KR102080310B1 - Method for detecting target using monopulse radar and recording medium - Google Patents

Abstract

The present invention relates to a target detection method of a phased array radar and a recording medium thereof and, more specifically, to a target detection method of a phased array radar, which is to detect a target by using a phased array radar mounted on a moving object, and a recording medium thereof. According to an embodiment of the present invention, a target detection method of a phased array radar is to detect a target from a phased array radar steering beams electronically. The target detection method comprises the processes of: identifying posture information of a moving object having the phased array radar; receiving elevation information and azimuth information of a target from a monopulse antenna installed in the phased array radar; correcting the input elevation information and azimuth information by using the identified posture information of the moving object; and detecting the position of the target from the corrected elevation information and azimuth information.

Description

Target detection method and recording medium of a phased array radar {METHOD FOR DETECTING TARGET USING MONOPULSE RADAR AND RECORDING MEDIUM}

The present invention relates to a target detection method and a recording medium of a phased array radar, and more particularly, to a target detection method and a recording medium of a phased array radar for detecting a target using a phased array radar mounted on a moving object.

Radars are being developed in passive and active phased array structures to implement electronic beam steering. Advances in semiconductor technology enable the miniaturization and mass production of TR modules (Transmit Receive Modules), which are now being transformed into active phased array (AESA) radar. The antenna of an active phased array radar consists of hundreds to thousands of array elements, and these array elements can be controlled to enable electronic beamforming and beam-steering.

Meanwhile, a monopulse antenna is an antenna capable of forming a monopulse pattern including a sum pattern, an elevation difference pattern, and an azimuth difference pattern. Is the radiation pattern in the form of a single main-beam with the same phase of maximum magnitude, and the difference pattern is the radiation pattern in the form of two main beams with the same shape and opposite phase in each direction, the magnitude between the two main beams. Is a very small null.

In general, a monopulse antenna is widely used as an antenna for a tracking radar, and transmits and receives an echo signal of a radar in a monopulse pattern of a sum pattern and a difference pattern to track a target. That is, the monopulse antenna of the tracking radar transmits a signal in a single main beam of a sum pattern, and receives a signal reflected back to a target in a difference pattern.

In the case of the conventional monopulse antenna, the servo device of the radar system is driven and moved so that the target is positioned at the null of the difference pattern, and the magnitude and phase of the signal received in the difference pattern is understood at the moment the target moves. Drive the radar servo unit back to the null position. This tracking operation is performed with a difference pattern in both elevation and azimuth directions, allowing the tracking radar to track the target in all directions.

However, the method of detecting a target in the conventional monopulse antenna implemented mechanically has a problem that cannot be applied to an antenna of an active phased array radar having an electronic beam steering method.

KR 10-2002-0048712 A

The present invention provides a method and recording medium for detecting a phased array radar that can be applied to a monopulse antenna of a phased array radar having an electronic beam steering scheme.

In the target detection method of a phased array radar according to an embodiment of the present invention, a target detection method for detecting a target from a phased array radar which electronically steers a beam, the process of checking the attitude information of the moving object mounting the phased array radar ; Receiving elevation information and azimuth information about a target from a monopulse antenna provided in the phased array radar; Correcting the input elevation angle information and azimuth angle information using the identified attitude information of the moving object; And detecting a position of a target from the corrected elevation information and the azimuth information.

The checking of the posture information of the movable body may confirm only the rotation angle according to the roll driving of the movable body and the rotation angle according to the pitch driving.

In the correcting of the elevation information and the azimuth information, the difference channel signal value in the elevation direction of the monopulse antenna and the difference channel signal value in the azimuth direction may be corrected according to the roll driving of the moving object. .

A target detection method of a phased array radar according to an embodiment of the present invention is a target detection method for detecting a target from a phased array radar which electronically steers a beam, by using the attitude information of a moving object on which the phased array radar is mounted. Correcting elevation information and azimuth information of the target received from the monopulse antenna provided in the phased array radar; And detecting a position of a target from the corrected elevation information and the azimuth information. The correcting of the elevation information and the azimuth information includes: a beam steering coordinate system according to a beam steering direction of the monopulse antenna; Calculating a transformation matrix for converting into an antenna coordinate system according to the arrangement direction of the pulse antenna; Calculating a compensation angle according to the attitude of the moving object from the transformation matrix; And calculating corrected elevation information and azimuth information from the compensation angle.

A target detection method of a phased array radar according to an embodiment of the present invention is a target detection method for detecting a target from a phased array radar which electronically steers a beam, by using the attitude information of a moving object on which the phased array radar is mounted. Correcting elevation information and azimuth information of the target received from the monopulse antenna provided in the phased array radar; And detecting a position of a target from the corrected elevation information and the azimuth information. The correcting of the elevation information and the azimuth information includes: a beam steering coordinate system according to a beam steering direction of the monopulse antenna; Calculating a transformation matrix for converting into an antenna coordinate system according to the arrangement direction of the pulse antenna; Calculating a compensation angle in an elevation direction and an azimuth angle in accordance with the attitude of the moving object from the transformation matrix; And calculating corrected elevation information and azimuth information from the compensation angle in the elevation direction and the compensation angle in the azimuth direction, respectively.

The transformation matrix T may be derived by Equation 1 below.

[Equation 1]

(Where El is the beam steering angle in the elevation direction of the monopulse antenna, Az is the beam steering angle in the azimuth direction of the monopulse antenna, φ is the rotation angle according to the roll driving of the moving object, θ is the pitch of the moving object) (pitch) The rotation angle according to the driving.)

The compensation angle γ _EL in the elevation direction according to the attitude of the moving object is derived by Equation 2 below, and the compensation angle γ _AZ in the azimuth direction according to the attitude of the moving object is derived by Equation 3 below. Can be.

[Equation 2]

[Equation 3]

(K _EL represents the monopulse slope in the high angle direction and K _AZ represents the monopulse slope in the azimuth direction.)

The corrected elevation information includes a monopulse slope K _{EL, C} in the corrected elevation direction derived by Equation 4 below, and the corrected azimuth information is corrected by Equation 5 below. It may include a monopulse slope (K _{AZ, C} ) in the azimuth direction.

[Equation 4]

[Equation 5]

On the other hand, the recording medium storing the computer program according to an embodiment of the present invention may be a recording medium for performing the target detection method of the phased array radar described in any one of the above.

According to the target detection method and recording medium of the phased array radar according to an embodiment of the present invention, by using the attitude information of the moving object to correct the elevation information and the azimuth information on the target, the moving object in a phased array radar having an electronic beam steering method The target can be detected while minimizing the influence of the posture.

In addition, it is possible to correct the error of the elevation information and the azimuth information according to the roll driving of the moving object without having to provide a separate means or a measurement object in the monopulse radar, and also to maintain the target even when moving with respect to the target. Location can be detected more reliably.

1 is a view showing a target detection method of a phased array radar according to an embodiment of the present invention.
2 is a diagram illustrating an antenna coordinate system and a beam steering coordinate system according to an exemplary embodiment of the present invention.
3 is a diagram illustrating a transformation relationship between an antenna coordinate system and a beam steering coordinate system according to an exemplary embodiment of the present invention.
4 is a view showing a state of compensating for roll maneuvers in an elevation direction according to an embodiment of the present invention.
5 is a view showing a state of compensating roll movement in the azimuth direction according to an embodiment of the present invention.
6 is a diagram illustrating a beam pattern in an elevation direction compensated according to an embodiment of the present invention.
7 illustrates a beam pattern in the azimuth direction compensated according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but will be implemented in various different forms, only the embodiments of the present invention to complete the disclosure of the present invention, to those skilled in the art the scope of the invention It is provided to inform you completely. In the drawings, like reference numerals refer to like elements.

1 is a view showing a target detection method of a phased array radar according to an embodiment of the present invention.

1, a target detection method of a phased array radar according to an embodiment of the present invention is a target detection method for detecting a target from a phased array radar that steers the beam electronically, and the attitude of the moving object mounting the phased array radar Checking the information (S100), receiving the elevation information and the azimuth information of the target from the monopulse antenna provided in the phased array radar (S200), and using the input elevation angle of the identified moving object. Correcting the information and the azimuth information (S300) and detecting the position of the target from the corrected elevation information and the azimuth information (S400).

In the process of checking the attitude information of the moving object (S100), the attitude information of the moving object in which the phased array radar is mounted is checked. That is, the phased array radar may be mounted on a moving object moving relative to the target, and the moving object may include, for example, an aircraft flying on the surface of the target. In addition, the moving body may include an unmanned aerial vehicle in which a pilot for driving the moving object is not mounted.

In moving with respect to the target, the aircraft not only moves along the direction of movement, but also rotates around an axis parallel to the direction of movement, about an axis that intersects the direction of movement horizontally, and about an axis perpendicular to the direction of movement. Rotation is possible. Here, rotation about an axis parallel to the direction of movement of the aircraft is called roll driving, and rotation about an axis that intersects the direction of movement of the aircraft horizontally is called pitch driving. Rotation about the axis perpendicular to the cross is defined as yaw drive. As such, the aircraft performs roll, pitch, and yaw driving as the aircraft moves relative to the target, so that the correct attitude information of the aircraft according to the driving of the roll, pitch, and yaw in detecting the target from the phased array radar mounted on the aircraft. If is not reflected, reliable detection of the target becomes difficult.

In the process of confirming the attitude information of the movable body (S100), the attitude information according to each driving of the movable body is confirmed. At this time, in the step (S100) of checking the attitude information of the movable body, the rotation angle according to the roll driving of the movable body and the rotation angle according to the pitch driving are checked. That is, in the step S100 of checking the attitude information of the movable body, the rotation angle according to the yaw driving of the movable body may not be checked, but only the rotation angle according to the roll driving of the movable body and the rotation angle according to the pitch driving. Here, in the step (S100) of checking the attitude information of the moving object, the beam steering coordinate system according to the beam steering direction of the monopulse antenna for the rotation angle according to the roll driving and the pitch driving according to the pitch driving is determined. It will be described later in the process of calculating the conversion matrix for converting the antenna coordinate system according to.

As such, the rotation angle according to the roll driving and the pitch driving can be confirmed from the navigation sensor included in the moving body. As such a navigation sensor, a gyro sensor or the like may be used, and a variety of well-known techniques may be applied to check the rotation angle according to the driving of the moving object from the navigation sensor included in the moving object, and thus, a detailed description thereof will be omitted. do.

In the process of receiving the elevation information and the azimuth information (S200), the elevation information and the azimuth information of the target are received from the monopulse antenna provided in the phased array radar. That is, in the process of receiving the elevation information and the azimuth information (S200), the target is detected by using a phase array radar mounted on the moving body and steering the beam electronically. At this time, the phased array radar includes a monopulse antenna, and detects a target in a monopulse manner, and receives elevation information and azimuth information about the target therefrom.

In the monopulse antenna of the phased array radar, the monopulse channel may be configured by an analog beam-forming method or a digital beam-forming method. Analog beamforming divides the antenna plane into four and produces four output signals in each quadrant. In this case, the monopulse antenna may generate a monopulse channel using four input signals input from the quadrant antenna surface. In this case, the process of receiving the elevation information and the azimuth information (S200) may receive the difference channel signal value in the elevation direction of the monopulse antenna for the target and the difference channel signal value in the azimuth direction. Here, the configuration of receiving the difference channel signal value in the high angle direction and the difference channel signal value in the azimuth direction by the monopulse antenna of the phased array radar may apply various known techniques, and thus a detailed description thereof will be omitted. do.

In the process of correcting the elevation information and the azimuth information (S300), the elevation information and the azimuth information input from the monopulse antenna are corrected using the attitude information of the moving object identified from the navigation sensor. Here, the process of correcting the elevation information and the azimuth information (S300) may correct the difference channel signal value in the elevation direction of the monopulse antenna and the difference channel signal value in the azimuth direction according to the roll driving of the moving object.

As described above, the phased array radar electronically steers the beam to detect the target. However, such a phased array radar may correspond to the pitch driving and yaw driving of the moving object by changing the steering direction of the beam, but it is difficult to respond to the roll driving of the moving object by changing the steering direction of the beam. Therefore, the difference channel signal value in the high angle direction and the difference channel signal value in the azimuth direction received from the monopulse antenna need to be corrected according to the roll driving of the moving object.

To this end, the step of converting the elevation information and the azimuth information (S300) is a process of calculating a transformation matrix for converting the beam steering coordinate system according to the beam steering direction of the monopulse antenna to the antenna coordinate system according to the attitude of the moving object ( S310), calculating the compensation angle according to the attitude of the moving object from the transformation matrix (S320), and calculating the elevation information and the azimuth information corrected from the compensation angle (S330). In this case, the compensation angle calculated from the transformation matrix refers to the compensation angle according to the roll driving of the moving object, and in the target detection method of the phased array radar according to the embodiment of the present invention, the compensation angle and the azimuth direction of the moving object in the elevation direction Compensation angles are respectively calculated, and corrected elevation angle information and azimuth angle information are respectively calculated from the calculated compensation angle for the elevation direction and the compensation angle for the azimuth direction.

In the calculating of the transformation matrix (S310), the transformation matrix for converting the beam steering coordinate system according to the beam steering direction of the monopulse antenna into the antenna coordinate system according to the attitude of the moving object is calculated. Hereinafter, a process of calculating the transformation matrix will be described in more detail with reference to FIG. 2.

2 is a diagram illustrating an antenna coordinate system and a beam steering coordinate system according to an exemplary embodiment of the present invention. 2 (a) shows an antenna coordinate system according to an embodiment of the present invention, and FIG. 2 (b) shows a beam steering coordinate system according to an embodiment of the present invention.

The antenna coordinate system U-V-W is defined as a coordinate system according to the arrangement direction of the monopulse antenna. That is, in the monopulse antenna, a plurality of radio wave generating elements are arranged on a plane to implement a phased array radar, and the monopulse antenna is arranged in a specific direction in a moving body on which the phased array radar is mounted. Here, the U axis is set in the direction toward the out of antenna face, the V axis is set in the lateral direction of the monopulse antenna, and the W axis is set in the longitudinal direction of the monopulse antenna. For example, assuming that the plane of the monopulse antenna faces the front, the U-axis is set in the direction toward the front, the V-axis is toward the right or the left, and the W-axis is set in the direction toward the upper or lower side, and the U-axis, V The axis and the W axis are each disposed at an angle of 90 °. 2 (a) shows an example in which the V axis is set in the right direction from the U axis and the W axis is set in the downward direction from the U axis, but the V axis is set in the left direction from the U axis, and the W axis is the U axis. Of course, it can also be set in the upward direction from the.

On the other hand, the beam steering coordinate system (r-e-d) is defined as a coordinate system according to the beam steering direction of the monopulse antenna. That is, the monopulse antenna electronically steers the beam in a specific direction without mechanical movement of the antenna, and the beam steering direction of the monopulse antenna rotates toward the front of the monopulse antenna, that is, at a predetermined angle from the aforementioned U axis. Can be. Here, the r-axis is set as the electrical LOS (electrical line of sight) direction of the monopulse antenna, the e-axis is a direction forming an angle of 90 ° with the r-axis on the horizontal plane, the d-axis is 90 ° with the r-axis and e-axis, respectively It is set in the direction of forming the angle of. For example, assuming that the beam steering direction is toward the front, the r axis is set to the front direction, the e axis to the right or left direction, the d axis to the upper or lower direction, and the r axis, the e axis, The d-axis is also arranged at an angle of 90 degrees. FIG. 2 (b) shows an example in which the e axis is set from the r axis to the right direction and the d axis is set from the r axis to the downward direction, but the e axis is set from the r axis to the left direction, and the d axis is the r axis. Of course, it can also be set in the upward direction from the.

The spatial coordinate system (x-y-z) is defined as a coordinate system according to the space on the ground. Here, the x-axis is set in a direction in which the moving direction of the moving body is projected onto the horizontal plane, the y-axis is set in a direction forming an angle of 90 ° with the x-axis on the horizontal plane, and the z-axis is set in the vertical direction. The x-axis, the y-axis, and the z-axis are arranged at an angle of 90 °, respectively, and in FIG. 2, an example in which the y-axis is set to the right direction from the x-axis and the z-axis is set to the downward direction from the x-axis is illustrated. It goes without saying that the y-axis can be set from the x-axis to the left direction and the z-axis can be set from the x-axis to the upward direction.

In addition, the aforementioned antenna coordinate system U-V-W, beam steering coordinate system r-e-d, and spatial coordinate system X-Y-Z have the same reference point. That is, the reference point where the U, V, and W axes intersect in the antenna coordinate system (UVW), the reference point where the r, e, and d axes intersect in the beam steering coordinate system (red), and the X axis in the spatial coordinate system (XYZ), The reference point at which the Y-axis and the X-axis intersect is set the same. Accordingly, the antenna coordinate system UVW has a relationship in which the x-axis, the y-axis, and the z-axis are rotated relative to the rectangular coordinate system xyz by an angle between the x-axis and the U-axis, and the beam steering coordinate system red is a rectangular coordinate system ( xyz), the x-axis, the y-axis, and the z-axis are rotated by the angle between the x-axis and the r-axis. In FIG. 2, the position of the target T may be represented by a vector as illustrated by the dotted arrow.

Here, the process of calculating the transformation matrix (S510) converts the beam steering coordinate system according to the beam steering direction of the monopulse antenna into the antenna coordinate system according to the arrangement direction of the monopulse antenna.

3 is a diagram illustrating a transformation relationship between an antenna coordinate system and a beam steering coordinate system according to an exemplary embodiment of the present invention.

Referring to FIG. 3, the beam steering coordinate system r-e-d may be converted into the antenna coordinate system U-V-W by Equation 1 below.

[Equation 1]

Wherein, X ^A represents a position of the target in the antenna coordinate system (UVW), and, X is ^S means a position of a target in the orthogonal coordinate system (xyz). In addition, X ^E means the position of the target in the beam steering coordinate system (red). On the other hand, C means a matrix for conversion between each coordinate system. That is, C ^E _A denotes a matrix for converting an antenna coordinate system (UVW) into a beam steering coordinate system (red), and C ^E _S denotes a matrix for converting a spatial coordinate system (xyz) into a beam steering coordinate system (red), C ^S _A denotes a matrix for converting the antenna coordinate system UVW into the spatial coordinate system xyz.

In addition, R denotes a rotation matrix for the rotation of the coordinate system, and the antenna coordinate system UVW is a relationship in which the x-axis, the y-axis, and the z-axis are rotated relative to the Cartesian coordinate system xyz by an angle between the x-axis and the U-axis. Since the beam steering coordinate system (red) rotates the x-axis, the y-axis, and the z-axis by an angle between the x-axis and the r-axis with respect to the rectangular coordinate system (xyz), C ^E _A is represented by R ^E _A. C ^E _S may be represented by R ^E _S , and C ^S _A may be represented by R ^S _A.

Here, the matrix R ^E _S for converting the Cartesian coordinate system xyz to the beam steering coordinate system red is expressed by Equation 2 below.

[Equation 2]

Here, El denotes a beam steering angle in the high angle direction of the monopulse antenna, and Az denotes a beam steering angle in the azimuth direction of the monopulse antenna.

In addition, the matrix R ^S _A for converting the antenna coordinate system UVW into the rectangular coordinate system xyz is expressed by Equation 3 below.

[Equation 3]

Here, φ represents the rotation angle according to the roll driving of the movable body, and θ represents the rotation angle according to the pitch driving of the movable body.

At this time, as described above, the x-axis of the rectangular coordinate system (x-y-z) is set to the direction in which the moving direction of the moving object is projected onto the horizontal plane. Therefore, the x-axis of the Cartesian coordinate system (x-y-z) moves at the same time as the yaw of the moving body moves, and the rotation angle according to the yaw driving of the moving body need not be considered. Therefore, in the step (S100) of confirming the attitude information of the moving object, only the rotation angle according to the roll driving of the moving object and the rotation angle according to the pitch driving can be confirmed.

Subsequently, the matrix R ^E _A for converting the antenna coordinate system UVW into the beam steering coordinate system red is obtained by multiplying the matrix R ^E _S of Equation 2 by the matrix R ^S _A of Equation 3 above. Matrix R ^E _A , which is represented by Equation 4 below.

[Equation 4]

Finally, the transformation matrix T for converting the beam steering coordinate system red to the antenna coordinate system UVW is the inverse of the matrix R ^E _A for converting the antenna coordinate system UVW to the beam steering coordinate system red. This is represented by the result of Equation 5 below.

[Equation 5]

In the step S320 of calculating the compensation angle according to the attitude of the moving object, the compensation angle according to the attitude of the moving object is calculated using the conversion matrix T calculated as described above. Here, the process of calculating the compensation angle according to the attitude of the moving object (S320) calculates the compensation angle (γ _EL ) in the elevation direction and the compensation angle (γ _AZ ) in the azimuth direction, respectively, from the transformation matrix T. can do. As described above, since the difference channel signal value in the high angle direction and the difference channel signal value in the azimuth direction received from the monopulse antenna need to be corrected according to the roll driving of the moving object, the roll channel of the moving object depends on the roll driving. The angle for compensating the difference channel signal in the elevation direction is referred to as the compensation angle γ _EL in the elevation direction, and the angle for compensating the difference channel signal in the azimuthal direction according to the roll driving of the moving object is the compensation angle in the azimuth direction. It is called (γ _AZ ).

Here, the difference channel signal value of the elevation direction of the compensated monopulse antenna (Δ _{EL, C)} is an elevation and a difference channel signal value of the elevation direction of the monopulse antenna input from receiving the azimuth information process (S200) (Δ _EL ) And the difference channel signal value Δ _{AZ in the} azimuth direction as shown in FIG. 4. Therefore, the difference channel signal values ΔEL _{, C in} the elevation direction of the corrected monopulse antenna may be derived as in Equation 6 below.

[Equation 6]

Here, K _EL means the monopulse slope in the high angle direction, K _AZ means the monopulse slope in the azimuth direction.

On the other hand, ρ _t , α _t and β _t refer to the angle formed by the vector representing the position of the target T in the antenna coordinate system with the U, V and W axes, and ρ ₀ , α ₀ and β ₀ represent the antenna coordinate system. Denotes an angle between the vector representing the beam steering direction and the U, V, and W axes.

At this time, cosα _t -cosα ₀ and cosβ _t -cosβ ₀ can be represented by Equation 7 below.

[Equation 7]

Here, μ _t , χ _t, and ε _t refer to the angle between the vector representing the position of the target T in the beam steering coordinate system with the r, e, and d axes, and μ ₀ , χ _0, and ε ₀ are beams. A vector representing the beam steering direction in the steering coordinate system refers to an angle formed by the r-axis, the e-axis, and the d-axis. Therefore, mu ₀ becomes 0 °, χ ₀ and ε ₀ become 90 °.

Accordingly, the difference channel signal values ΔEL _{, C in} the elevation direction of the corrected monopulse antenna may be summarized as in Equation 8 below.

[Equation 8]

Here, since the target and the beam steering direction are almost in the same direction, cosμ _t is equal to cos 0 °, and this value is 1. Therefore, Equation 8 may be summarized as in Equation 9.

[Equation 9]

In addition, since the difference channel signal value ΔEL _{, C in} the high angle direction of the corrected monopulse antenna should be independent of the azimuth angle χ _t of the target T in the beam steering coordinate system, the following condition of Equation 10 Must be satisfied.

[Equation 10]

Therefore, the compensation angle γ _EL in the elevation direction according to the posture of the moving object is represented by Equation 11 below.

[Equation 11]

In operation S330 of calculating the elevation information and the azimuth information, the elevation information is corrected from the compensation angle γ _EL in the elevation direction. In this case, the corrected elevation information includes the difference channel signal value Δ _{EL, C in} the elevation direction of the corrected monopulse antenna, and the monopulse slope K _{EL, C} in the corrected elevation direction calculated during the derivation process. ) May be further included.

That is, the difference channel signal values ΔEL _{, C in} the elevation direction of the corrected monopulse antenna may be summarized as in Equation 9 to Equation 12 below, and the monopulse slope K in the correction angle is corrected therefrom. _{EL, C} ) is derived.

[Equation 12]

On the other hand, the difference channel signal value Δ _{AZ, C in} the azimuth direction of the corrected monopulse antenna is the difference channel signal value Δ _{EL in} the elevation direction of the monopulse antenna input in step S200 of receiving the elevation and azimuth information. ) And the difference channel signal value Δ _{AZ in the} azimuth direction as shown in FIG. 5. Accordingly, the difference channel signal values Δ _{AZ and C in} the azimuth direction of the corrected monopulse antenna may be derived as in Equation 13 below.

[Equation 13]

When the above-described Equation 7 is applied to Equation 13, the difference channel signal values Δ _{AZ and C in} the azimuth direction of the corrected monopulse antenna may be summarized as Equation 14 below.

[Equation 14]

Here, as described above, since the target and the beam steering direction are oriented in substantially the same direction, cosμ _t can be regarded as equal to cos 0 °, and this value is 1. Therefore, Equation 14 may be summarized as in Equation 15.

[Equation 15]

In addition, since the difference channel signal values Δ _{AZ and C in} the azimuth direction of the corrected monopulse antenna must be independent of the elevation angle ε _t of the target T in the beam steering coordinate system, the following condition of Equation 16 Must be satisfied.

[Equation 16]

Therefore, the compensation angle γ _AZ in the azimuth direction according to the posture of the moving object is represented by Equation 17 below.

[Equation 17]

As described above, in the process of calculating the elevation information and the azimuth information (S330), the azimuth information corrected from the compensation angle γ _AZ in the azimuth direction is calculated. In this case, the corrected azimuth information includes the difference channel signal values (Δ _{AZ, C} ) in the azimuth direction of the corrected monopulse antenna, and the monopulse slope (K _{AZ, C} in the corrected azimuth direction calculated during the derivation process). ) May be further included.

That is, the difference channel signal values Δ _{AZ and C in} the azimuth direction of the corrected monopulse antenna may be summarized as in Equation 15 to Equation 18 below, and the monopulse slope K in the high angle direction corrected therefrom. _{EL, C} ) is derived.

Equation 18

As such, when the elevation information and the azimuth information are calculated by correcting the elevation information and the azimuth information on the target, a process of detecting the position of the target from the corrected elevation information and the azimuth information is performed (S400). Here, the process of detecting the position of the target (S400), instead of the input monopulse slope (K _EL ) of the input high-angle direction and the input monopulse slope (K _AZ ) of the azimuth direction, the monopulse slope of the corrected elevation direction ( Except for using the K _{EL, C} ) and the corrected azimuth monopulse slope (K _{AZ, C} ), the detection process of the target by the conventional monopulse method can be applied as it is, and a detailed description thereof will be omitted. Shall be.

6 is a diagram illustrating a beam pattern in a high angle direction compensated according to an embodiment of the present invention, Figure 7 is a diagram showing a beam pattern in azimuth direction compensated according to an embodiment of the present invention.

More specifically, Fig. 6 (a) is a view showing a beam pattern in an elevation direction with respect to the ground of the phased array radar when there is no roll driving of the moving object, and Fig. 6 (b) is a roll of the moving object. ) Is a diagram showing the beam pattern in the elevation direction of the phased array radar when there is no compensation when there is driving. FIG. 6C is a diagram illustrating a beam pattern in a high angle direction of the phased array radar when there is a roll driving of the moving body when the moving object is compensated according to an embodiment of the present invention.

On the other hand, Figure 7 (a) is a view showing a beam pattern in the azimuth direction with respect to the ground of the phased array radar when there is no roll drive of the moving object, Figure 7 (b) is a roll drive of the moving object If there is, it is a figure which shows the beam pattern of the azimuth direction of a phased array radar when it is not compensated. FIG. 7C is a view showing a beam pattern in the azimuth direction of the phased array radar when there is a roll driving of the moving body and compensating for this according to an embodiment of the present invention.

6 and 7, the beam steering angle EL in the high angle direction is set to 0 °, and the beam steering angle AZ in the azimuth direction is set to −20 °. In addition, the rotation angle according to the roll drive of the movable body was set to 30 degrees.

As shown in FIG. 6 (a), when there is no roll driving, the beam pattern in the elevation direction is aligned in the elevation direction. However, when roll driving having a rotation angle of 30 ° occurs as shown in FIG. 6 (b), the beam pattern of the phased array radar is distorted according to the roll driving of the moving object, thereby causing an error. In this case, when the target is detected using the corrected elevation information and the azimuth information according to the embodiment of the present invention, as shown in FIG. 6 (c), the beam pattern in a rearranged state may be formed. .

In addition, as shown in FIG. 7A, when there is no roll driving, the beam patterns are aligned in the azimuth direction. However, when roll driving having a rotation angle of 30 ° occurs as shown in FIG. 7B, the beam pattern of the phased array radar is distorted according to the roll driving, thereby causing an error. In this case, when the target is detected by using the corrected elevation information and the azimuth information according to an exemplary embodiment of the present invention, as shown in FIG. 7C, the beam pattern in the rearranged state may be formed. .

Meanwhile, the target detection method of the phased array radar according to an embodiment of the present invention may be implemented in the form of computer readable programming language code recorded on a computer readable recording medium.

The computer-readable recording medium can be any data storage device that can be read by a computer and can store data. For example, the computer-readable recording medium may be a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, an optical disk, a hard disk drive, a flash memory, a solid state disk (SSD), and the like. The computer readable code or program stored in the computer readable recording medium may also be transmitted through a network connected between the computers.

Thus, according to the target detection method and recording medium of the phased array radar according to an embodiment of the present invention, by using the attitude information of the moving object to correct the elevation angle information and azimuth angle information on the target, the phase array having an electronic beam steering method The radar can detect targets while minimizing the effects of the vehicle's posture.

In addition, it is possible to correct the error of the elevation information and the azimuth information according to the roll driving of the moving object without having to provide a separate means or a measurement object in the monopulse radar, and also to maintain the target even when moving with respect to the target. Location can be detected more reliably.

In the above, although the preferred embodiment of the present invention has been described and illustrated using specific terms, such terms are only for clearly describing the present invention, and the embodiments of the present invention and the terms described are the technical spirit of the following claims. It is obvious that various changes and modifications can be made without departing from the scope of the present invention. Such modified embodiments should not be understood individually from the spirit and scope of the present invention, but should fall within the claims of the present invention.

Claims (9)

delete delete delete A target detection method for detecting a target from a phased array radar which electronically steers a beam,
Correcting elevation information and azimuth information of a target received from a monopulse antenna provided in the phased array radar by using attitude information of the mobile body on which the phased array radar is mounted; And
Detecting the position of the target from the corrected elevation information and azimuth information;
Correcting the elevation information and azimuth information,
Calculating a transformation matrix for converting a beam steering coordinate system according to the beam steering direction of the monopulse antenna into an antenna coordinate system according to the arrangement direction of the monopulse antenna;
Calculating a compensation angle according to the attitude of the moving object from the transformation matrix; And
And calculating corrected elevation information and azimuth information from the compensation angle. A target detection method for detecting a target from a phased array radar that electronically steers a beam,
Correcting elevation information and azimuth information of a target received from a monopulse antenna provided in the phased array radar by using attitude information of the mobile body on which the phased array radar is mounted; And
Detecting the position of the target from the corrected elevation information and azimuth information;
Correcting the elevation information and azimuth information,
Calculating a transformation matrix for converting a beam steering coordinate system according to the beam steering direction of the monopulse antenna into an antenna coordinate system according to the arrangement direction of the monopulse antenna;
Calculating a compensation angle in an elevation direction and an azimuth angle in accordance with the attitude of the moving object from the transformation matrix; And
And calculating corrected elevation information and azimuth information from the compensation angle in the elevation direction and the compensation angle in the azimuth direction, respectively. The method according to claim 5,
The transformation matrix (T) is a target detection method of a phased array radar derived by Equation 1 below.
[Equation 1]

(Where El is the beam steering angle in the elevation direction of the monopulse antenna, Az is the beam steering angle in the azimuth direction of the monopulse antenna, φ is the rotation angle according to the roll driving of the moving object, θ is the pitch of the moving object) (pitch) The rotation angle according to the driving.) The method according to claim 6,
The compensation angle γ _EL in the elevation direction according to the attitude of the moving object is derived by Equation 2 below, and the compensation angle γ _AZ in the azimuth direction according to the attitude of the moving object is derived by Equation 3 below. Target detection method of phased array radar.
[Equation 2]

[Equation 3]

(K _EL represents the monopulse slope in the high angle direction and K _AZ represents the monopulse slope in the azimuth direction.) The method according to claim 7,
The corrected elevation information includes the monopulse slope K _{EL, C} in the corrected elevation direction derived by Equation 4 below.
And the corrected azimuth information includes a monopulse slope (K _{AZ, C} ) in the corrected azimuth direction derived by Equation 5 below.
[Equation 4]

[Equation 5]

The recording medium which stored the computer program for performing the target detection method of the phased array radar of any one of Claims 4-8.

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