initial phase difference>
、
；
Calculating the echo phase difference of the ith pair of transmitted signals
In combination with>
Make and/or>
Processing;
for the treated
Make a decision if->
Then->
(ii) a If->
Then->
No processing is required. />
6. The unmanned aerial vehicle off-target vector detection method based on the two-dimensional phased array radar according to claim 5, characterized in that: in S3, the distance of the target object is calculated by using a multi-frequency point phase comparison ranging algorithm, and the method comprises the following steps:
the transmitting signals are composed of single-frequency point continuous waves with different frequency points, and if the transmitter subsystem transmits M pairs of transmitting signals, the frequency difference values are respectively
Is then corresponding to->
Maximum unambiguousDistance is>
；
At the same time, the ambiguity distance measured from the ith pair of transmitted signals is
Then the distance of the target object is represented as:
wherein k is i Is a multiple of the maximum unambiguous distance, c is the speed of light,
for the echo phase difference of the i-th pair of transmitted signals,
；
and obtaining a final value of the target object distance by combining the motion compensation distance.
7. The unmanned aerial vehicle off-target vector detection method based on the two-dimensional phased array radar according to claim 5, characterized in that: s4, the signal processing subsystem respectively extracts target amplitude and phase information of the azimuth channel and the pitch channel in the receiver subsystem, and performs amplitude-phase calibration on the azimuth channel and the pitch channel, and the method comprises the following steps:
and performing far-field active calibration on the azimuth channel and the pitch channel in a microwave darkroom, calculating to obtain corresponding amplitude-phase calibration matrixes, and multiplying the target amplitude and phase information of the azimuth channel and the pitch channel by the corresponding amplitude-phase calibration matrixes respectively to perform amplitude-phase calibration.
8. The unmanned aerial vehicle off-target vector detection method based on the two-dimensional phased array radar according to claim 7, characterized in that: the data processing subsystem carries out point trace condensation on the distance, the azimuth angle and the pitch angle of the target object in S6, carries out conversion on a multi-array-surface target object parameter space coordinate system, carries out track tracing on the converted target object parameter, and realizes miss distance vector detection, and the method comprises the following steps:
the signal processing subsystem sends the target object parameters to the data processing subsystem, and the data processing subsystem performs trace-point condensation on the distance, the azimuth angle and the pitch angle of the target object and performs multi-array-surface target object parameter space coordinate system conversion;
and the data processing subsystem carries out track tracking on the converted target object parameters and sends track tracking data to the test center.
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