CN116224249A - Doppler frequency width acquisition method for main lobe clutter region of airborne radar - Google Patents

Doppler frequency width acquisition method for main lobe clutter region of airborne radar Download PDF

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CN116224249A
CN116224249A CN202310321622.3A CN202310321622A CN116224249A CN 116224249 A CN116224249 A CN 116224249A CN 202310321622 A CN202310321622 A CN 202310321622A CN 116224249 A CN116224249 A CN 116224249A
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main lobe
antenna
doppler frequency
coordinate system
machine body
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CN116224249B (en
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范婷婷
李朝伟
康泰
张楷生
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Shanghai Leiyi Electronic Technology Co ltd
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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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/36—Means for anti-jamming, e.g. ECCM, i.e. electronic counter-counter measures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
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  • Radar, Positioning & Navigation (AREA)
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Abstract

The invention discloses a Doppler frequency width acquisition method of an airborne radar main lobe clutter zone, which comprises the following steps: s1, acquiring a velocity vector V= (V) under a plane coordinate system of the machine body x ，V y ，V z ) The method comprises the steps of carrying out a first treatment on the surface of the S2, acquiring an antenna main lobe beam center vector b under a plane coordinate system of the machine body; s3, acquiring Doppler frequency f corresponding to the antenna main lobe beam center according to the speed vector V and the antenna main lobe beam center vector b under the plane coordinate system of the machine body d0 The method comprises the steps of carrying out a first treatment on the surface of the S4, acquiring Doppler frequency f of point K in antenna main lobe clutter region where antenna main lobe beam strikes the ground under machine body coordinate system dk The Doppler frequency width of the main lobe clutter zone is f dkmax ‑f dkmin ，f dkmax And f dkmin Respectively f dk Maximum sum of (2)Minimum value. According to the invention, by utilizing the IMU information of the carrier, the Doppler frequency corresponding to the main lobe beam center of the antenna and the Doppler frequency width of the main lobe clutter region under different postures can be obtained in real time, so that the main lobe clutter region can be avoided or the main lobe clutter can be processed during target detection.

Description

Doppler frequency width acquisition method for main lobe clutter region of airborne radar
Technical Field
The invention belongs to the technical field of radar target detection and signal processing, and particularly relates to a Doppler frequency width acquisition method of an airborne radar main lobe clutter zone.
Background
When the airborne radar looks down to detect, target echo and ground clutter will enter the radar receiver together, will cause adverse effect to the radar reception in the low altitude, especially the Doppler frequency of target and clutter is close when the tail is chased, seriously influences the detection performance of the radar. Although the prior art researches the target detection under the ground clutter background, the main lobe clutter is generally far stronger than the target echo, and the speeds of scatterers in different directions relative to a carrier are different, so that clutter spectrum is widened, and the detection performance of a moving target is seriously affected.
When the airborne radar detects and tracks the target, the Doppler frequency width range of the main lobe clutter region can be determined in real time, so that the main lobe clutter is restrained by adopting an adaptive algorithm or the main lobe clutter region is avoided as much as possible when the target is detected. In the prior art, the attitude of a carrier is not considered when the Doppler frequency range of a ground main lobe clutter region is acquired, and the Doppler frequency positioning accuracy of the main clutter center is not enough and the subsequent detection and tracking performances are affected due to the influence of the specific working environment of a radar.
Therefore, in order to solve the above-mentioned technical problems, it is necessary to provide a doppler frequency width acquisition method for the main lobe clutter region of the airborne radar.
Disclosure of Invention
Accordingly, an object of the present invention is to provide a method for obtaining a doppler frequency width of a main lobe clutter region of an airborne radar, so as to obtain a doppler frequency of a main lobe beam center of an antenna and a doppler frequency width of the main lobe clutter region.
In order to achieve the above object, an embodiment of the present invention provides the following technical solution:
a method for obtaining doppler frequency width of main lobe clutter region of airborne radar, the method comprising the steps of:
s1, acquiring a velocity vector V= (V) under a plane coordinate system of the machine body x ，V y ，V z )；
S2, acquiring an antenna main lobe beam center vector b under a plane coordinate system of the machine body;
s3, acquiring Doppler frequency f corresponding to the antenna main lobe beam center according to the speed vector V and the antenna main lobe beam center vector b under the plane coordinate system of the machine body d0 ；
S4, acquiring Doppler frequency f of point K in antenna main lobe clutter region where antenna main lobe beam strikes the ground under machine body coordinate system dk The Doppler frequency width of the main lobe clutter zone is f dkmax -f dkmin ，f dkmax and fdkmin Respectively f dk Maximum and minimum of (2).
In one embodiment, the step S1 specifically includes:
according to the velocity vector V in the northeast coordinate system 0 ＝(V x0 ，V y0 ，V z0 ) Obtaining the velocity vector V= (V) under the plane coordinate system of the machine body x ，V y ，V z ) The method comprises the following steps:
Figure BDA0004151943140000021
wherein alpha is the course angle of the carrier.
In one embodiment, the step S2 specifically includes:
vector b pointing to the ground according to the center of the main lobe beam of the antenna under the machine body coordinate system 0 ＝(x b0 ，y b0 ，z b0 ) Acquiring the central vector of the main lobe beam of the antenna under the plane coordinate system of the machine body as b= (x) b ′，y b ′，z b ' s), satisfy:
Figure BDA0004151943140000022
Figure BDA0004151943140000023
wherein ,θ0 And
Figure BDA0004151943140000024
the pitch angle and the azimuth angle of the antenna under the machine body coordinate system are respectively shown, wherein beta is the pitch angle of the carrier, Y is the roll angle of the carrier, and H is the flying height of the carrier.
In an embodiment, in the step S2, the antenna main lobe beam center vector in the body plane coordinate system is b= (x) b ，y b ，z b )＝(x b ′，y b ′，z b ' s), satisfy:
Figure BDA0004151943140000031
wherein H is the flying height of the carrier.
In one embodiment, the Doppler frequency f corresponding to the center of the antenna main lobe beam in the step S3 d0 The method comprises the following steps:
Figure BDA0004151943140000032
wherein ,
Figure BDA0004151943140000033
sigma is O' M and the plane coordinate system X of the machine body h The included angle of the axes, M is the intersection point of the main lobe beam center of the antenna on the ground, O' is the plane coordinate system Y of the machine body h Intersection of axes on the ground, +.>
Figure BDA0004151943140000034
θ is the angle between the central vector b of the main lobe beam of the antenna and O' M, and +.>
Figure BDA0004151943140000035
Lambda is the signal wavelength.
In one embodiment, the step S4 includes:
acquiring an elliptic equation of an antenna main lobe clutter region of an antenna main lobe beam on the ground under a plane coordinate system of the machine body;
judging whether the point K is positioned in the antenna main lobe clutter zone according to the coordinate of the point K and an elliptic equation, and obtaining the Doppler frequency f of the point K in the antenna main lobe clutter zone dk 。
In one embodiment, the ellipse equation of the antenna main lobe clutter region in the step S4 is:
Figure BDA0004151943140000036
Figure BDA0004151943140000037
Figure BDA0004151943140000041
wherein m and n are the major and minor axes of the ellipse, θ EL Is half of the antenna elevation beam width, θ AZ X is half of the beam width of the azimuth direction of the antenna b 、y b 、z b The three-axis coordinates of the main lobe beam center vector to the point M on the ground are respectively given.
In one embodiment, the X-axis coordinate X of the coordinate of the point K in the step S4 k And Z-axis coordinate Z k The method comprises the following steps of:
Figure BDA0004151943140000042
z k ＝x k tanσ。
in one embodiment, the step S4 further includes:
when meeting the requirements
Figure BDA0004151943140000043
And when the antenna is in the main lobe clutter region, the judging point K is positioned in the main lobe clutter region of the antenna.
In one embodiment, the step S4 further includes:
traversing the values of sigma and theta according to
Figure BDA0004151943140000044
Is->
Figure BDA0004151943140000045
Obtaining Doppler frequency f of point K in main lobe clutter zone of all antennas dk ；
Wherein, sigma epsilon [ -pi, pi),
Figure BDA0004151943140000046
the invention has the following beneficial effects:
according to the invention, by utilizing the IMU information of the carrier, the Doppler frequency corresponding to the main lobe beam center of the antenna and the Doppler frequency width of the main lobe clutter region under different postures can be obtained in real time, so that the main lobe clutter region can be avoided or the main lobe clutter can be processed during target detection.
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In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a Doppler frequency width acquisition method of a main lobe clutter zone of an airborne radar in the invention;
FIG. 2 shows the northeast and north coordinate system (X) 0 Y 0 Z 0 ) Schematic of (2);
FIG. 3 shows the body coordinate system (X) t Y t Z t ) Schematic of (2);
FIG. 4 shows the plane coordinate system (X) h Y h Z h ) Schematic of (2);
fig. 5 is a schematic diagram of a central vector of a main lobe beam of an antenna under a body coordinate system according to an embodiment of the present invention;
FIG. 6 is an exploded view of velocity vectors in a plane coordinate system of a machine body according to an embodiment of the present invention;
FIG. 7 shows an embodiment of the present invention X h OZ h A schematic decomposition diagram of the plane velocity vector;
FIG. 8 is an exploded view of the OM 'MO' plane velocity vector in accordance with an embodiment of the present invention;
FIG. 9 is a schematic diagram illustrating a solution of the major axis m of an ellipse in an embodiment of the present invention;
fig. 10 is a schematic diagram illustrating a solution of the minor axis n of the ellipse in an embodiment of the present invention.
Detailed Description
In order to make the technical solution of the present invention better understood by those skilled in the art, the technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
According to the embodiment, the Inertial Measurement Unit (IMU) on the airborne radar is utilized to acquire the attitude information of the airborne machine in real time, wherein the attitude information comprises a course angle, a pitch angle and a roll angle, and the triaxial speed of the airborne machine under the northeast day coordinate system (ENU), so that the Doppler frequency of the beam center of the main lobe of the antenna and the Doppler frequency width of the clutter region of the main lobe of the antenna are acquired, and the Doppler frequency width is avoided during target detection.
In order to facilitate understanding of the embodiments of the present invention, several elements that may be introduced in the description of the embodiments of the present invention are first described herein.
IMU: the inertial measurement unit is a module composed of a plurality of sensors such as a triaxial accelerometer, a triaxial gyroscope and a triaxial magnetometer, and can be used for measuring parameters such as speed, course angle, pitch angle, roll angle and triaxial speed of a carrier.
Northeast day coordinate system (X) 0 Y 0 Z 0 ) The three-axis coordinates of which are shown with reference to figure 2.
Organism coordinate system (X) t Y t Z t ) The three-axis coordinates of which are shown in figure 3.
Plane coordinate system of machine body (X) h Y h Z h ) The three-axis coordinates of which are shown in fig. 4.
Referring to fig. 1, the invention discloses a Doppler frequency width acquisition method of an airborne radar main lobe clutter zone, which comprises the following steps:
s1, acquiring a velocity vector V= (V) under a plane coordinate system of the machine body x ，V y ，V z )；
S2, acquiring an antenna main lobe beam center vector b under a plane coordinate system of the machine body;
s3, acquiring Doppler frequency f corresponding to the antenna main lobe beam center according to the speed vector V and the antenna main lobe beam center vector b under the plane coordinate system of the machine body d0 ；
S4, acquiring Doppler frequency f of point K in antenna main lobe clutter region where antenna main lobe beam strikes the ground under machine body coordinate system dk The Doppler frequency width of the main lobe clutter zone is f dkmax -f dkmin ，f dkmax and fdkmin Respectively f dk Maximum and minimum of (2).
The following describes each step in the method for acquiring the doppler frequency width of the main lobe clutter region of the airborne radar in this embodiment in detail.
S1, acquiring a plane coordinate system (X) h Y h Z h ) The velocity vector at v= (V) x ，V y ，V z )。
Calculation of the Main lobe clutter region in the plane coordinate System (X) h Y h Z h ) The speed given by the IMU is the northeast-north day coordinate system (X 0 Y 0 Z 0 ) The speed vector is converted into a plane coordinate system of the machine body, specifically:
the velocity vector given by the IMU is recorded as V 0 ＝(V x0 ，V y0 ，V z0 ) The velocity vector in the plane coordinate system of the machine body is V= (V) x ，V y ，V z ) Then:
Figure BDA0004151943140000071
wherein alpha is the course angle of the carrier, and is defined as the included angle between the longitudinal axis (the machine head direction) of the machine body and the north direction, and north is positive in the east direction.
S2, acquiring the central vector of the antenna main lobe beam under the plane coordinate system of the machine body as b.
Referring to FIG. 5, the pitch angle and azimuth angle of the antenna in the machine body coordinate system are respectively θ 0 And
Figure BDA0004151943140000075
firstly, solving a vector of the center of the main lobe beam of the antenna pointing to the ground under a machine body coordinate system, and marking as b 0 ＝(x b0 ，y bo ，z b0 ) Then:
Figure BDA0004151943140000072
the central vector of the main lobe beam of the antenna under the plane coordinate system of the organism is recorded as b= (x) b ′，y b ′，z b '), then:
Figure BDA0004151943140000073
wherein beta is the pitch angle of the carrier and is defined as the body X 0 The included angle between the shaft and the horizontal plane is positive when the aircraft is lifted; y is the roll angle of the carrier, and is defined as the included angle between the plane where the two wings of the airplane are positioned and the horizontal line, and the left wing is positive when inclining upwards.
Y taking into account the vector of the beam centre to ground in the plane coordinate system of the machine body h The axis size should be the flying height H of the carrier, so the coordinate value in the formula (3) is changed to obtain:
Figure BDA0004151943140000074
then b= (x b ，y b ，z b ) Is the central vector of the main lobe beam of the antenna under the plane coordinate system of the final body.
S3, acquiring Doppler frequency f corresponding to the antenna main lobe beam center according to the speed vector V and the antenna main lobe beam center vector b under the plane coordinate system of the machine body d0 。
After the speed vector V and the antenna main lobe beam center vector b are both converted into a plane coordinate system of the machine body, the Doppler frequency f corresponding to the antenna main lobe beam center can be calculated under the coordinate system d0 。
S31, solving radial velocity V of the beam center relative to the carrier by utilizing a geometric decomposition method b 。
Referring to FIG. 6, the velocity vector in the plane coordinate system of the machine body is shown as X h OZ h The component of the plane being V xz Easily-known
Figure BDA0004151943140000081
Let the vector V xz And X is h The included angle of the axes is delta, then->
Figure BDA0004151943140000082
In FIG. 6M is the intersection of the antenna main lobe beam center on the ground, OM' is X h OZ h Plane and parallel to O' M on the ground.
Referring to FIG. 7, at X h OZ h Will V on plane xz Decomposed into the OM' direction radial velocity component V xz1 And V perpendicular to OM xz2 。V xz2 T Y axis, V xz2 T OM', so V xz2 Perpendicular to the OM 'MO' plane, so V xz2 T b, i.e. V xz2 Is the tangential velocity of vector b and the corresponding doppler frequency is 0.
So at X h OZ h The plane only needs to take into account the velocity component V xz1 It can be seen that |V xz1 |＝|V xz |cos(σ-δ)，I represents modulo arithmetic, sigma is O' M and X h And an included angle of the axes.
Referring to FIG. 8, V is shown xz1 The radial velocity component V being decomposed into vectors b xz11 And a tangential velocity component V perpendicular to vector b xz12 ，|V xz11 |＝|V xz1 And cos theta, theta is the angle between the antenna beam vector b and O' M,
Figure BDA0004151943140000083
considering the velocity component V in the OM 'MO' plane y V is set up y The radial velocity component V being decomposed into vectors b y1 And a tangential velocity component V perpendicular to vector b y2 ，|V y1 |＝|V y |sinθ。
Synthesizing the radial velocity components:
V b ＝V xz11 +V y1 (5)
the radial speed is as follows:
Figure BDA0004151943140000084
V y for the velocity vector in the plane coordinate system of the machine body at Y h The magnitude of the axis is obtained by the formula (1), and the vector V y When the direction is upward, V y ＞0；V y When the direction is downward, V y ＜0。
S32, acquiring Doppler frequency f corresponding to the center of the main lobe beam of the antenna according to the radial speed in the step 3.1 d0 The method comprises the following steps:
Figure BDA0004151943140000091
where λ is the signal (radar-transmitted signal) wavelength.
S4, acquiring Doppler frequency width of the main lobe clutter region, comprising the following steps:
s41, an ellipse is formed when the main lobe beam of the antenna is hit on the ground, and an ellipse equation of the antenna beam hit on the ground is obtained according to the current main lobe beam scanning area.
First, the major axis m and the minor axis n of the ellipse are obtained.
As shown in reference to figure 9 of the drawings,
Figure BDA0004151943140000092
the major axis m of the ellipse is:
Figure BDA0004151943140000093
wherein ,θEL Is half the antenna elevation beam width, (x) b ，y b ，z b ) The tri-axial coordinates of the point M on the ground are struck for the main lobe beam center vector b.
Referring to fig. 10, the minor axis n of the ellipse is:
Figure BDA0004151943140000094
wherein ,θAZ Is half the beamwidth of the antenna azimuth.
Then the elliptic equation is:
Figure BDA0004151943140000095
s42, judging whether the point K is positioned in the antenna main lobe clutter region according to the coordinate and the elliptic equation of the point K, and obtaining the Doppler frequency f of the point K in the antenna main lobe clutter region dk 。
Traversing all possible value ranges of sigma and theta, sigma epsilon, -pi, pi in this embodiment,
Figure BDA0004151943140000101
according to the current angles sigma and theta, the X-axis coordinate X of the corresponding ground current point K is obtained k And Z-axis coordinate Z k The specific solving method is as follows:
Figure BDA0004151943140000102
x k the sign of (c) is determined by the following formula,
Figure BDA0004151943140000103
obtaining x k Then, z can be obtained according to the following formula k ，
z k ＝x k tanσ (13)
Substituting the elliptic equation of formula (10), if satisfied:
Figure BDA0004151943140000104
/>
the decision point K is located within the antenna mainlobe clutter region.
Substituting sigma and theta into the above formulas (6) and (7) to obtain Doppler frequency f corresponding to point K dk 。
In this embodiment, the matlab software is used to perform the traversal of σ and θ, and in other embodiments, other software may be used, which will not be described herein.
S43, after traversing, obtaining the Doppler frequency width f of the main lobe clutter region dkmax -f dkmin ，f dkmax and fdkmin Respectively f dk Maximum and minimum of (2).
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, by utilizing the IMU information of the carrier, the Doppler frequency corresponding to the main lobe beam center of the antenna and the Doppler frequency width of the main lobe clutter region under different postures can be obtained in real time, so that the main lobe clutter region can be avoided or the main lobe clutter can be processed during target detection.
The detailed description set forth above in connection with the appended drawings describes exemplary embodiments, but does not represent all embodiments that may be implemented or fall within the scope of the claims. The term "exemplary" used throughout this specification means "serving as an example, instance, or illustration," and does not mean "preferred" or "advantageous over other embodiments. The detailed description includes specific details for the purpose of providing an understanding of the described technology. However, the techniques may be practiced without these specific details. In some instances, well-known structures and devices are shown in block diagram form in order to avoid obscuring the concepts of the described embodiments.
The previous description of the disclosure is provided to enable any person skilled in the art to make or use the disclosure. Various modifications to the disclosure will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other variations without departing from the scope of the disclosure. Thus, the disclosure is not limited to the examples and designs described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. The Doppler frequency width acquisition method of the main lobe clutter zone of the airborne radar is characterized by comprising the following steps of:
s1, acquiring a velocity vector V= #V in a plane coordinate system of a machine body $ ,V & ,V ' (；
S2, acquiring an antenna main lobe beam center vector b under a plane coordinate system of the machine body;
s3, acquiring Doppler frequency f corresponding to the antenna main lobe beam center according to the speed vector V and the antenna main lobe beam center vector b under the plane coordinate system of the machine body *+ ；
S4, acquiring Doppler frequency f of point K in antenna main lobe clutter region where antenna main lobe beam strikes the ground under machine body coordinate system *, The Doppler frequency width of the main lobe clutter zone is f *,-.$ -f *,-01 ，f *,-.$ and f*,-01 Respectively f *, Maximum and minimum of (2).
2. The method for obtaining the doppler frequency width of the main lobe clutter region of the airborne radar according to claim 1, wherein the step S1 specifically comprises:
according to the velocity vector V in the northeast coordinate system + ＝#V $+ ,V &+ ,V '+ (, obtain the velocity vector v= #v in the plane coordinate system of the machine body $ ,V & ,V ' (-), satisfy:
Figure FDA0004151943100000011
wherein alpha is the course angle of the carrier.
3. The method for obtaining the doppler frequency width of the main lobe clutter region of the airborne radar according to claim 1, wherein the step S2 specifically comprises:
vector b pointing to the ground according to the center of the main lobe beam of the antenna under the machine body coordinate system 0 ＝(x <+ ,y <+ ,z <+ ) Acquiring the central vector of the main lobe beam of the antenna under the plane coordinate system of the machine body as b= (x) < ′,y < ′,z < ' s), satisfy:
Figure FDA0004151943100000012
Figure FDA0004151943100000021
wherein ,θ+ And
Figure FDA0004151943100000022
the pitch angle and the azimuth angle of the antenna under the machine body coordinate system are respectively shown, beta is the pitch angle of the carrier, gamma is the roll angle of the carrier, and H is the flying height of the carrier.
4. According to claimThe method for obtaining the doppler frequency width of the main lobe clutter region of the airborne radar according to claim 3, wherein in the step S2, the antenna main lobe beam center vector under the plane coordinate system of the machine body is b= (x) < ,y < ,z < )＝(x < ′,y < ′,z < ' s), satisfy:
Figure FDA0004151943100000023
wherein H is the flying height of the carrier.
5. The method for obtaining doppler frequency width in main lobe clutter region of airborne radar according to claim 4, wherein in step S3, the doppler frequency f corresponding to the antenna main lobe beam center is *+ The method comprises the following steps:
Figure FDA0004151943100000024
wherein ,
Figure FDA0004151943100000025
sigma is O' M and the plane coordinate system X of the machine body h The included angle of the axes, M is the intersection point of the main lobe beam center of the antenna on the ground, O' is the plane coordinate system Y of the machine body h The intersection of the axes at the surface,
Figure FDA0004151943100000026
θ is the angle between the central vector b of the main lobe beam of the antenna and O' M, and +.>
Figure FDA0004151943100000027
Lambda is the signal wavelength.
6. The method for obtaining the doppler frequency width of the main lobe clutter region of the airborne radar according to claim 5, wherein the step S4 comprises:
acquiring an elliptic equation of an antenna main lobe clutter region of an antenna main lobe beam on the ground under a plane coordinate system of the machine body;
judging whether the point K is positioned in the antenna main lobe clutter zone according to the coordinate of the point K and an elliptic equation, and obtaining the Doppler frequency f of the point K in the antenna main lobe clutter zone *, 。
7. The method for obtaining the doppler frequency width of the main lobe clutter region of the airborne radar according to claim 6, wherein the elliptic equation of the main lobe clutter region of the antenna in step S4 is:
Figure FDA0004151943100000031
Figure FDA0004151943100000032
Figure FDA0004151943100000033
wherein m and n are the major and minor axes of the ellipse, θ st Is half of the antenna elevation beam width, θ qr X is half of the beam width of the azimuth direction of the antenna < 、y < 、z < The three-axis coordinates of the main lobe beam center vector to the point M on the ground are respectively given.
8. The method for obtaining Doppler frequency width in main lobe clutter region of airborne radar according to claim 7, wherein the coordinate of point K in step S4 is X-axis coordinate X , And Z-axis coordinate Z , The method comprises the following steps of:
Figure FDA0004151943100000034
z , ＝x , tanσ。
9. the method for obtaining the doppler frequency width of the main lobe clutter region of the airborne radar according to claim 7, wherein the step S4 further comprises:
when meeting the requirements
Figure FDA0004151943100000035
And when the antenna is in the main lobe clutter region, the judging point K is positioned in the main lobe clutter region of the antenna.
10. The method for obtaining the doppler frequency width of the main lobe clutter region of the airborne radar according to claim 9, wherein the step S4 further comprises:
traversing the values of sigma and theta according to
Figure FDA0004151943100000036
Is->
Figure FDA0004151943100000037
Obtaining Doppler frequency f of point K in main lobe clutter zone of all antennas *, ；
Wherein, sigma epsilon [ -pi, pi),
Figure FDA0004151943100000041
/>
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