CN116470943A - Cluster movable platform phased array transmitting beam forming method - Google Patents
Cluster movable platform phased array transmitting beam forming method Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/02—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas
- H04B7/04—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas
- H04B7/06—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the transmitting station
- H04B7/0613—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the transmitting station using simultaneous transmission
- H04B7/0615—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the transmitting station using simultaneous transmission of weighted versions of same signal
- H04B7/0617—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the transmitting station using simultaneous transmission of weighted versions of same signal for beam forming
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/02—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas
- H04B7/04—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas
- H04B7/08—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the receiving station
- H04B7/0837—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the receiving station using pre-detection combining
- H04B7/0842—Weighted combining
- H04B7/086—Weighted combining using weights depending on external parameters, e.g. direction of arrival [DOA], predetermined weights or beamforming
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L27/00—Modulated-carrier systems
- H04L27/32—Carrier systems characterised by combinations of two or more of the types covered by groups H04L27/02, H04L27/10, H04L27/18 or H04L27/26
- H04L27/34—Amplitude- and phase-modulated carrier systems, e.g. quadrature-amplitude modulated carrier systems
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- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The invention provides a cluster dynamic platform phased array transmitting beam forming method, which comprises the following implementation steps: initializing a cluster dynamic platform-borne phased array transmitting beam forming system; the information acquisition and processing module calculates and transmits the destination position coordinates of each motion platform; the position control module controls each motion platform to move to a target position coordinate; the amplitude and phase control module compensates the amplitude and phase of the transmitting antenna carried by each motion platform; and forming a transmitting beam of the clustered dynamic platform carrier phased array. According to the invention, the amplitude and the phase of the transmitting antenna carried by each motion platform are compensated, so that the main lobe precision is effectively improved, and the peak sidelobe level is reduced; and the claimepirone boundary and the peak sidelobe level are simultaneously used as an objective function to carry out configuration optimization on the cluster movable platform, so that the main lobe precision is further improved.
Description
Technical Field
The invention belongs to the field of wireless communication, relates to a transmitting beam forming method, and in particular relates to a cluster dynamic platform carrier phased array transmitting beam forming method which can be applied to wireless communication, target detection, SAR imaging and the like.
Background
The phased array is an electric control scanning array formed by a plurality of independent antenna array elements, and has wide application in the fields of wireless communication and the like. Phased arrays can be classified into fixed phased arrays based on single platforms and distributed phased arrays based on clustered mobile platforms according to the array load-bearing platform. The fixed phased array based on a single platform is large in size, poor in maneuverability and incapable of entering into complex natural environments such as mountains and forests. Compared with a fixed phased array based on a single platform, the distributed phased array based on the cluster movable platform has small volume and strong maneuverability, can enter any complex natural environment, and is widely applied to a phased array system.
The forming of the phased array transmitting wave beam of the cluster dynamic platform loading refers to controlling the transmitting wave beam direction to be a specified direction by adjusting the transmitting signal amplitude and the phase of each antenna array element in the array. The cluster dynamic platform phased array transmitting beam forming has the characteristics of high scanning speed, high beam shape change, high power synthesis capability and the like, and becomes one of research hot spots in the field of array signal processing in recent years.
Main lobe precision and peak sidelobe level are two important indexes for measuring cluster movable platform-borne phased array emission beam forming, in order to improve the main lobe precision and reduce the peak sidelobe level, the cluster movable platform-borne phased array emission beam forming requires that a phased array flow pattern is precisely known on the one hand, and a phased array has excellent geometric configuration on the other hand, however, due to the influences of phased array amplitude errors and phase errors, the precise array flow pattern of the phased array is generally not obtained, and due to the high complexity of a phased array configuration optimization algorithm, the optimal configuration is generally difficult to solve.
In the prior art, the optimal design of the transmitting beam formation is generally performed only by optimizing the transmitting weighting coefficient of an antenna array, for example, the patent application with the application publication number of CN115510733A, named as an array antenna sidelobe optimization method based on an improved cross genetic algorithm, discloses an array antenna sidelobe optimization method based on the improved cross genetic algorithm, which comprises the following steps: 1) Constructing an initial population describing a circular array antenna; 2) Performing first iteration based on the initial population, and performing first measurement on the first iteration result; 3) Replacing the individual which does not meet the set convergence requirement in the measurement result obtained in the step 2 with an empirical value which meets the set convergence requirement; 4) Selecting, crossing and mutating the population obtained in the step 3; 5) Repeating the step 2-4, and optimizing the number of the ring layers to obtain the optimal number of the ring layers; 6) And (5) maintaining the optimal number of layers of the circular ring obtained in the step (5), repeatedly executing the step (2-4), and outputting the optimal peak sidelobe level and the optimal radius of the circular array. The method adopts an improved genetic algorithm to optimize the circular array configuration, and increases the constraint condition that the array radius is fixed and the total number of array elements is unchanged. The method can effectively reduce peak sidelobe level under the condition that amplitude errors and phase errors do not exist, but under the condition that the amplitude errors and the phase errors exist, the main lobe precision is lower and the amplitude of the peak sidelobe level reduction is limited because the method does not compensate the amplitude errors and the phase errors; in addition, the method only considers peak sidelobe level and does not consider main lobe precision when optimizing the array configuration, so that the main lobe precision of the transmitting beam forming is lower under the condition that amplitude errors and phase errors exist.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a cluster movable platform-borne phased array transmitting beam forming method which is used for solving the technical problems of lower main lobe precision and higher peak sidelobe level in the prior art.
In order to achieve the above purpose, the technical scheme adopted by the invention comprises the following steps:
(1) Initializing a cluster dynamic platform-borne phased array transmitting beam forming system:
the initialization comprises M motion platforms U= { U which are distributed in a three-dimensional space and are all provided with a data processing system m 1 < M < M > and a transmit beam forming system of a calibrated transmit antenna C arranged on the ground, and a motion platform U thereof h As a reference platform, h epsilon M, the data processing system comprises an information acquisition and processing module, a position control module and an amplitude and phase control module which are connected with the output end of the information acquisition and processing module and are arranged in parallel, and the output end of the amplitude and phase control module is connected with a transmitting antenna; calibration signal transmitted by the calibration transmitting antenna C is s 0 ，s 0 Azimuth angle, pitch angle, wavelength of alpha 0 、β 0 、λ 0 Wherein M is greater than or equal to 2, U m Representing an mth motion platform;
(2) The information acquisition and processing module calculates the destination position coordinates of each motion platform and sends the destination position coordinates:
(2a) Each motion platform U m Information acquisition and processing module acquisition U who carries on m Position observation value information l of (2) m ＝[x m ,y m ,z m ] T And based on l m Calculation U m Transmitting signal ζ of transmitting antenna mounted on the antenna m To obtain a transmission signal set ζ= [ ζ ] 1 ,ζ 2 ,,ζ m ,,ζ M ] T And send, where x m 、y m And z m Respectively represent l m Component in X, Y and Z-axis direction, [] T Representing a transpose operation;
(2b) Each motion platform U m The information acquisition and processing module on the upper part establishes a transmitting beam pattern F based on a transmitting signal set zeta, and calculates peak sidelobe level PSL of F;
(2c) Each motion platform U m The information acquisition and processing module carried on the platform calculates the CRLB of the Kelarmerro kingdom of the wave beam formation, and calculates each motion platform U based on the CRLB m Destination position coordinates of movementAnd (5) post-sending:
wherein Deltad represents the minimum distance between M moving platforms without collision, L m Representing each motion platform U m Is used to represent the motion region of the two-norm operation, tr { · } represents the trace operation, μ 1 Sum mu 2 As a function of the parameters,destination position coordinates representing the movement of any two motion platforms, < > are displayed>1≤ξ≤M，/>
(3) The position control module controls each motion platform to move to a target position coordinate:
each motion platform U m The position control module on the upper part controls each motion platform U m Moving to the target position coordinate calculated by the information acquisition and processing moduleA place;
(4) The information acquisition and processing module calculates the amplitude error estimated value of each motion platformAnd phase error estimate +.>
(4a) Each motion platform U m The information acquisition and processing module mounted on the computer acquires the observed value of the calibration signal transmitted by the calibration transmitting antenna CObtaining a set of calibration signal observations +.>
Wherein ρ is m And delta phi m Respectively represent platform U m The amplitude error and the phase error of the transmission signal of the carried antenna, e represents a natural constant, j represents an imaginary unit;
(4b) Each motion platform U m The information acquisition and processing module carried on the computer calculates a set of calibration signal observationsAnd calculates each motion platform U according to the covariance matrix R of R m Amplitude error estimate +.>Obtaining a set of amplitude error estimates +.>Then sending;
(4c) Each motion platform U m The information acquisition and processing module carried on the computer is used for processing the informationFor->Compensating to obtain a calibration signal observation value set after amplitude error compensation>Wherein, pair->The formula for compensation is:
wherein, the liquid crystal display device comprises a liquid crystal display device,representation pair->Performing compensated calibration signal observation values;
(4d) Each motion platform U m The information acquisition and processing module carried on the device uses the set of calibration signal observationsCalculate each motion platform U m Is +.>Obtaining a set of phase error estimatesAnd (5) post-sending:
(4e) Each motion platform U m Information acquisition and processing module on board calculates motion platform U m Carried transmitting antenna and reference platform U h Phase difference of transmission signals between mounted transmission antennasObtaining a phase difference setAnd transmitting:
wherein f is ζ m Pi is the circumference ratio, c is the speed of light;
(5) The amplitude and phase control module compensates the amplitude and phase of the transmitting antenna carried by each motion platform:
each motion platform U m The amplitude and phase control module carried on the circuit is based onCompensating the amplitude of the transmitting antenna carried by each motion platform and simultaneously based on +.>And->Compensating the phase of the transmitting antenna carried by each motion platform to obtain amplitude rho after amplitude error compensation 0,m And phase error compensated phase +>
(6) Forming a transmitting beam of a cluster dynamic platform carrier phased array:
each motion platform U m Transmitting signal ζ of transmitting antenna mounted on the antenna m After the amplitude and phase compensation is realized, the composition azimuth angle is alpha, the pitch angle is beta, and the beam amplitude is F α,β Is a beam of:
r＝[cosαcosβ,sinαcosβ,sinβ] T
wherein, I·| represents taking absolute value, w α,β In order to guide the vector to the position,representing w α,β Conjugate transpose of->Is a platform U m With reference platform U 1 The phase difference between them, λ, represents the wavelength of the transmit beam.
Compared with the prior art, the invention has the following advantages:
(1) The invention adopts the information acquisition and processing module to calculate the amplitude error estimated value and the phase error estimated value of each motion platform, and adopts the amplitude and phase control module to compensate the amplitude and the phase of the transmitting antenna carried by each motion platform. When the amplitude error and the phase error are estimated, each motion platform receives the calibration transmitting signal transmitted by the calibration transmitting antenna, firstly calculates an amplitude error estimated value, and then constructs an optimization function to calculate the phase error estimated value after obtaining the amplitude error estimated value. After the amplitude error estimated value and the phase error estimated value are obtained, the amplitude and phase control module compensates the amplitude and the phase of the transmitting antenna carried by each motion platform based on the amplitude error estimated value and the phase error estimated value, thereby overcoming the defect that the amplitude error and the phase error are usually ignored in the prior art, improving the main lobe precision of the phased array transmitting beam formation of the cluster mobile platform and reducing the peak sidelobe level.
(2) When the information acquisition and processing module calculates the target position coordinates of the movement of each moving platform, the method simultaneously optimizes the configuration of the cluster moving platform by taking the Keramelteon and the peak side lobe level as configuration optimization functions, takes the minimum non-collision distance between the platforms and the movable area of each platform as constraint conditions, overcomes the defect that only the peak side lobe level is considered in the prior art, and further improves the main lobe precision of the cluster moving platform phased array transmitting wave beam formation.
Drawings
FIG. 1 is a flow chart of an implementation of the present invention.
FIG. 2 is a schematic diagram of a data processing system according to the present invention.
Fig. 3 is a simulated comparison of the main lobe accuracy and peak sidelobe levels of the present invention with the prior art beamforming.
Detailed Description
The invention will now be described in further detail with reference to the drawings and to specific embodiments.
Referring to fig. 1, the present invention includes the steps of:
step 1) initializing a cluster dynamic platform-borne phased array transmitting beam forming system:
the initialization comprises M motion platforms U= { U which are distributed in a three-dimensional space and are all provided with a data processing system m 1 < M < M > and a transmit beam forming system of a calibrated transmit antenna C arranged on the ground, and a motion platform U thereof h As a reference platform, h epsilon M, wherein the data processing system is shown in fig. 2 and comprises an information acquisition and processing module, a position control module and an amplitude and phase control module, the output end of the information acquisition and processing module, the amplitude and phase control module and the position control module are connected, and the output end of the amplitude and phase control module is connected with a transmitting antenna;
calibration signal transmitted by the calibration transmitting antenna C is s 0 ，s 0 Azimuth angle, pitch angle, wavelength of alpha 0 、β 0 、λ 0 Wherein M is greater than or equal to 2, U m Representing an mth motion platform; in this example, m=10, α 0 ＝0°，β 0 ＝0°，λ 0 =0.3m; calibrating the transmitted signal s 0 The azimuth angle, the pitch angle and the wavelength of the point frequency signal with the amplitude of 1 are respectively alpha 0 ＝0°，β 0 ＝0°，λ 0 ＝0.3m；
Step 2) the information acquisition and processing module calculates the destination position coordinates of each motion platform and sends the destination position coordinates:
(2a) Each motion platform U m Information acquisition and processing module acquisition U who carries on m Position observation value information l of (2) m ＝[x m ,y m ,z m ] T And based on l m Calculation U m Transmitting signal ζ of transmitting antenna mounted on the antenna m To obtain a transmission signal set ζ= [ ζ ] 1 ,ζ 2 ,...,ζ m ,...,ζ M ] T And send, where x m 、y m And z m Respectively represent l m Component in X, Y and Z-axis direction, [] T Representing the transpose operation, transmitting the transmit signal ζ of the antenna m The calculation formula is as follows:
r＝[cosαcosβ,sinαcosβ,sinβ] T
wherein s is the initial transmitting signal of the transmitting antenna carried by each motion platform, and the variance isAzimuth angle alpha, pitch angle beta, wavelength lambda, n m Is a motion platform U m Zero mean Gaussian white noise of +.>ρ m And delta phi m Respectively represent platform U m Amplitude error and phase error of the transmission signal of the mounted antenna, the standard deviation variance of which is sigma ρ And sigma (sigma) φ ，Is a platform U m With reference platform U 1 A phase difference between them; in this example, l 1 ＝[-0.68,-4.50,-0.68] T m,l 2 ＝[-1.99,1.82,2.75] T m,l 3 ＝[1.81,3.58,-2.40] T m,l 4 ＝[-1.69,-1.94,-2.93] T m,l 5 ＝[0.33,3.44,-3.88] T m,l 6 ＝[-1.55,-4.18,-2.55] T m,l 7 ＝[-2.14,2.28,4.14] T m,l 8 ＝[-0.37,-3.06,4.99] T m,l 9 ＝[1.66,3.94,0.29] T m,l 10 ＝[1.81,2.12,3.96] T m, s is set to a dot frequency signal with amplitude 1,/for>α＝0°，β＝0°，λ＝0.3m/>Noise variance->Amplitude error and phase error ρ of the transmitted signal m And delta phi m Standard deviation variance of sigma ρ =0.5 and σ φ ＝50°；
(2b) Each motion platform U m The information acquisition and processing module on the carrier establishes a transmitting beam pattern F based on a transmitting signal set zeta, and calculates peak sidelobe level PSL of F:
wherein, the liquid crystal display device comprises a liquid crystal display device,indicating that the formed beam is at azimuth angle alpha p Pitch angle beta q Amplitude in the direction, |·| represents taking the absolute value, |j->For guiding vectors, +.>Representation->S represents a sidelobe section other than the main lobe in the pattern function F;
(2c) Each motion platform U m The information acquisition and processing module carried on the platform calculates the CRLB of the Kelarmerro kingdom of the wave beam formation, and calculates each motion platform U based on the CRLB m Destination position coordinates of movementAnd (5) post-sending:
D α,β ＝[d′ α ,d′ β ]
wherein Deltad represents the minimum distance between M moving platforms without collision, L m Representing each motion platform U m Is used to represent the motion region of the two-norm operation, tr { · } represents the trace operation, μ 1 Sum mu 2 As a function of the parameters,destination position coordinates representing the movement of any two motion platforms, < > are displayed>1≤ξ≤M，/>Re {.cndot. } and Im {.cndot.cndot.cndot.c. }, respectively the representation takes a real part and an imaginary part, G t ＝diag{[ρ 1,t ,ρ 2,t ,…,ρ m,t ,…,ρ M,t ]}，The measurement result of the amplitude error and the phase error of the transmitting antenna carried by each motion platform is represented, T is the measurement times, a α,β Is in the shape of ideal array manifold, a t ′＝G t Φ t a α,β For an array flow pattern comprising amplitude errors and phase errors, < >>Represent the pair a' α,β Derivative(s)>Representation a t ' pseudo-inverse, [ a ] α,β ] 2:M Representation a α,β 2 nd to M th rows of (a); in this example, T.gtoreq.10 4 The method comprises the steps of carrying out a first treatment on the surface of the In this example, the minimum distance Δd=0.5m between M moving platforms, each moving platform U m Motion area L of (2) m Is X epsilon-5, 5]m，Y∈[-5,5]m，Z∈[-5,5]m cubes;
since CRLB is generally a matrix, trace tr { CRLB } of CRLB is often used to replace CRLB for calculation and analysis, and the smaller tr { CRLB } is, the higher the array beamforming main lobe accuracy is.
Step 3) the position control module controls each motion platform to move to a target position coordinate:
each motion platform U m The position control module on the upper part controls each motion platform U m Moving to the target position coordinate calculated by the information acquisition and processing moduleA place;
step 4) the information acquisition and processing module calculates the amplitude error estimated value of each motion platformAnd phase error estimate +.>
(4a) Each motion platform U m The information acquisition and processing module mounted on the computer acquires the observed value of the calibration signal transmitted by the calibration transmitting antenna CObtaining a set of calibration signal observations +.>
Wherein e represents a natural constant, j represents an imaginary unit;
(4b) Each motion platform U m The information acquisition and processing module carried on the computer calculates a set of calibration signal observationsAnd calculates each motion platform U according to the covariance matrix R of R m Amplitude error estimate +.>Obtaining a set of amplitude error estimates +.>And (5) post-sending:
wherein E [. Cndot.]Represents the averaging operation, R m The m-th row, m-th column element and Λ of covariance matrix R m The m characteristic value of R;
(4c) Each motion platform U m The information acquisition and processing module carried on the computer is used for processing the informationFor->Compensating to obtain a calibration signal observation value set after amplitude error compensation>Wherein, pair->The formula for compensation is:
wherein, the liquid crystal display device comprises a liquid crystal display device,representation pair->Performing compensated calibration signal observation values;
(4d) Each motion platform U m The information acquisition and processing module carried on the device uses the set of calibration signal observationsCalculate each motion platform U m Is +.>Obtaining a set of phase error estimatesAnd (5) post-sending:
(4e) Each motion platform U m Information acquisition and processing module on board calculates motion platform U m Carried transmitting antenna and reference platform U h Phase difference of transmission signals between mounted transmission antennasObtaining a phase difference setAnd transmitting:
wherein f is ζ m Pi is the circumference ratio, c is the speed of light; in this example, f=1 GHz, pi=3.14159, c=3×10 8 m/s；
Step 5), the amplitude and phase control module compensates the amplitude and phase of each motion platform:
each motion platform U m The amplitude and phase control module carried on the circuit is based onFor->Compensating to obtain amplitude rho after amplitude error compensation 0,m Based on +.>And->Compensating the phase of each motion platform to obtain the compensated phase
In the prior art, compensation of amplitude errors and phase errors is usually ignored, and the emission beam formation is directly carried out after the phased array configuration is optimized;
step 6) forming a transmitting beam of a cluster dynamic platform carrier phased array:
each motion platform U m Transmitting signal ζ of transmitting antenna mounted on the antenna m After the amplitude and phase compensation is realized, the azimuth angle of the emission to the target direction is alpha, the pitch angle is beta, and the wave beam amplitude is F α,β Is a beam of:
wherein, I·| represents taking absolute value, w α,β In order to guide the vector to the position,representing w α,β Is a conjugate transpose of (a).
The technical effects of the present invention will be further described with reference to simulation experiments.
1. Simulation conditions and content:
software and hardware environment in the simulation process, hardware environment: CPU is Inter (R) Xeon (R) CPU E3-1231 v3, the main frequency is 3.40GHz, and the main memory is 32.0GB and 64-bit operating system. Software environment: microsoft windows 10 specialty version, MATLAB 2016 simulation software.
The comparison simulation of the beam forming main lobe precision and the peak side lobe level of the array antenna side lobe optimization method based on the improved cross genetic algorithm in the example and the prior art is carried out, and the result is shown in fig. 3.
2. Simulation result analysis:
referring to fig. 3, the x-axis represents azimuth angle, the Y-axis represents elevation angle, the Z-axis represents beam forming pattern, fig. 3 (a) is a beam forming pattern of an array antenna sidelobe optimizing method based on an improved crossover genetic algorithm, and fig. 3 (b) is a beam forming pattern of the present invention. As can be seen from the figure, the main lobe of the beam forming of the array antenna sidelobe optimization method based on the improved crossover genetic algorithm deviates from the target direction alpha=0°, beta=0° under the condition that errors exist, and the peak sidelobe level is about-4.46 dB; the main lobe of the beam forming directional diagram of the invention points to the target direction accurately, and the peak sidelobe level is reduced to-6.41 dB.
In summary, simulation proves that the method can well complete the formation of the transmitting beam under the condition that the amplitude error and the phase error exist.
Claims (5)
1. The method for forming the phased array transmitting beam of the cluster movable platform is characterized by comprising the following steps of:
(1) Initializing a cluster dynamic platform-borne phased array transmitting beam forming system:
the initialization comprises M motion platforms U= { U which are distributed in a three-dimensional space and are all provided with a data processing system m 1 < M < M > and a transmit beam forming system of a calibrated transmit antenna C arranged on the ground, and a motion platform U thereof h As a reference platform, h E M, the data processing system comprises an information acquisition and processing module, a position control module and an amplitude and phase control module which are connected with the output end of the information acquisition and processing module and are arranged in parallel, and the output end of the amplitude and phase control module is connected with a transmitting antennaThe method comprises the steps of carrying out a first treatment on the surface of the Calibration signal transmitted by the calibration transmitting antenna C is s 0 ，s 0 Azimuth angle, pitch angle, wavelength of alpha 0 、β 0 、λ 0 Wherein M is greater than or equal to 2, U m Representing an mth motion platform;
(2) The information acquisition and processing module calculates the destination position coordinates of each motion platform and sends the destination position coordinates:
(2a) Each motion platform U m Information acquisition and processing module acquisition U who carries on m Position observation value information l of (2) m ＝[x m ,y m ,z m ] T And based on l m Calculation U m Transmitting signal ζ of transmitting antenna mounted on the antenna m To obtain a transmission signal set ζ= [ ζ ] 1 ,ζ 2 ,…,ζ m ,…,ζ M ] T And send, where x m 、y m And z m Respectively represent l m Component in X, Y and Z-axis direction, [] T Representing a transpose operation;
(2b) Each motion platform U m The information acquisition and processing module on the upper part establishes a transmitting beam pattern F based on a transmitting signal set zeta, and calculates peak sidelobe level PSL of F;
(2c) Each motion platform U m The information acquisition and processing module carried on the platform calculates the CRLB of the Kelarmerro kingdom of the wave beam formation, and calculates each motion platform U based on the CRLB m Destination position coordinates of movementAnd (5) post-sending:
wherein Deltad represents the minimum distance between M moving platforms without collision,L m representing each motion platform U m Is used to represent the motion region of the two-norm operation, tr { · } represents the trace operation, μ 1 Sum mu 2 As a function of the parameters,destination position coordinates representing the movement of any two motion platforms, < > are displayed>1≤ξ≤M，/>
(3) The position control module controls each motion platform to move to a target position coordinate:
each motion platform U m The position control module on the upper part controls each motion platform U m Moving to the target position coordinate calculated by the information acquisition and processing moduleA place;
(4) The information acquisition and processing module calculates the amplitude error estimated value of each motion platformAnd phase error estimate
(4a) Each motion platform U m The information acquisition and processing module mounted on the computer acquires the observed value of the calibration signal transmitted by the calibration transmitting antenna CObtaining a set of calibration signal observations +.>
Wherein ρ is m And delta phi m Respectively represent platform U m The amplitude error and the phase error of the transmission signal of the carried antenna, e represents a natural constant, j represents an imaginary unit;
(4b) Each motion platform U m The information acquisition and processing module carried on the computer calculates a set of calibration signal observationsAnd calculates each motion platform U according to the covariance matrix R of R m Amplitude error estimate +.>Obtaining amplitude error estimated value setThen sending;
(4c) Each motion platform U m The information acquisition and processing module carried on the computer is used for processing the informationFor->Compensating to obtain a calibration signal observation value set after amplitude error compensation/>Wherein, pair->The formula for compensation is:
wherein, the liquid crystal display device comprises a liquid crystal display device,representation pair->Performing compensated calibration signal observation values;
(4d) Each motion platform U m The information acquisition and processing module carried on the device uses the set of calibration signal observationsCalculate each motion platform U m Is +.>Obtaining a set of phase error estimates +.>And (5) post-sending:
(4e) Each motion platform U m Information acquisition and processing module on board calculates motion platform U m Carried transmitting antenna and reference platform U h Phase difference of transmission signals between mounted transmission antennasObtaining a phase difference setAnd transmitting:
wherein f is ζ m Pi is the circumference ratio, c is the speed of light;
(5) The amplitude and phase control module compensates the amplitude and phase of the transmitting antenna carried by each motion platform:
each motion platform U m The amplitude and phase control module carried on the circuit is based onCompensating the amplitude of the transmitting antenna carried by each motion platform and simultaneously based on +.>And->Compensating the phase of the transmitting antenna carried by each motion platform to obtain amplitude rho after amplitude error compensation 0,m And phase error compensated phase +>
(6) Forming a transmitting beam of a cluster dynamic platform carrier phased array:
each motion platform U m Transmitting signal ζ of transmitting antenna mounted on the antenna m After the amplitude and phase compensation is realized, the composition azimuth angle is alpha, the pitch angle is beta, and the beam amplitude is F α,β Is a beam of:
r＝[cosαcosβ,sinαcosβ,sinβ] T
wherein, I·| represents taking absolute value, w α,β In order to guide the vector to the position,representing w α,β Conjugate transpose of->Is a platform U m With reference platform U 1 The phase difference between them, λ, represents the wavelength of the transmit beam.
2. A clustered mobile platform phased array transmit beamforming method as claimed in claim 1,characterized in that the transmitting signal ζ of the transmitting antenna described in step (2 a) m The calculation formula is as follows:
wherein s is the initial transmitting signal of the transmitting antenna carried by each motion platform, and the variance isn m Is a motion platform U m Zero mean Gaussian white noise of +.>
3. The method for forming a phased array transmit beam on a clustered mobile platform of claim 2, wherein the peak sidelobe level PSL in step (2 b) is calculated by the following formula:
wherein, the liquid crystal display device comprises a liquid crystal display device,indicating that the formed beam is at azimuth angle alpha p Pitch angle beta q The magnitude in the direction, |·| represents taking the absolute value,for guiding vectors, +.>Representation->S represents a sidelobe section other than the main lobe in the pattern function F.
4. A method for forming a phased array transmit beam on a clustered mobile platform as claimed in claim 3, wherein the calculation beam in step (2 c) forms a CRLB of the caramerro kingdom, and the calculation formula is:
D α,β ＝[d′ α ,d′ β ]
wherein, the liquid crystal display device comprises a liquid crystal display device, re {.cndot. } and Im {.cndot.cndot.cndot.c. }, respectively the representation takes a real part and an imaginary part, G t ＝diag{[ρ 1,t ,ρ 2,t ,…,ρ m,t ,…,ρ M,t ]}，The measurement result of the amplitude error and the phase error of the transmitting antenna carried by each motion platform is represented, T is the measurement times, a α,β Is in the ideal array manifold shape, a' t ＝G t Φ t a α,β For an array flow pattern comprising amplitude errors and phase errors, < >>Represent the pair a' α,β Derivative(s)>Representation a t ' pseudo-inverse, [ a ] α,β ] 2:M Representation a α,β From row 2 to row M.
5. The method of forming a phased array transmit beam on a clustered mobile platform of claim 1, wherein each mobile platform U is calculated in step (4 b) m Amplitude error of (a)The calculation formula is as follows:
wherein E [. Cndot.]Represents the averaging operation, R m The m-th row, m-th column element and Λ of covariance matrix R m Is the mth eigenvalue of R.
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