Phased array radar beam scanning control method, device and equipment

Abstract

The invention discloses a phased array radar beam scanning control method, device and equipment, and the method comprises the steps: projecting a search airspace to a plane where a phased array radar array is located, so as to convert the search airspace into a sinusoidal waveform search region under a sine space coordinate system; carrying out beam position arrangement on the sinusoidal waveform search area under the sine space coordinate system, dividing the sinusoidal waveform search area into a first area and a second area according to the farthest detectable distance, arranging the beam width in the first area as a first width, arranging the beam width in the second area as a second width, and arranging the beam width in the second area as a second width; the first area and the second area respectively correspond to a detection area with the farthest detectable distance and a detection area with the distance smaller than the farthest detectable distance, and the first width is smaller than the second width; and controlling the phased array radar to perform beam scanning according to the determined beam position arrangement mode. According to the invention, the search airspace coverage rate in the radar search process can be improved, so that the radar target detection performance is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of phased array radars, and in particular to a phased array radar beam scanning control method, device and equipment. Background Art

[0002] Traditional mechanical scanning radar changes the beam direction through mechanical rotation of the antenna, and the scanning speed is limited by the mechanical rotation inertia. Phased array radar achieves rapid switching of beam pointing by adjusting the phase difference of the array unit (electronic scanning), and can complete scanning in milliseconds or even microseconds, which can greatly improve the real-time performance of target tracking and situational awareness. Phased array radar has multiple transmitting and receiving antennas. Each transmitting antenna transmits the same signal. The phase of the received signal is shifted by hardware so that the same signal transmitted by all antennas can be coherently accumulated at a fixed angle to achieve the maximum amplitude. The curve of the phased array radar transmit gain changing with the transmission angle is the phased array radar equivalent transmit / receive gain. A new equivalent transmit gain of a traditional phased array radar is as follows: Figure 1 As shown. The main gain of the phased array radar is concentrated near the angle of coherent accumulation, that is, the main beam. By adjusting the phase shifter, the phased array radar can perform coherent accumulation at different angles, that is, changing the angle of the main beam. The position where the main beam resides is the wave position.

[0003] In the prior art, phased array radars usually arrange beam positions by selecting beam positions at fixed intervals according to azimuth and elevation angles during the search process to achieve coverage of the search airspace. However, as the scanning angle of the phased array radar increases, the antenna gain of the traditional analog beamforming phased array radar will decrease with the increase of the scanning angle, and its beam width will widen with the increase of the scanning angle, resulting in insufficient coverage of the search airspace. Especially in the case of large scanning angles, it is difficult to completely cover the entire search airspace by directly arranging beam positions by taking azimuth and elevation angles at equal angle intervals, which will further reduce the detection performance of the radar. Summary of the invention

[0004] The technical problem to be solved by the present invention is: in response to the technical problems existing in the prior art, the present invention provides a phased array radar beam scanning control method, device and equipment with simple implementation method, low cost, high control efficiency and precision, which can improve the search airspace coverage rate during the radar search process, thereby improving the radar target detection performance.

[0005] In order to solve the above technical problems, the technical solution proposed by the present invention is:

[0006] A phased array radar beam scanning control method, the steps comprising:

[0007] Acquire a search airspace of a phased array radar, and project the search airspace onto a plane where an array of the phased array radar is located according to an array inclination angle of the phased array radar, so as to convert the search airspace into a sinusoidal waveform search area in a sinusoidal space coordinate system;

[0008] Arrange the beam positions of the sinusoidal waveform search area in a sinusoidal space coordinate system to determine a beam position arrangement method, wherein the sinusoidal waveform search area is divided into a first area and a second area according to the farthest detectable distance, the beam width in the first area is arranged as a first width, and the beam width in the second area is arranged as a second width, the first area and the second area correspond to a detection area of ​​the farthest detectable distance and a detection area less than the farthest detectable distance, respectively, and the first width is less than the second width;

[0009] The phased array radar is controlled to perform beam scanning in the sinusoidal waveform search area according to a determined wave position arrangement.

[0010] Furthermore, the first width is determined according to an equivalent antenna receiving gain pattern of the radar, and the second width is 3 dB.

[0011] Furthermore, the arranging of the wave positions of the sinusoidal waveform search area in the sinusoidal space coordinate system includes:

[0012] The wave position centers of adjacent wave positions in the same row in the first region differ by the first width, and the wave position centers of adjacent wave positions between adjacent rows differ by 0.866*the first width; the wave position centers of adjacent wave positions in the same row in the second region differ by the second width, and the wave position centers of adjacent wave positions between adjacent rows differ by 0.866*the second width;

[0013] The number of coherent accumulation pulses at different azimuth and elevation angles is calculated based on the antenna pattern loss at the edge of the wave position, and the calculated number of coherent accumulation pulses is mapped to each wave position to complete the wave position arrangement.

[0014] Furthermore, in the process of beam scanning of the phased array radar, all beam positions are divided into N groups according to the same pulse accumulation number, where N is the number of coherent accumulation pulses currently required, and beam scanning is performed in sequence in each group.

[0015] Further, the beam scanning with multiple beam positions as a group includes:

[0016] Each time a group of wave positions is obtained as the current group of wave positions for scanning;

[0017] During each scanning process, the phased array radar is controlled to send pulses of each wave position in the current wave position group in turn, and the cycle is executed multiple times according to the number of coherent accumulation pulses of the current wave position group until all pulses of the current wave position group are transmitted.

[0018] Furthermore, the array inclination angle of the phased array radar is determined according to the array inclination angle corresponding to the minimum maximum scanning angle of the radar beam.

[0019] Furthermore, in the process of controlling the phased array radar to perform beam scanning in a sinusoidal waveform search area with multiple wave positions as a group and according to the arranged beam width, the transmitting signal adopts an LFM waveform signal, and the LFM (Linear Frequency Modulation) waveform signal includes more than two signal segments, and different signal segments have different pulse widths.

[0020] A phased array radar beam scanning control device, comprising:

[0021] A spatial coordinate system conversion module is used to obtain the search airspace of the phased array radar, and project the search airspace onto the plane where the phased array radar array is located, so as to convert it into a sinusoidal waveform search area in a sinusoidal spatial coordinate system;

[0022] A beam position arrangement module, for performing beam position arrangement on a sinusoidal waveform search area in a sinusoidal space coordinate system, wherein the sinusoidal waveform search area is partitioned into a first area and a second area according to a maximum detectable distance, a beam width in the first area is arranged as a first width, and a beam width in the second area is arranged as a second width, the first area and the second area respectively correspond to a detection area of ​​a maximum detectable distance and a detection area less than the maximum detectable distance, and the first width is less than the second width;

[0023] The scanning control module is used to control the phased array radar to perform beam scanning in a sinusoidal waveform search area with multiple wave positions as a group and according to the arranged beam width.

[0024] An electronic device comprises a processor and a memory, wherein the memory is used to store a computer program, and the processor is used to execute the computer program to perform the above method.

[0025] A phased array radar comprises a radar antenna array and a beam scanning control device for controlling the radar antenna array to perform beam scanning, wherein the beam scanning control device performs beam scanning control according to the above method.

[0026] Compared with the prior art, the advantages of the present invention are:

[0027] 1. The present invention projects the entire search space onto a sinusoidal space coordinate system during the phased array radar beam scanning process and performs wave position arrangement in the sinusoidal space coordinate system, thereby improving the coverage rate of the search area during the radar beam scanning process. Meanwhile, on the basis of wave position arrangement in the sinusoidal space coordinate system, the sinusoidal waveform search area is partitioned according to the maximum detectable distance, and different beam widths are arranged for the detection area of ​​the maximum detectable distance and the detection area less than the maximum detectable distance, respectively, so that the phased array radar can fully cover the entire search airspace during the beam scanning process and meet the detection requirements of different detection areas, effectively avoiding the problems of beam broadening caused by the traditional wave position arrangement of equally spaced azimuth and elevation angles, resulting in reduced detection performance under large scanning angles and insufficient search airspace coverage, thereby improving the radar target detection performance.

[0028] 2. In the process of beam scanning, the present invention further divides all wave positions into multiple groups according to the same pulse accumulation number, and performs beam scanning in sequence on each group, so that long-distance targets can enter from the side lobes. The maximum detection distance and data rate of the radar can be improved while ensuring the radar refresh rate, while avoiding the distance ambiguity problem of long-distance large targets. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the new gain effect of equivalent transmission of a traditional phased array radar.

[0030] Figure 2 This is a schematic diagram of a detection scenario (maximum detection height 1km, maximum detectable distance 7km).

[0031] Figure 3 This is a schematic diagram of the effect of the traditional phased array radar wave position arrangement.

[0032] Figure 4 It is a schematic diagram of the implementation flow of the phased array radar beam scanning control method of this embodiment.

[0033] Figure 5 It is a schematic diagram of the wave position arrangement effect obtained by arranging the wave position in the sinusoidal space coordinate system.

[0034] Figure 6 It is a schematic diagram of the wave position arrangement effect obtained by arranging the wave positions in a sine space coordinate system in combination with a partitioning method in this embodiment.

[0035] Figure 7 It is a schematic diagram of the effect of the long pulse width and short pulse width combination signal used in the traditional beam scanning process.

[0036] Figure 8 It is a schematic diagram of the principle of the wave position scanning method adopted in this embodiment.

[0037] Fig. 9 Schematic diagram of the LFM waveform signal used in this embodiment.

[0038] Fig.10 It is a schematic diagram of the principle of implementing beam scanning in a specific application embodiment of the present invention.

[0039] Fig.11 It is the RD diagram after splicing long and short pulse widths obtained by simulation in a specific application embodiment of the present invention.

[0040] Fig.12 It is the RD diagram after splicing long and short pulse widths under the target 7km condition obtained by simulation in a specific application embodiment of the present invention. DETAILED DESCRIPTION

[0041] The present invention is further described below in conjunction with the accompanying drawings and specific preferred embodiments, but the protection scope of the present invention is not limited thereby.

[0042] As shown in the disclosure of the present invention, unless the context clearly indicates an exception, the words "a", "an", "a kind" and / or "the" do not specifically refer to the singular, but may also include the plural. The words "first", "second" and similar words used in the disclosure of the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, the words "include" or "comprise" and the like mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects.

[0043] For ease of understanding, the relevant technical background of the present invention is first introduced by way of example.

[0044] Phased array radars usually have multiple working modes, such as search mode and tracking mode. The search mode can be used to perform target detection tasks in large areas such as air, sea or land. This mode can quickly detect targets and determine their basic parameters (such as direction, distance, altitude, speed, etc.) by systematically scanning the radar coverage area. In search mode, in order to find the target, the phased array radar needs to search the entire monitoring range in sequence according to the pre-arranged wave position. The radar wave position refers to the spatial position or direction covered by the radar beam, which is the specific direction or area corresponding to the radar beam in target search or tracking.

[0045] According to the radar equation, it is as follows:

[0046]

[0047] Among them, P t is the radar transmitting power; t p is the pulse width of the transmitting signal; G tis the transmitting antenna gain; G r is the receiving antenna gain; λ is the signal wavelength; σ is the target scattering cross-sectional area, i.e. RCS; N is the number of transmitted pulses; k is the Boltzmann constant; T0 is the standard Kelvin temperature; F n is the receiver noise coefficient; D0 is the minimum detectable signal-to-noise ratio of the receiver; R max The maximum detection distance of the radar.

[0048] The signal waveform is generated by a frequency synthesizer (frequency synthesizer) using a digital signal synthesis (DDS, Direct Digital Synthesis) method to generate precise frequency and phase control signals. Generally speaking, the wavelength range does not change much. Therefore, combined with formula (1), it can be seen that if the maximum detection distance R of the radar is to be increased while the pulse width of the transmitted signal remains unchanged, max , the only way is to increase the number of transmitted pulses. The scanning range required by phased array radar is usually ±45° in azimuth and 0° to 60° in elevation. For phased array radars that detect small targets at low altitudes, if you want to cover the entire azimuth ±45° and elevation 0° to 60°, you need hundreds of different wave positions, which will increase the difficulty of wave position arrangement.

[0049] The maximum detection height is 1km, the maximum detection distance is 7km, and the target scattering cross-sectional area is σ=0.2m 2 Take the detection scenario as an example, Figure 2 As shown, is the pitch angle that corresponds to the detection distance of 7 km. As can be seen from the figure, for the detection of low-altitude small targets with a fixed height, as the pitch angle increases, the detection distance required by the radar will continue to decrease. Therefore, in order to better optimize the overall search time of the phased array radar, it is necessary to design different wave position arrangements and the dwell time of each wave position for different pitch angles.

[0050] In the prior art, the beam position arrangement method is usually to select beam positions at fixed intervals according to azimuth and elevation angles to achieve coverage of the required airspace, such as Figure 3 As shown in the figure, each circle represents the illumination range of the main lobe at a specified beam width at the azimuth and elevation angle, that is, a wave position. When detecting low-altitude small targets, traditional phased array radars usually use an array tilt angle of 10 degrees, combined with Figure 3The beam arrangement shown in the figure is used for beam scanning. However, due to the physical characteristics of the phased array radar with simulated beam forming, the array aperture and the scanning angle have a nonlinear relationship. If the entire beam arrangement adopts the same beam width, it will lead to the broadening of the beam in the large scanning angle area. Therefore, the beam arrangement with equal spacing of azimuth and elevation angles is actually unable to achieve good coverage of the entire search space, especially in the case of large scanning angles (such as a scanning angle range greater than 45 degrees), which will significantly reduce the radar detection performance at the edge of the beam. That is, as the scanning angle of the phased array radar increases, the antenna gain of the traditional phased array radar with simulated beam forming will decrease with the increase of the scanning angle, and its beam width will widen with the increase of the scanning angle, resulting in difficulty in beam arrangement under large scanning angles, and it is difficult to completely cover the entire search area, thereby reducing the search performance under large scanning angles.

[0051] Specifically, when using a phased array radar for search operations, the beam width and beam gain will change with the scan angle. When the beam scan deviates from the antenna aperture normal, the antenna gain will be lost due to two situations:

[0052] 1. Reduction of the effective aperture of the antenna. Assume that the actual aperture of the antenna is A r , then for deviations from the antenna normal degrees, coming from The effective aperture of the signal antenna mouth becomes: That is, the antenna aperture becomes the original times, which will lead to a decrease in the detection performance of large scanning angle wave positions.

[0053] 2. Beam broadening. The reduction of the effective aperture of the antenna will lead to beam broadening. Therefore, when the antennas are arranged with equal azimuth or elevation angles, the beam width that deviates from the array normal will be broadened. Due to the problem of beam broadening, the actual beam positions may have a large overlap in some parts and insufficient coverage in others, resulting in insufficient coverage of the entire airspace and poor beam position arrangement, which will deteriorate the entire search time of the radar.

[0054] For a given airspace, if we consider increasing the stepping interval, although the total number of wave position searches can be reduced, the wave position residence time will be increased under a given search frame time. The corresponding cost is that the beam shape loss will increase, which will still affect the radar detection performance.

[0055] If the entire search space is projected onto the plane where the array is located, the beam will not be widened at this time. The present invention projects the entire search space onto the plane where the array is located during the phased array radar beam scanning process. The space is a sinusoidal space coordinate system, and wave position arrangement is performed in the sinusoidal waveform search area formed by the projection. By transferring the wave position arrangement to the sinusoidal space coordinate system, the coverage rate of the search area during the radar beam scanning process can be improved. However, the wave position arrangement method obtained by directly performing the wave position arrangement in the sinusoidal space coordinate system will have the problem of serious overlap of some wave positions and insufficient coverage of some wave positions, resulting in the problem of insufficient coverage rate for the entire search airspace. In addition, due to the large number of overlapping wave positions, the number of invalid wave positions increases, which will increase the total search time of the radar, thereby reducing the radar refresh rate.

[0056] For example, for drone detection, the velocity resolution is calculated as:

[0057]

[0058] Where λ is the wavelength; N is the number of coherently accumulated pulses; and T is the pulse duration of a single pulse.

[0059] For the detection of drones, consider a PRI of 100us, a carrier frequency of 9.5GHz, and a pulse accumulation number of 64, then the corresponding speed resolution is: Δv = 2.4688m / s. If you want to detect low-speed drones, the current speed resolution is still low, so the minimum number of pulse accumulations should be 128, and the corresponding speed resolution is: Δv = 1.2344m / s. Figure 2 For example, assuming that the pulse width is 17us, the maximum number of coherent accumulation pulses required when the pitch angle is low is 1024. Directly using the wave position arrangement method obtained in the sinusoidal space coordinate system and two pulse width methods of short pulse width + long pulse width, it takes at least 7s of full airspace search time, and the radar refresh rate is extremely low. Assuming that the normal speed of the drone is 60m / s, the drone flies a total of 420m in 7s, and the distance between the two detection points of the radar is 420m. Too far a distance will also result in the inability to form an effective track during subsequent track association and tracking filtering, affecting the tracking accuracy. At the same time, too high a number of pulse accumulations will also place extremely high demands on the hardware resources of the FPGA.

[0060] The present invention divides the sinusoidal waveform search area into zones according to the farthest detectable distance in the process of wave position arrangement based on wave position arrangement in a sinusoidal space coordinate system, arranges different beam widths for the detection area of ​​the farthest detectable distance and the detection area of ​​the farthest detectable distance respectively, uses a wider wave position width for the detection area of ​​the farthest detectable distance, and uses a narrower wave position width for the detection area of ​​the farthest detectable distance, so that the phased array radar can fully cover the entire search airspace during beam scanning to meet the detection requirements of different detection areas, effectively avoids the problems of beam broadening caused by the traditional wave position arrangement of equally spaced azimuth and elevation angles, resulting in reduced detection performance under large scanning angles and insufficient search airspace coverage, and can effectively detect targets at the wave position edges of different wave positions, thereby improving the radar target detection performance.

[0061] The present invention will be further described below in conjunction with specific embodiments.

[0062] like Figure 4 As shown, the steps of the phased array radar beam scanning control method of this embodiment include:

[0063] Step S01. Acquire the search airspace of the phased array radar, and project the search airspace onto the plane where the phased array radar array is located according to the array inclination angle of the phased array radar, so as to convert it into a sinusoidal waveform search area in a sinusoidal space coordinate system.

[0064] This embodiment first determines the search airspace of the phased array radar, then determines the array inclination angle of the phased array radar, and then projects the search airspace onto the plane where the phased array radar array is located according to the array inclination angle of the phased array radar, that is, the entire search airspace is projected onto the sinusoidal space coordinate system according to the current array inclination angle, and a sinusoidal waveform search area can be obtained.

[0065] In this embodiment, the entire search space can be first divided into the maximum detectable distance L max The detection area is divided into the detection area with the longest detectable distance (L max Detection area), detection area less than the maximum detectable distance (non-L max Detection area), L max The detection area is the detection area with the longest detectable distance, not L max The detection area is the detection area that is less than the maximum detectable distance. L is determined based on the entire search space. max The azimuth angle range and elevation angle range corresponding to the detection area are then used as the boundary to calculate L max The array inclination angle when the scanning angle in the detection area is minimum is determined as the array inclination angle of the phased array radar. After the array inclination angle is determined, the entire search airspace is projected into the sinusoidal space coordinate system according to the current array inclination angle.

[0066] Due to L max The wave positions in the detection area require the largest number of accumulated pulses, and the residence time of each wave position is also the longest, so L max The search time of the detection area will greatly affect the search time of the entire airspace. max The maximum scanning angle of the radar beam in the detection area is the smallest, which can make the entire L max The search time of the detection area is minimized, so when placing the array, in order to make L max The maximum scanning angle of the detection area is the smallest. By setting the array inclination angle to the array inclination angle corresponding to the minimum maximum scanning angle of the radar beam, L max The maximum scanning angle of the detection area is the smallest.

[0067] Step S02: Arrange the wave positions of the sine waveform search area in the sine space coordinate system, according to the maximum detectable distance L. max The sinusoidal waveform search area is partitioned into a first area and a second area, the beam width in the first area is arranged as a first width, and the beam width in the second area is arranged as a second width, the first area and the second area correspond to the detection area of ​​the farthest detectable distance and the detection area less than the farthest detectable distance respectively, and the first width is less than the second width.

[0068] After determining the array inclination angle, the selectable beam widths of the search spaces at different elevation angles are further arranged. This embodiment arranges the beam positions in a sinusoidal space coordinate system to avoid the problem of insufficient search space coverage caused by directly arranging at equal angle intervals.

[0069] In a specific application embodiment, Figure 2 Taking the detection scene in the middle as an example, the search space is converted to the sinusoidal space coordinate system. The result of using the traditional method to arrange the wave position in the sinusoidal space coordinate system is as follows Figure 5 As shown. Among them, α is the horizontal coordinate of the sinusoidal space coordinate system, β is the vertical coordinate of the sinusoidal space coordinate system, the red area represents the actual phased array radar search range in the sinusoidal space coordinate system, a circle in the search range represents a wave position, a blue circle represents a wave position that needs to be detected at 7km, and a green circle represents a wave position that needs to be detected at a distance less than 7km. Figure 5 It can be seen that this wave arrangement method has the problem of serious overlap of some wave positions and insufficient coverage of some wave positions in the sinusoidal space coordinate system, which will still lead to the problem of insufficient coverage of the entire search airspace. Due to the large number of overlapping wave positions, the total search time of the radar will be increased, resulting in a decrease in the radar refresh rate.

[0070] In this embodiment, the entire search space is divided into partitions according to the maximum detectable distance L in the sinusoidal space coordinate system. maxThe sinusoidal waveform search area is divided into a first area and a second area. The first area is the detection area with the farthest detectable distance, that is, the detection area with the farthest detectable distance. The second area is the detection area with a detection distance less than the farthest detectable distance, that is, the area with a detection distance less than the farthest detectable distance. max The detection area is expanded with wider beam width, L max The detection area uses a narrower beam width for wave position arrangement to avoid the problem of insufficient coverage of the search area and the degradation of detection performance when the scanning angle is large. It can detect targets at the edges of different wave positions, thereby improving the performance of radar target detection.

[0071] It can be understood that in step S01, the entire search space is searched according to the maximum detectable distance L. max The detection area is divided into the detection area with the longest detectable distance (L max Detection area), detection area less than the maximum detectable distance (non-L max After the detection area), the first area in step S02 is the detection area with the longest detectable distance in the sinusoidal space coordinate system (L max detection area), the second area is the detection area less than the maximum detectable distance in the sinusoidal space coordinate system (not L max detection area).

[0072] by Figure 2 Taking the detection scenario in the middle as an example, the entire search area in the sinusoidal space coordinate system can be divided into a 7km detection area (the first area) and a detection area less than 7km (the second area), such as Figure 6 As shown in the figure, the area below the purple line is a 7km detection area, and the area above the purple line is a detection area less than 7km; then the beam width of the 7km detection area is arranged to be smaller than the beam width of the above-mentioned detection area less than 7km, that is, the 7km detection area uses a narrower beam width, and the detection area less than 7km uses a wider beam width, so as to fully cover the entire search area.

[0073] The 3dB beamwidth of a phased array radar can generally be approximated as: Where M is the number of radar antenna elements. Considering that for max The detection area of ​​3dB beam width can meet the detection requirements, so it is optional to be less than L max The beam width (second width) of the detection area can be 3dB, and for L max Detection area, since the 3dB beam width cannot meet the detection requirements, a narrower beam width is needed. Further consideration is given to L max Detect the maximum tolerable antenna pattern loss, because if L maxWhen detecting the area, the antenna pattern corresponds to a theoretical gain reduction of up to G0 dB, and the corresponding beam width is BW0, which means that within the range of BW0 degrees, the antenna gain will be reduced to G0 dB of the antenna peak gain. In the sinusoidal space coordinate system, the wave position is arranged, so for L max The detection area can be arranged according to the radar's equivalent antenna receiving gain pattern using a beam width of BW0 degrees, that is, the first width can be BW0, BW0 is the corresponding beam width when the detection area just meets the farthest detectable distance, L max The search area can be fully covered by using a narrower beamwidth BW0, taking into account the antenna pattern loss in the normal direction of the array.

[0074] It is understandable that when determining the beam width, the initial beam width can be determined based on the radiation pattern, and then the sine value can be taken to obtain the beam width in the sinusoidal space coordinate system. Taking the first area as an example, L can be determined based on the radar equation combined with the equivalent antenna receiving gain radiation pattern of the actual radar. max The beam width in the detection area is then obtained by taking the sine value of the corresponding beam width to obtain the beam width in the sine space coordinate system as the final beam width of the first area.

[0075] It can be understood that the specific values ​​of the first width and the second width can also be configured according to actual needs. The key is to use a narrower beam width in the detection area with the farthest detectable distance, and a wider beam width in the detection area smaller than the farthest detectable distance, so as to improve the coverage of the search area.

[0076] As an optional implementation, the following steps may be used to arrange the wave positions of the sinusoidal waveform search area in the sinusoidal space coordinate system:

[0077] The wave position centers of adjacent wave positions in the same row in the first region differ by the first width, and the wave position centers of adjacent wave positions between adjacent rows differ by 0.866*the first width; the wave position centers of adjacent wave positions in the same row in the second region differ by the second width, and the wave position centers of adjacent wave positions between adjacent rows differ by 0.866*the second width;

[0078] The number of coherent accumulation pulses at different azimuth and elevation angles is calculated based on the antenna pattern loss at the edge of the wave position, and the calculated number of coherent accumulation pulses is mapped to each wave position to complete the wave position arrangement.

[0079] Specifically, when arranging the wave positions of the sinusoidal waveform search area in the sinusoidal space coordinate system, the N wave positions can be arranged according to the above steps such that n1 wave positions accumulate 128 pulses, n2 wave positions accumulate 256 pulses, and n3 wave positions accumulate 512 pulses, n1+n2+n3=N. For example, when the total number of arranged wave positions is 172, 84 wave positions accumulate 128 pulses, 32 wave positions accumulate 256 pulses, and 56 wave positions accumulate 512 pulses. It can be understood that in the actual arrangement process, the final arrangement method can also be determined in combination with the requirements of search time and spatial coverage.

[0080] Step S03: Control the phased array radar to perform beam scanning in the sinusoidal waveform search area according to the determined wave position arrangement method.

[0081] After the wave position arrangement is determined in step S02, the phased array radar is controlled to perform beam scanning in the entire search area according to the determined wave position arrangement. Since the beam width used in the detection area with the farthest detectable distance is narrower and the beam width used in the detection area smaller than the farthest detectable distance is wider, the target can be detected by scanning at the wave position edges of different wave positions.

[0082] During the beam scanning process, the traditional method of using long pulse width signals will cause distance ambiguity for large targets as the number of pulse accumulation increases. That is, when the distance of the target from the radar exceeds the maximum unambiguous distance that the radar system can accurately measure, distance ambiguity will occur. If the current wave position can detect small targets with very small RCS, such as being able to successfully detect small targets thousands of meters away, it will inevitably be able to detect large targets tens of kilometers away, but in fact there will be distance ambiguity for large targets.

[0083] Specifically, the target echo delay can be expressed as follows:

[0084]

[0085] Where R is the radial distance of the target relative to the radar; C is the speed of light.

[0086] If the current wave position can detect a small target with a very small RCS, according to equation (1), a target with a large RCS at a long distance can also be detected. However, the pulse length of a single emission of a phased array radar is limited (generally hundreds of microseconds), which will cause the echo of a long-distance target to have a range ambiguity problem. For the range ambiguity problem of long-distance targets, the traditional solution is to use two pulses with different pulse widths, such as Figure 7As shown in the figure, the distance ambiguity problem of the long-distance target is solved by combining the distance measurement information of the short pulse width group with the distance measurement information of the long pulse width group, and the actual distance of the long-distance target is obtained. However, in the combination of long and short pulses, each wave position needs to be detected twice using a short pulse width pulse and a long pulse width pulse respectively, resulting in a longer residence time for each wave position, which in turn leads to a longer radar search time and a lower radar refresh rate. At the same time, the alternating transmission method of the two signals will also increase the performance required by the hardware transmitter and increase the implementation cost.

[0087] Based on the partitioned wave position arrangement, this embodiment divides all wave positions into multiple groups according to the same pulse accumulation number, each group includes multiple wave positions, and beam scanning is performed in sequence on each group, that is, after the pulses of the previous group of wave positions are transmitted, the pulses of the next group of wave positions are transmitted, so that long-distance targets can enter from the side lobes, thereby avoiding the distance ambiguity problem of long-distance targets. It can improve the maximum detection distance and data rate of the radar while ensuring the radar refresh rate, and at the same time avoid the distance ambiguity problem of long-distance large targets.

[0088] As an optional implementation, beam scanning with multiple beam positions as a group may be performed using the following steps:

[0089] Step S301. Obtain a group of wave positions each time as the current group of wave positions for scanning;

[0090] Step S302. During each scanning process, the phased array radar is controlled to sequentially send pulses of each wave position in the current wave position group, and the process is executed multiple times according to the number of coherent accumulation pulses of the current wave position group until all pulses of the current wave position group are transmitted.

[0091] This embodiment adopts the above-mentioned beam scanning method, and performs beam scanning cyclically with multiple wave positions as a group. The pulses of the wave positions in each group are emitted in turn, and the coherent accumulation pulse number is cyclically executed before sending the pulses of the next group of wave positions. Combined with the partitioned wave position arrangement method, the overall search time can be greatly reduced, and the radar refresh rate, the maximum detection distance and data rate of the first-level radar can be improved, so that the radar can have enough time for subsequent tracking processing and effectively avoid the distance ambiguity problem of large targets at a long distance.

[0092] For example, beam scanning can be performed in groups of 4 beam positions, such as Figure 8 As shown, all wave positions are divided into multiple groups of 4 according to the same pulse accumulation number, and the phased array radar scans each group in turn when performing beam scanning.

[0093] In a specific application embodiment, during the beam scanning process of the phased array radar, the transmitted signal may adopt an LFM waveform signal, which is a signal whose instantaneous frequency changes linearly with time. The LFM waveform signal includes more than two signal segments, and different signal segments have different pulse widths. For example, Fig. 9 The LFM waveform (17us+1us) shown has a first pulse width of 17us and a second pulse width of 1us. The 1us signal is responsible for detecting targets within 2.4km, and the 17us signal is responsible for detecting targets between 2.4km and 7km. The duration of a pulse of the above LFM waveform signal can be specifically configured to be 100us, with a duty cycle of 18%. It is understandable that other types of transmission signals can also be used according to actual needs.

[0094] In the following specific application examples, Figure 2 The present invention is further described by taking the detection scenario shown (maximum measurement altitude 1 km, maximum detection distance 7 km) to realize phased array radar beam scanning control as an example.

[0095] In this embodiment, the scanning process is specifically performed as follows Fig. 9 The transmitted signal waveform shown has a scanning spatial range of azimuth [-45°, 45°] and elevation [0°, 60°]. The above scanning spatial range is symmetrical in azimuth but asymmetrical in elevation.

[0096] Since only the detection area with a height of 1km is measured, the As the detection distance increases, the required detection distance decreases. For a detection area of ​​7 km, the corresponding pitch angle is:

[0097]

[0098] Therefore, when the elevation angle is less than 8.2 degrees, the maximum detection distance of each wave position needs to reach 7km.

[0099] The wave position in the 7km detection area requires the largest number of accumulated pulses, and the dwell time of each wave position is also the longest. Therefore, the search time of the 7km detection area will greatly affect the search time of the entire airspace. In order to minimize the search time of the entire 7km detection area, the maximum scanning angle of the radar beam in the 7km detection area should be minimized. When the maximum scanning angle of the radar beam is the smallest, the corresponding array inclination angle is about 2.9 degrees, and the corresponding maximum scanning angle is about 44.9 degrees. Therefore, when placing the array, in order to minimize the maximum scanning angle of the 7km detection area, the array inclination angle is set to 2.9 degrees in this embodiment.

[0100] After determining the array inclination angle, the beam width that can be selected for the search space at different elevation angles is further determined. Fig. 9The 17us+1us transmission signal scheme shown in the figure considers the detection effect in the normal direction of the array, and has:

[0101] When 512 pulses are accumulated, the maximum detection distance of the 17us signal is 8.36km. The maximum detection distance of the 3dB beam edge is about 5.9km.

[0102] When 256 pulses are accumulated, the maximum detection distance of the 17us signal is 7.03km. The maximum detection distance of the 3dB beam edge is about 5km.

[0103] When 128 pulses are accumulated, the maximum detection distance of the 17us signal is 5.9km. The maximum detection distance of the 3dB beam edge is about 4km.

[0104] When 512 pulses are accumulated, the maximum detection distance of 1us signal is 4km. The maximum detection distance of 3dB beam edge is about 2.9km.

[0105] When 256 pulses are accumulated, the maximum detection distance of 1us signal is 3.46km. The maximum detection distance of 3dB beam edge is about 2.45km.

[0106] When 128 pulses are accumulated, the maximum detection distance of the 1us signal is 2.91km. The maximum detection distance of the 3dB beam edge is about 2.06km.

[0107] As mentioned above, for the 7km detection area, the 3dB beamwidth obviously cannot meet the 7km detection needs. Therefore, considering the maximum tolerable antenna pattern loss for 7km detection, the antenna pattern loss in the normal direction of the array can be directly considered when arranging the wave position in the sinusoidal space coordinate system.

[0108] According to the coherent integration radar equation:

[0109]

[0110] according to Figure 1 The antenna pattern shown in Figure 1 and combined with the above formula (5) show that when the azimuth angle is 0 degrees, the maximum gain of the antenna pattern |A(θ,0)| max =M. Assuming that the number of array elements in the azimuth dimension of the actual array is 16, when the detection area of ​​7km is just met, the theoretical gain of the antenna pattern is reduced by at most 1.5dB. At this time, the maximum gain of the antenna pattern is about |A(θ,0)|≈13.46, the corresponding azimuth angle is 2.25 degrees, and the corresponding beam width is about 4.5 degrees. The same is true for the elevation angle. This shows that within the range of 4.5 degrees, the antenna gain will be reduced to 1.5dB of the antenna peak gain. Therefore, the entire detection area can be divided into:

[0111] a) 1.16km to 2.06km detection area, corresponding to the pitch angle of 60 degrees to 29.1 degrees, this part of the detection area uses 1us signal for detection, the number of accumulated pulses is 128, and the beam width is 3dB beam width;

[0112] b) 2.06km to 2.4km detection area, corresponding to the pitch angle of 29.05 degrees to 24.6 degrees, this part of the detection area uses 1us signal for detection, the number of accumulated pulses is 256, and the beam width is 3dB beam width

[0113] c) 2.4km to 4km detection area, corresponding to the pitch angle of 24.55 degrees to 14.5 degrees, this part of the detection area uses 17us signal for detection, the number of accumulated pulses is 128, and the beam width is 3dB beam width;

[0114] d) 4km detection area to 5km detection area, corresponding to the pitch angle of 14.45 degrees to 11.55 degrees, this part of the detection area uses 17us signal for detection, the accumulated pulse number is 256, and the beam width is 3dB beam width

[0115] e) 5km to 5.9km detection area, corresponding to the pitch angle of 11.50 degrees to 9.8 degrees, this part of the detection area uses 17us signal for detection, the accumulated pulse number is 512, and the beam width is 3dB beam width;

[0116] f) The detection area from 5.96km to 7km corresponds to an elevation angle of 9.75 degrees to 0.05 degrees. This part of the detection area uses a 17us signal for detection, with an accumulated pulse number of 512 and a beam width of 4.5 degrees.

[0117] From the above, it can be seen that the edge of the 3dB beam width can no longer meet the detection performance requirements at 5.9km, so the beam width corresponding to the 7km detection area also needs to be used within the range of 5.9km to 7km. If the elevation angle corresponding to the 7km detection distance and the elevation angle corresponding to the 5.9km detection distance are selected to be larger, then in the wave position arrangement, when the elevation angle is less than or equal to 9.75 degrees, a beam width of 4.5 degrees can be used for arrangement, and when the elevation angle is greater than 9.75 degrees, a beam width of 3dB can be used for arrangement, which can more fully cover the entire search area.

[0118] The final wave arrangement is as follows Fig.10As shown, there are 172 positions in total. There are 56 positions in the 5.96km to 7km detection area, using 512 coherent accumulation pulses; in the 5km to 5.9km detection area, since the beam width of the 5.96km to 7km detection area is 4.5 degrees, the elevation angle of the top row of positions is in the range of 9.25 degrees to 10.1 degrees, and considering that the half-beam width of 2.25 degrees can cover the elevation angle of 11.50 degrees, this position does not need to set an additional position; there are 16 positions in the 4km to 5km detection area, using 256 coherent accumulation pulses; there are 29 positions in the 2.4km to 4km detection area, using 128 coherent accumulation pulses; there are 13 positions in the 2.06km to 2.4km detection area, using 256 coherent accumulation pulses; there are 58 positions in the 1.16km to 2.06km detection area, using 128 coherent accumulation pulses. Therefore, according to the above detection area division, a total of 87 wave positions accumulate 128 pulses, 29 wave positions accumulate 256 pulses, and 56 wave positions accumulate 512 pulses.

[0119] Considering the compatibility requirements of the subsequent 4-wave position scanning mode, the 3 wave positions that accumulated 128 pulses were modified to 256 pulses. Finally, 84 wave positions accumulated 128 pulses; 32 wave positions accumulated 256 pulses; 56 wave positions accumulated 512 pulses. The total search time was 4.7616s, and the minimum velocity resolution was 1.2344m / s. The detection area below the purple line was 7km, and the detection area above the purple line was less than 7km. By arranging the wave positions in the sinusoidal space coordinate system, the problem of insufficient coverage of the search space caused by directly arranging at equal angles can be avoided. At the same time, by partitioning the entire search space, arranging the wave positions with a narrower beam width for the 7km detection area, the decline in detection performance under large scanning angles can be avoided, so that the wave position edges of different wave positions can also detect targets, and the problem of beam broadening caused by the arrangement of wave positions at equal intervals of azimuth and elevation angles can be avoided, which leads to the decline in detection performance and insufficient coverage of the search space under large scanning angles.

[0120] In this embodiment, during the beam scanning process, all the beam positions are further divided into multiple groups of 4 according to the same pulse accumulation number, and then the search is performed in units of 4 beam positions, so that the long-distance target can enter from the side lobe, avoiding the distance ambiguity problem of the long-distance target. Fig.10 The bottom left side shows two groups of wave positions divided using different colors, each group contains wave positions corresponding to red, orange, purple, and yellow circles.

[0121] Taking a group of beam position scanning as an example, assuming that the number of coherent accumulation pulses of the four beam positions in this group is 512 each, the phased array radar first transmits the pulse of beam position 1 (i.e. the beam position shown by the red circle) during the search, and then immediately transmits the pulse of beam position 2 (i.e. the beam position shown by the orange circle) through hardware phase modulation, and transmits the four beam positions of red, orange, purple and yellow as a group in sequence. The beam scheduling process of this group is repeated 512 times to avoid the distance ambiguity of long-distance targets, and then the next group of beam positions is scanned. The scanning process of each of the remaining groups is similar to the first group. The difference is that due to the different number of coherent accumulation pulses in each group, the corresponding number of repetitions of the beam scheduling process for each group is different.

[0122] Assuming a detection blind zone of 150m, the shorter pulse width is at most 1us. The coherent accumulation radar equation is as follows:

[0123]

[0124] Where N is the number of coherent accumulation pulses.

[0125] make:

[0126]

[0127] Then we have:

[0128]

[0129] The minimum detectable target distance is:

[0130]

[0131] Therefore, after the false alarm probability and detection probability are given, the corresponding 1us pulse width maximum detection distance under different RCS models, different RCS, and different coherent accumulation pulse numbers should cover the minimum detectable target distance of the long pulse width signal, that is:

[0132]

[0133] The antenna pattern of a half-wavelength uniform array can be approximated by the sinc function:

[0134]

[0135] The antenna pattern in the normal direction of the array is:

[0136]

[0137] When the azimuth is 0, |A(θ,0) max= M. The number of array elements in the azimuth dimension of the actual array is 16. When the theoretical gain decreases by 1.5 dB, the antenna pattern is approximately |A(θ,0)|≈13.46, the corresponding azimuth angle is 2.25 degrees, and the corresponding beam width is approximately 4.5 degrees. The same is true for the elevation angle.

[0138] When the transmit pulse PRI is 100us, distance ambiguity will occur when the farthest target echo is greater than or equal to 100us. At this time, the corresponding target distance is:

[0139]

[0140] Then when scanning is performed with a period of 4 wave positions, the farthest target position is 60 km, and the 28us signal accumulates 512 pulses, for RCS = 10m 2 The maximum detection distance is 40km. Therefore, the echo of large targets such as vehicles at 15km to 40km will enter from the side lobes, resulting in a lower gain for large targets, thus directly avoiding the problem of distance ambiguity.

[0141] This embodiment adopts the above-mentioned wave position arrangement and beam scheduling scheme with a total search time of 4.76s, so there is enough time for subsequent tracking processing. Under the premise of ensuring the radar refresh rate, it can greatly improve the radar's maximum detection distance and data rate and avoid the distance ambiguity problem of large targets at a long distance.

[0142] The RD diagram (Range-Doppler diagram) after splicing the long and short pulse widths obtained in this embodiment according to the above method is as follows: Fig.11 As shown, the signal-to-noise ratio is about 27dB. The RD graph after splicing the long and short pulse widths is shown in the simulation for a 7km target. Fig.12 As shown in the figure, it can be seen that this embodiment can detect the target with a higher signal-to-noise ratio based on the 17us+1us signal.

[0143] The phased array radar beam scanning control device of this embodiment includes:

[0144] A spatial coordinate system conversion module is used to obtain the search airspace of the phased array radar, project the search airspace onto the plane where the phased array radar array is located, and convert it into a sinusoidal waveform search area in a sinusoidal spatial coordinate system;

[0145] A beam position arrangement module is used to arrange the beam position of the sinusoidal waveform search area in a sinusoidal space coordinate system, wherein the sinusoidal waveform search area is divided into a first area and a second area according to the farthest detectable distance, the beam width in the first area is arranged as a first width, and the beam width in the second area is arranged as a second width, the first area and the second area correspond to the detection area of ​​the farthest detectable distance and the detection area less than the farthest detectable distance, respectively, and the first width is less than the second width;

[0146] The scanning control module is used to control the phased array radar to perform beam scanning in a sinusoidal waveform search area with multiple wave positions as a group and according to the arranged beam width.

[0147] The phased array radar beam scanning control device of this embodiment corresponds one to one with the above-mentioned phased array radar beam scanning control method, and will not be described in detail here.

[0148] This embodiment further provides an electronic device, including a processor and a memory, wherein the memory is used to store a computer program, and the processor is used to execute the computer program to perform the above method.

[0149] It is understandable that the above method of this embodiment can be executed by a single device, such as a computer or server, etc., and can also be applied to a distributed scenario and completed by multiple devices in cooperation with each other. In the case of a distributed scenario, one of the multiple devices can only execute one or more steps in the above method of this embodiment, and multiple devices interact to complete the above method. The processor can be implemented in the form of a general-purpose CPU, a microprocessor, an application-specific integrated circuit, or one or more integrated circuits, etc., for executing related programs to implement the above method of this embodiment. The memory can be implemented in the form of a read-only memory ROM, a random access memory RAM, a static storage device, and a dynamic storage device. The memory can store an operating system and other applications. When the above method of this embodiment is implemented by software or firmware, the relevant program code is stored in the memory and called and executed by the processor.

[0150] This embodiment also provides a phased array radar, including a radar antenna array and a beam scanning control device for controlling the radar antenna array to perform beam scanning, and the beam scanning control device performs beam scanning control as described above.

[0151] Those skilled in the art will appreciate that the above-mentioned embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may take the form of a computer program product implemented on one or more computer-readable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes. The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, may be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the functions in the process. Figure 1 A process or multiple processes and / or boxes Figure 1 These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing device to work in a specific way, so that the instructions stored in the computer-readable memory produce a product including an instruction device, which implements the functions specified in the process. Figure 1 A process or multiple processes and / or boxes Figure 1 These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide for implementing the process in the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0152] The above is only a preferred embodiment of the present invention, and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment, it is not intended to limit the present invention. Therefore, any simple modification, equivalent change and modification made to the above embodiment according to the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the scope of protection of the technical solution of the present invention.

Claims

1. A phased array radar beam scanning control method, characterized in that the steps include: Acquire a search airspace of a phased array radar, and project the search airspace onto a plane where an array of the phased array radar is located according to an array inclination angle of the phased array radar, so as to convert the search airspace into a sinusoidal waveform search area in a sinusoidal space coordinate system; Arrange the beam positions of the sinusoidal waveform search area in a sinusoidal space coordinate system to determine a beam position arrangement method, wherein the sinusoidal waveform search area is divided into a first area and a second area according to the farthest detectable distance, the beam width in the first area is arranged as a first width, and the beam width in the second area is arranged as a second width, the first area and the second area correspond to a detection area of ​​the farthest detectable distance and a detection area less than the farthest detectable distance, respectively, and the first width is less than the second width; The phased array radar is controlled to perform beam scanning in the sinusoidal waveform search area according to a determined wave position arrangement.

2. The phased array radar beam scanning control method according to claim 1, characterized in that: The first width is determined according to the equivalent antenna receiving gain pattern of the radar, and the second width is 3 dB.

3. The phased array radar beam scanning control method according to claim 2, characterized in that: The step of arranging the wave positions of the sinusoidal waveform search area in the sinusoidal space coordinate system comprises: The wave position centers of adjacent wave positions in the same row in the first region differ by the first width, and the wave position centers of adjacent wave positions between adjacent rows differ by 0.866*the first width; the wave position centers of adjacent wave positions in the same row in the second region differ by the second width, and the wave position centers of adjacent wave positions between adjacent rows differ by 0.866*the second width; The number of coherent accumulation pulses at different azimuth and elevation angles is calculated based on the antenna pattern loss at the edge of the wave position, and the calculated number of coherent accumulation pulses is mapped to each wave position to complete the wave position arrangement.

4. The phased array radar beam scanning control method according to claim 1, characterized in that: The process of beam scanning by the phased array radar also includes dividing all wave positions into multiple groups according to the same pulse accumulation number, each group includes multiple wave positions, and beam scanning is performed in sequence on each group.

5. The phased array radar beam scanning control method according to claim 4, characterized in that: The beam scanning with multiple wave positions as a group includes: Each time a group of wave positions is obtained as the current group of wave positions for scanning; During each scanning process, the phased array radar is controlled to send pulses of each wave position in the current wave position group in turn, and the cycle is executed multiple times according to the number of coherent accumulation pulses of the current wave position group until all pulses of the current wave position group are transmitted.

6. The phased array radar beam scanning control method according to any one of claims 1 to 5, characterized in that: Taking the detection area of ​​the farthest detectable distance as the boundary, the array inclination angle of the phased array radar is determined according to the array inclination angle corresponding to the minimum scanning angle of the detection area of ​​the farthest detectable distance.

7. The phased array radar beam scanning control method according to any one of claims 1 to 5, characterized in that: In the process of controlling the phased array radar to perform beam scanning in a sinusoidal waveform search area with multiple wave positions as a group and according to the arranged beam width, the transmitting signal adopts an LFM waveform signal, and the LFM waveform signal includes more than two signal segments, and different signal segments have different pulse widths.

8. A phased array radar beam scanning control device, characterized in that: include: A spatial coordinate system conversion module is used to obtain the search airspace of the phased array radar, and project the search airspace onto the plane where the phased array radar array is located according to the array inclination angle of the phased array radar, so as to convert it into a sinusoidal waveform search area in a sinusoidal spatial coordinate system; A beam position arrangement module, for performing beam position arrangement on a sinusoidal waveform search area in a sinusoidal space coordinate system, wherein the sinusoidal waveform search area is partitioned into a first area and a second area according to a maximum detectable distance, a beam width in the first area is arranged as a first width, and a beam width in the second area is arranged as a second width, the first area and the second area respectively correspond to a detection area of ​​a maximum detectable distance and a detection area less than the maximum detectable distance, and the first width is less than the second width; The scanning control module is used to control the phased array radar to perform beam scanning in a sinusoidal waveform search area with multiple wave positions as a group and according to the arranged beam width.

9. An electronic device comprising a processor and a memory, wherein the memory is used to store a computer program, wherein: The processor is configured to execute the computer program to perform the method according to any one of claims 1 to 7.

10. A phased array radar, comprising a radar antenna array and a beam scanning control device for controlling the radar antenna array to perform beam scanning, characterized in that: The beam scanning control device performs beam scanning control according to the method described in any one of claims 1 to 7.

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