A method for calibrating electrical scanning angle deviation of a phased array radar and related products

Abstract

The application discloses a method for calibrating the electric scanning angle deviation of a phased array radar and related products. When the method provided by the application is executed, the horizontal and vertical scanning ranges of the radar can be determined by using a metal ball suspended by a work platform in the far field area of the target phased array radar. Then the radar is controlled to perform horizontal sector scanning and vertical electric scanning in the range to obtain all-around and pitch angle echo data. The reflectivity intensity plan is generated by synthesizing the echo data, so that the actual azimuth and pitch angles of the metal ball are accurately determined. Finally, the calibration operation is performed based on the actual angles, and finally the reflectivity deviation and polarization quantity deviation of the phased array radar at different electric scanning angles are obtained. The application calibrates by suspending a standard metal ball on an aerial work platform, which significantly reduces the cost and improves the flexibility and adaptability, and the reflectivity and polarization quantity deviation with high precision can be quickly obtained by combining the sector scanning technology.

Description

Technical Field

[0001] This application relates to the field of radar signal processing technology, specifically to a method for calibrating the electronic sweep angle deviation of a phased array radar and related products. Background Technology

[0002] When the beam direction of a phased array radar deviates from the normal direction of the array surface, factors such as scanning loss, polarization basis vector rotation, array element polarization error, and beam shape distortion will cause systematic deviations in key measurement parameters such as reflectivity and polarization. Currently, calibration for such deviations mainly employs two methods: anechoic chamber testing and far-field calibration. Anechoic chamber testing relies on the controlled environment of an electromagnetic anechoic chamber, using standard testing methods and specialized equipment to excite and receive array signals, and to evaluate the antenna's near-field performance in terms of equivalent long-range radiation and polarization characteristics. Far-field calibration, on the other hand, takes place in an outdoor location that meets far-field conditions. Using a known signal source or scatterer, the radar response is measured over a long distance and the antenna array is rotated to different elevation angles to obtain the deviation parameters at different electronic sweep angles.

[0003] However, these two traditional calibration methods have obvious limitations. First, the cost of purchasing equipment or setting up a site is high. Second, they have strict requirements for the space, temperature and humidity of the test environment. Third, they can only be calibrated once during the product manufacturing stage and cannot adapt to parameter changes after antenna transportation, installation and use. Fourth, the overall testing process is time-consuming and usually takes several days to complete.

[0004] Therefore, how to achieve efficient, flexible, and economical calibration of phased array radar deviations is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] To address the aforementioned issues, this application provides a calibration method and related products for the electronically scanned angle deviation of a phased array radar, which can achieve low-cost, on-site, rapid, and high-precision calibration of the electronically scanned angle deviation of a phased array radar.

[0006] The embodiments of this application disclose the following technical solutions: A method for calibrating the electronically scanned angle deviation of a phased array radar, the method comprising: The horizontal azimuth and vertical elevation scanning ranges of the target phased array radar are determined based on a metal ball suspended below the aerial work platform; the metal ball is located in the far-field region of the target phased array radar; the suspension distance between the metal ball and the aerial work platform is greater than or equal to N meters; The target phased array radar is controlled to perform horizontal sector scanning and vertical electronic scanning in the horizontal azimuth scanning range and the vertical elevation scanning range, respectively, to obtain multiple azimuth echo data and multiple elevation echo data. Based on the multiple azimuth echo data and the multiple pitch echo data, a reflectivity intensity plane map is generated by data synthesis. The actual azimuth and actual pitch angles of the metal sphere are determined based on the reflectivity intensity planar diagram. A calibration operation is performed based on the actual azimuth angle and the actual elevation angle to obtain the reflectivity deviation and polarization deviation under different electronic scanning angles.

[0007] In one possible implementation, the calibration operation based on the actual azimuth and the actual elevation angle to obtain the reflectivity deviation and polarization deviation at different electronic scanning angles includes: Control the antenna array of the target phased array radar to rotate to the actual azimuth angle; The target phased array radar, which is located at the actual azimuth angle, is controlled to mechanically pitch within the actual pitch angle range, and continuously emits a detection beam towards the metal sphere and receives the echo signal to obtain reflectivity data and polarization data at different electronic scanning angles. Based on the reflectivity data and polarization data at different electronic scanning angles, the reflectivity deviation and polarization deviation of the target phased array radar at different electronic scanning angles are calculated and determined. During the swinging process of the target phased array radar, the electronic scanning angle of the target phased array radar is adjusted in real time to keep the detection beam emitted by the target phased array radar always pointing towards the metal ball.

[0008] In one possible implementation, calculating and determining the reflectivity deviation and polarization deviation of the target phased array radar at different electronic scanning angles based on the reflectivity data and polarization data at different electronic scanning angles includes: The reflectivity data at different electronic scanning angles are compared with the preset reflectivity standard value corresponding to the metal sphere to obtain the reflectivity deviation of the target phased array radar at different electronic scanning angles. The polarization data at different electronic scanning angles are compared with the preset polarization standard value corresponding to the metal sphere to obtain the polarization deviation of the target phased array radar at different electronic scanning angles.

[0009] In one possible implementation, determining the horizontal azimuth and vertical elevation scanning range of the target phased array radar based on a metal ball suspended below the aerial work platform includes: The positioning information of the aerial work platform and the positioning information of the target phased array radar are obtained; the positioning information includes longitude, latitude and altitude. Based on the positioning information of the aerial work platform and the positioning information of the target phased array radar, the horizontal distance between the aerial work platform and the target phased array radar is calculated. Based on the horizontal distance, the positioning information of the aerial work platform, the positioning information of the target phased array radar, and the vertical distance between the metal ball and the aerial work platform, the ideal azimuth and ideal elevation angles of the metal ball are calculated. Based on the ideal azimuth angle and the ideal elevation angle, the horizontal azimuth scanning range and the vertical elevation scanning range are determined respectively; The horizontal azimuth scanning range is (az). t -△A, az t +△A), az t The ideal azimuth angle is given by △A, where △A is the azimuth angle scanning margin; the vertical elevation scanning range is (el). t -△E,el t +△E), el t Let ΔE be the ideal pitch angle, and ΔE be the pitch angle scan margin.

[0010] In one possible implementation, determining the actual azimuth and actual pitch angle of the metal sphere based on the reflectivity intensity plane map includes: The center position of the reflectivity intensity plane map is determined as the echo center position of the metal sphere; The azimuth coordinates corresponding to the echo center in the reflectivity intensity plane are converted into the actual azimuth angle, and the pitch coordinates corresponding to the echo center in the reflectivity intensity plane are converted into the actual pitch angle.

[0011] In one possible implementation, the suspension distance between the metal ball and the aerial work platform is greater than or equal to 150 meters.

[0012] A calibration device for the electronically scanned angle deviation of a phased array radar, the device comprising: The scanning range determination unit is used to determine the horizontal azimuth scanning range and vertical elevation scanning range of the target phased array radar based on a metal ball suspended below the aerial work platform; the metal ball is located in the far field region of the target phased array radar; the suspension distance between the metal ball and the aerial work platform is greater than or equal to N meters; The echo data acquisition unit is used to control the target phased array radar to perform horizontal sector scanning and vertical electronic scanning in the horizontal azimuth scanning range and the vertical elevation scanning range, respectively, to obtain multiple azimuth echo data and multiple elevation echo data. An image generation unit is used to synthesize data based on the multiple azimuth echo data and the multiple pitch echo data to generate a reflectivity intensity plane map; The actual angle determination unit is used to determine the actual azimuth and actual pitch angle of the metal sphere based on the reflectivity intensity plane diagram. The deviation calibration unit is used to perform calibration operations based on the actual azimuth angle and the actual pitch angle to obtain the reflectivity deviation and polarization deviation under different electronic scanning angles.

[0013] In one possible implementation, the deviation calibration unit specifically includes: An azimuth rotation control unit is used to control the antenna array of the target phased array radar to rotate to the actual azimuth angle; The swing and detection unit is used to control the target phased array radar at the actual azimuth angle to perform mechanical pitch swing within the actual pitch angle range, and continuously emit detection beams towards the metal ball and receive echo signals to obtain reflectivity data and polarization data at different electronic scanning angles. The deviation calculation unit is used to calculate and determine the reflectivity deviation and polarization deviation of the target phased array radar at different electronic scanning angles based on the reflectivity data and polarization data at different electronic scanning angles. During the swinging process of the target phased array radar, the electronic scanning angle of the target phased array radar is adjusted in real time to keep the detection beam emitted by the target phased array radar always pointing towards the metal ball.

[0014] A calibration device for the electronically scanned angle deviation of a phased array radar includes: a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the calibration method for the electronically scanned angle deviation of the phased array radar as described above.

[0015] A phased array weather radar, the phased array weather radar including the calibration device as described in claim 9, the calibration device being used to perform the calibration method for the electronically scanned angle deviation of the phased array radar as described above.

[0016] Compared with the prior art, this application has the following beneficial effects: This application provides a calibration method for the electronically scanned angle deviation of a phased array radar and related products. Specifically, when implementing the calibration method for the electronically scanned angle deviation of a phased array radar provided in this application embodiment, a metal ball suspended in the far-field region by an aerial work platform is first used as a stable calibration target. The horizontal azimuth and vertical elevation scanning ranges of the radar are determined based on this standard target to ensure a reasonable scanning range that covers the effective calibration area and avoids invalid scans. Subsequently, the radar is controlled to perform horizontal sector scanning and vertical electronic scanning within this range, enabling comprehensive and dense acquisition of azimuth and elevation echo data, providing sufficient data support for subsequent angle positioning. Then, the multi-dimensional echo data is synthesized to generate a reflectivity intensity plane map, which can intuitively and clearly highlight the echo characteristics of the metal ball, improving the reliability and accuracy of angle identification. Based on this plane map, the actual azimuth and elevation angles of the metal ball are accurately determined to effectively reduce calibration errors introduced by the angle. Finally, calibration is performed based on the measured real angle, which can stably acquire reflectivity deviation and polarization deviation under different electronically scanned angles, making the calibration results more consistent with actual operating conditions. This application utilizes an aerial work platform to suspend a standard metal ball as the calibration carrier, eliminating the need for an anechoic chamber and dedicated far-field facilities, effectively reducing calibration costs. Furthermore, it only requires an open area around the radar, exhibiting low environmental requirements and strong on-site applicability. It also supports calibration at any time during radar installation and operation, dynamically adapting to parameter changes during equipment operation. In addition, by combining sector scanning and electronic scanning with beam staring for precise measurement, it can quickly generate reflectivity intensity plans and acquire deviation data, simplifying the process while significantly improving calibration efficiency and measurement accuracy. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in this embodiment or the prior art, the drawings used in the description of the embodiment or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A flowchart illustrating a method for calibrating the electronically scanned angle deviation of a phased array radar, provided in an embodiment of this application; Figure 2 This application provides a schematic diagram of the scanning range division of a phased array radar. Figure 3 A schematic diagram of phased array radar beam staring calibration provided in this application embodiment; Figure 4 A flowchart illustrating a phased array radar electronically scanned angle deviation calibration method provided in this application embodiment; Figure 5A flowchart illustrating a method for determining the scanning range of a phased array radar, as provided in this application embodiment; Figure 6 This is a schematic diagram of a phased array radar electronically scanned angle deviation calibration device provided in an embodiment of this application. Detailed Implementation

[0019] To facilitate understanding of the technical solutions provided in the embodiments of this application, the background technology involved in the embodiments of this application will be described below.

[0020] When the beam of a phased array radar deviates from the normal direction, parameters such as reflectivity and polarization are prone to systematic deviations. Currently, calibration is mainly performed through anechoic chamber testing and far-field calibration. However, these two methods are costly, have strict environmental requirements, can only be calibrated once before leaving the factory, are difficult to adapt to parameter changes during equipment use, and have cumbersome and time-consuming testing procedures.

[0021] To address this issue, this application provides a calibration method and related products for the electronic scanning angle deviation of a phased array radar. First, a metal ball is suspended below an aerial work platform to determine the horizontal azimuth and vertical elevation scanning range of the target phased array radar. Then, the target phased array radar is controlled to perform horizontal sector scanning and vertical electronic scanning within these scanning ranges to acquire echo data in multiple azimuth and elevation directions. Next, data synthesis is performed based on these echo data to generate a reflectivity intensity planar map. By analyzing this planar map, the actual azimuth and elevation angles of the metal ball are determined, and calibration operations are performed accordingly to obtain the reflectivity deviation and polarization deviation at different electronic scanning angles. This application uses a standard metal ball suspended from an aerial work platform as the calibration target, eliminating the need for expensive anechoic chambers or dedicated far-field calibration towers, significantly reducing calibration costs. It also offers strong adaptability and flexibility, enabling rapid and accurate acquisition of reflectivity and polarization deviations at different electronic scanning angles, greatly improving calibration efficiency and accuracy.

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0023] See Figure 1 The figure is a flowchart of a method for calibrating the electronic scanning angle deviation of a phased array radar according to an embodiment of this application. Figure 1 As shown, the calibration method for the electronically scanned angle deviation of this phased array radar may include steps S101-S105: S101: Determine the horizontal azimuth and vertical elevation scanning range of the target phased array radar based on a metal ball suspended below the aerial work platform.

[0024] To accurately determine the calibration scanning range of the target phased array radar, this step involves constructing a far-field calibration benchmark by suspending a metal ball below the aerial work platform. First, the metal ball is placed in the far-field region of the target phased array radar, while ensuring that the suspension distance between the metal ball and the aerial work platform is greater than or equal to N meters (for example, N can be set to 150 meters. This distance setting can avoid the aerial work platform itself from blocking the radar beam and causing electromagnetic interference, and can also ensure that the metal ball and the radar meet the far-field test conditions, so that the echo signal received by the radar conforms to the plane wave radiation characteristics, providing a basis for subsequent high-precision calibration).

[0025] like Figure 2 As shown, the aerial work platform (UAV) suspends a standard metal ball via a lanyard. Based on the spatial relationship between the radar and the metal ball, the ideal azimuth and ideal elevation angles of the metal ball can be calculated, denoted as (az_t, el_t). Using this ideal angle as the center, this step determines the horizontal azimuth scanning range and vertical elevation scanning range of the target phased array radar, respectively. The horizontal azimuth scanning range is (az_t-△A, az_t+△A), which is shown in blue sector in the figure. az_t is the ideal azimuth angle of the metal ball, and △A is the azimuth scanning margin, which is used to compensate for the actual position deviation of the metal ball and the radar installation error. The vertical pitch scan range is (el_t-△E, el_t+△E), which is shown in red sector in the figure. el_t is the ideal pitch angle of the metal ball, and △E is the pitch angle scan margin, which is also used to cover the actual position fluctuation range of the metal ball.

[0026] The scanning range determined by the above method can ensure that the radar can completely capture the echo signal of the metal ball during subsequent sector scanning and electronic scanning, and can also avoid data redundancy caused by excessively large invalid scanning areas, thus providing a reliable spatial reference for the subsequent generation of reflectivity intensity plane map and accurate positioning of the actual angle of the metal ball.

[0027] In one possible implementation, the suspension distance between the metal ball and the aerial work platform is greater than or equal to 150 meters (i.e., N≥150).

[0028] S102: Control the target phased array radar to perform horizontal sector scanning and vertical electronic scanning in the horizontal azimuth scanning range and the vertical elevation scanning range respectively, to obtain multiple azimuth echo data and multiple elevation echo data.

[0029] In order to comprehensively and completely acquire the echo signals required for calibration, this step controls the target phased array radar to perform horizontal sector scanning and vertical electronic scanning operations within the determined horizontal azimuth scanning range and vertical elevation scanning range, respectively, to obtain multiple sets of azimuth echo data and elevation echo data.

[0030] Among them, horizontal sector scanning refers to controlling the radar antenna array to perform reciprocating mechanical scanning in the azimuth interval (az_t-△A, az_t+△A) in the horizontal azimuth dimension with a preset azimuth step (e.g., 0.1° / step). Each azimuth position corresponds to a set of azimuth echo data, thereby covering the entire horizontal azimuth area where the metal sphere is located. Vertical electronic scanning refers to electronically scanning within the elevation range (el_t-ΔE, el_t+ΔE) at a preset elevation angle step (e.g., 0.1° / step) by adjusting the feed phase of the radar array elements under a fixed azimuth angle. Each elevation angle position corresponds to a set of elevation echo data, thus covering the entire vertical elevation area where the metal sphere is located. By combining horizontal sector scanning and vertical electronic scanning, a complete two-dimensional scanning sampling grid can be formed around the calibrated position of the metal sphere. S103: Based on the multiple azimuth echo data and the multiple pitch echo data, perform data synthesis to generate a reflectivity intensity plane map.

[0031] In order to transform discrete echo sampling data into intuitive and visual features that can be used to locate and calibrate targets, this step performs a data synthesis operation based on multiple sets of azimuth and pitch echo data obtained by the aforementioned horizontal sector scan and vertical electronic scan to generate a reflectivity intensity plane map.

[0032] Specifically, the acquired raw echo data is first preprocessed, including clutter suppression, gain normalization, and signal-to-noise ratio enhancement, to remove interference from environmental noise and invalid echoes. Then, a two-dimensional coordinate grid is constructed with azimuth as the horizontal axis and elevation as the vertical axis. The echo signal intensity (i.e., reflectivity value) corresponding to each sampling point is mapped to the corresponding coordinate position on the grid. The grid is then filled using interpolation algorithms (such as bilinear interpolation and Kriging interpolation) to finally generate a complete reflectivity intensity planar map.

[0033] S104: Determine the actual azimuth and actual pitch angle of the metal sphere based on the reflectivity intensity plane diagram.

[0034] To accurately obtain the actual spatial angle information of the metal sphere as a far-field calibration source, this step performs a positioning operation based on the generated reflectivity intensity plane map. Since the metal sphere is a strong scatterer, it will appear as a significant high-reflectivity bright spot region in the reflectivity intensity plane. This step first determines the center position of the reflectivity intensity plane as the echo center position of the metal sphere, and then converts the azimuth and elevation coordinates corresponding to the echo center in the two-dimensional plane map into actual azimuth and elevation angle values, respectively.

[0035] S105: Perform calibration based on the actual azimuth angle and the actual elevation angle to obtain the reflectivity deviation and polarization deviation under different electronic scanning angles.

[0036] To accurately obtain the systematic deviation of the phased array radar at different electronic scanning angles, this step uses the actual azimuth and elevation angles of the determined metal sphere as a reference to perform targeted calibration operations. Since the electromagnetic scattering characteristics of the metal sphere are known and its reflectivity and polarization parameters are fixed, it can serve as an ideal calibration reference source, providing an absolute benchmark for the correction of radar measurement parameter deviations.

[0037] See Figure 3 ,like Figure 3 The diagram shows the target phased array radar, the aerial work platform, and the metal sphere suspended below. The radar antenna array has been rotated to the actual azimuth angle corresponding to the metal sphere, achieving precise alignment in the azimuth dimension. The diagram also illustrates the trajectory of the radar antenna array's mechanical pitch oscillation near the actual elevation angle, and how the electronic scanning angle is adjusted in real time during the oscillation to ensure the detection beam remains focused on the metal sphere. The electronic scanning angle is synchronously compensated and adjusted with the mechanical pitch angle of the antenna array, ensuring that the beam remains stably aligned with the metal sphere, the designated target, regardless of elevation attitude.

[0038] Specifically, firstly, the antenna array of the phased array radar is rotated to the actual azimuth angle corresponding to the metal sphere, ensuring precise alignment of the array with the target in the azimuth dimension. Then, the radar antenna at this actual azimuth angle is mechanically tilted within the actual elevation angle range corresponding to the metal sphere, while simultaneously transmitting a probe beam towards the metal sphere and receiving echo signals. Throughout the entire mechanical tilting process of the antenna array, the radar's electronic scanning angle is adjusted in real time to ensure the transmitted probe beam remains focused on the metal sphere. This guarantees that the radar can stably acquire echo data from the same target at different electronic scanning angles, thereby obtaining reflectivity and polarization data covering the entire electronic scanning range at different electronic scanning angles.

[0039] Based on this, the reflectivity data obtained from the actual scan at different electronic scanning angles are compared with the preset reflectivity standard value corresponding to the metal sphere to calculate the reflectivity deviation of the target phased array radar at the corresponding electronic scanning angle. Similarly, the polarization data obtained from the actual scan at different electronic scanning angles are compared with the preset polarization standard value corresponding to the metal sphere to calculate the polarization deviation of the target phased array radar at the corresponding electronic scanning angle.

[0040] This calibration operation not only accurately quantifies the systematic deviations in reflectivity and polarization of the radar across the entire electronically scanned angle range, providing precise deviation compensation parameters for real-time correction of subsequent radar detection data, but also effectively avoids calibration errors caused by inaccurate reference target positions and beam pointing offsets in traditional calibration methods. This fundamentally improves the measurement accuracy of reflectivity and polarization of phased array radar at large electronically scanned angles, ensuring the consistency and reliability of radar detection performance under all operating conditions.

[0041] Based on the content of S101-S105, the calibration process first uses a metal ball suspended by an aerial work platform in the far-field area as a calibration reference to determine the radar's horizontal azimuth and vertical elevation scanning range. Then, the radar is controlled to perform horizontal sector scanning and vertical electronic scanning within the set range, collecting multiple sets of azimuth and elevation echo data. These echo data are then synthesized to generate a reflectivity intensity planar map. Next, the actual azimuth and elevation angles of the metal ball are accurately determined based on the planar map. Finally, calibration is completed based on these actual angles, obtaining the reflectivity deviation and polarization deviation of the phased array radar at different electronic scanning angles. This application uses a standard metal ball suspended by an aerial work platform for calibration, significantly reducing costs and improving flexibility and adaptability. Furthermore, the combination of sector scanning technology allows for the rapid acquisition of high-precision reflectivity and polarization deviations.

[0042] See Figure 4 , Figure 4 This application provides a flowchart of a phased array radar electronic scanning angle deviation calibration method. Accordingly, step S105 performs a calibration operation based on the actual azimuth angle and the actual elevation angle to obtain the reflectivity deviation and polarization deviation under different electronic scanning angles. Specifically, this can be achieved through steps S401-S403. S401: Control the antenna array of the target phased array radar to rotate to the actual azimuth angle.

[0043] To ensure the accuracy of the azimuth reference for subsequent calibration operations and avoid calibration errors caused by azimuth offset, it is necessary to control the antenna array of the target phased array radar to rotate to the corresponding actual azimuth angle. This ensures that the antenna array is precisely aligned with the actual position of the metal sphere, laying a stable azimuth foundation for the deviation calibration of all subsequent electronic scanning angles. This step, by driving the antenna array to rotate to the preset actual azimuth angle, ensures that the radar beam can be accurately aligned with the metal sphere, the standard calibration target, eliminating azimuth dimension deviation interference. Simultaneously, it provides a unified azimuth reference for the subsequent acquisition of echo data at different electronic scanning angles, avoiding echo signal loss or measurement deviations caused by azimuth offset, and ensuring that all subsequent calibration steps can be carried out based on a unified and accurate azimuth reference.

[0044] S402: Control the phased array radar of the target at the actual azimuth angle to perform mechanical pitch swing within the actual pitch angle range, and continuously emit a detection beam towards the metal ball and receive the echo signal to obtain reflectivity data and polarization data at different electronic scanning angles.

[0045] To ensure that the acquired echo data accurately reflects the radar performance at different electronically scanned angles and thus provides a reliable basis for subsequent deviation calculations, it is necessary to control the phased array radar at the target with a determined actual azimuth angle to mechanically pitch within the previously determined actual pitch angle range. Simultaneously, to comprehensively acquire core data at different electronically scanned angles, the radar needs to continuously emit a probe beam towards a metal sphere at a determined position and receive the reflected echo signals in real time. Through the acquisition and processing of the echo signals, reflectivity and polarization data corresponding to different electronically scanned angles are obtained, providing complete and reliable raw data support for subsequent deviation calculations and accurate calibration, avoiding calibration errors caused by missing or inaccurate data.

[0046] Meanwhile, to ensure the stability and reliability of the echo signal throughout the entire swing process and to prevent the beam from deviating from the metal ball due to changes in the mechanical attitude of the antenna, the electronic scanning angle is adjusted in real time during the radar pitch swing to ensure that the detection beam always points accurately at the metal ball. This ensures that the collected data is effective and continuous, and ultimately makes the calculated deviation results more consistent with the actual working state of the radar, thus having higher calibration accuracy and practical value.

[0047] S403: Based on the reflectivity data and polarization data at different electronic scanning angles, calculate and determine the reflectivity deviation and polarization deviation of the target phased array radar at different electronic scanning angles.

[0048] In order to obtain the true system deviation of the radar at different electronic scanning angles, this step uses a metal sphere as a known standard reference target. The reflectivity data and polarization data obtained at different electronic scanning angles are compared and calculated with the theoretical standard values ​​of the metal sphere, so as to accurately determine the reflectivity deviation and polarization deviation of the radar at each electronic scanning angle.

[0049] Through the above steps S401-S403, the antenna can be mechanically oscillated while the electronic scanning angle is compensated in real time, so that the beam can always be stably focused on the metal sphere. This allows for the accurate acquisition of measured reflectivity and polarization data at different electronic scanning angles, and the corresponding deviation can be calculated by combining the standard values. Ultimately, this achieves efficient, accurate, and on-site calibration of the electronic scanning angle-related deviations of the phased array radar.

[0050] In one possible implementation, step S403 calculates and determines the reflectivity deviation and polarization deviation of the target phased array radar at the corresponding angle based on reflectivity data and polarization data at different electronic scanning angles. The specific implementation method is as follows: The reflectivity data measured at each electronic scanning angle are compared with the pre-set reflectivity standard value of the metal sphere by difference or ratio calculation, thereby obtaining the reflectivity deviation of the radar at different electronic scanning angles. Meanwhile, the polarization data measured at each electronic scanning angle are compared and calculated with the preset polarization standard value corresponding to the metal sphere, thereby determining the polarization deviation of the radar at different electronic scanning angles.

[0051] Through the above comparative calculations, the measurement deviation of the radar at different electronic scanning angles can be directly quantified, providing a precise compensation basis for the subsequent correction of radar detection data.

[0052] See Figure 5 , Figure 5 This application provides a flowchart of a method for determining the scanning range of a phased array radar. Accordingly, step S101 determines the horizontal azimuth and vertical elevation scanning range of the target phased array radar based on a metal ball suspended below the aerial work platform. This can be specifically implemented through steps S501-S504. S501: Obtain the positioning information of the aerial work platform and the positioning information of the target phased array radar.

[0053] In order to accurately calculate the spatial angular relationship between the metal sphere and the phased array radar, and thus reasonably define the radar scanning range, it is first necessary to obtain the positioning information of both the aerial work platform and the target phased array radar. This positioning information specifically includes three-dimensional coordinates of longitude, latitude and altitude, which serve as the basic data source for subsequent geometric calculations and angle calculations, ensuring that the calculation results of the subsequent horizontal distance, ideal azimuth angle and elevation angle are true and reliable.

[0054] S502: Based on the positioning information of the aerial work platform and the positioning information of the target phased array radar, calculate the horizontal distance between the aerial work platform and the target phased array radar.

[0055] In order to accurately calculate the spatial orientation and elevation angle of the metal ball relative to the radar, the horizontal distance d between the two on the ground projection can be calculated first based on the latitude and longitude positioning information of the aerial work platform and the target phased array radar.

[0056] Among them, the horizontal reference distance d between the radar and the platform can be converted into latitude and longitude differences according to the spherical geometry formula, so as to provide key geometric parameters for subsequent calculation of the ideal pitch angle and ideal azimuth angle of the metal sphere, and ensure the accuracy of subsequent angle calculation.

[0057] The geometric formula for a sphere is: , Let latitude be the latitude of the target phased array radar. Let latitude be the latitude of the aerial work platform. The longitude of the aerial work platform is given. The longitude of the target phased array radar is given.

[0058] S503: Based on the horizontal distance, the positioning information of the aerial work platform, the positioning information of the target phased array radar, and the vertical distance between the metal ball and the aerial work platform, calculate the ideal azimuth and ideal elevation angles of the metal ball.

[0059] In order to determine an accurate theoretical pointing center for the radar and thus reasonably set the scanning range, this step, based on the calculated horizontal distance, combines the latitude, longitude, and altitude information of the aerial work platform and the radar, as well as the vertical suspension distance of the metal ball relative to the platform, to further calculate the ideal azimuth and ideal elevation angles of the metal ball relative to the radar.

[0060] Among them, the difference between latitude and longitude is used through the formula The ideal azimuth angle is calculated. R Given the Earth's radius; and combining the height difference and horizontal distance, using the formula... To obtain the ideal pitch angle, h 1 The altitude of the target phased array radar. h 2 The height of the aerial work platform. L The vertical distance between the metal ball and the aerial work platform.

[0061] Through this set of spatial geometric calculations, the theoretical pointing angle of the metal sphere relative to the radar can be obtained, providing a precise center reference for subsequent determination of azimuth and elevation scanning range.

[0062] S504: Based on the ideal azimuth angle and the ideal pitch angle, determine the horizontal azimuth scanning range and the vertical pitch scanning range respectively.

[0063] In order to enable the radar to stably and completely capture the echo signal of the metal ball during the calibration process, and to offset the position shift caused by slight shaking of the air platform, positioning error and environmental disturbance, this step sets up scanning intervals with a certain margin, centered on the calculated ideal azimuth angle and ideal elevation angle, so as to determine the horizontal azimuth scanning range and vertical elevation scanning range of the radar.

[0064] Specifically, the horizontal azimuth scanning range is based on the ideal azimuth angle α. t By using the azimuth scan margin △A as the center and expanding outwards to both sides, an interval (az) is formed. t -△A, az t +△A); the vertical pitch scan range is based on the ideal pitch angle el t Centered on the elevation angle scan margin ΔE, extending to both sides, a range (el) is formed. t -△E,el t +△E).

[0065] In one possible implementation, △A can be set to 5° and △E to 2°. This application does not impose specific restrictions on the size of △A and △E. Users can make adaptive adjustments to the size of △A and △E according to actual needs.

[0066] By adding a reasonable margin to the ideal angle, it can be ensured that the metal ball is always within the radar's scanning coverage area, while avoiding the introduction of too much invalid data due to an excessively large scanning range, thus providing a stable and reliable scanning reference for subsequent echo acquisition and deviation calibration.

[0067] Steps S501-S504 enable fully automated calculation of the radar scanning range from three-dimensional positioning information, accurately constructing the scanning range centered on the metal sphere. This avoids invalid scanning and ensures that the echo data completely covers the target, providing a reliable spatial reference for subsequent high-precision calibration.

[0068] In one possible implementation, step S104, determining the actual azimuth and actual pitch angle of the metal sphere based on the reflectivity intensity plane map, includes: The center position of the reflectivity intensity plane map is determined as the echo center position of the metal sphere; The azimuth coordinates corresponding to the echo center in the reflectivity intensity plane are converted into the actual azimuth angle, and the pitch coordinates corresponding to the echo center in the reflectivity intensity plane are converted into the actual pitch angle.

[0069] See Figure 6 , Figure 6 This is a schematic diagram of a phased array radar electronically scanned angle deviation calibration device provided in an embodiment of this application. Figure 6 As shown, the calibration device for the electronically scanned angle deviation of the phased array radar includes: The scanning range determination unit 601 is used to determine the horizontal azimuth scanning range and vertical elevation scanning range of the target phased array radar based on a metal ball suspended below the aerial work platform; the metal ball is located in the far field region of the target phased array radar; the suspension distance between the metal ball and the aerial work platform is greater than or equal to N meters; The echo data acquisition unit 602 is used to control the target phased array radar to perform horizontal sector scanning and vertical electronic scanning in the horizontal azimuth scanning range and the vertical elevation scanning range, respectively, to obtain multiple azimuth echo data and multiple elevation echo data. Image generation unit 603 is used to generate a reflectivity intensity plane map by performing data synthesis based on the multiple azimuth echo data and the multiple pitch echo data. The actual angle determination unit 604 is used to determine the actual azimuth and actual pitch angle of the metal sphere based on the reflectivity intensity plane diagram. The deviation calibration unit 605 is used to perform calibration operations based on the actual azimuth angle and the actual pitch angle to obtain the reflectivity deviation and polarization deviation under different electronic scanning angles.

[0070] In one possible implementation, the deviation calibration unit 605 specifically includes: An azimuth rotation control unit is used to control the antenna array of the target phased array radar to rotate to the actual azimuth angle; The swing and detection unit is used to control the target phased array radar at the actual azimuth angle to perform mechanical pitch swing within the actual pitch angle range, and continuously emit detection beams towards the metal ball and receive echo signals to obtain reflectivity data and polarization data at different electronic scanning angles. The deviation calculation unit is used to calculate and determine the reflectivity deviation and polarization deviation of the target phased array radar at different electronic scanning angles based on the reflectivity data and polarization data at different electronic scanning angles. During the swinging process of the target phased array radar, the electronic scanning angle of the target phased array radar is adjusted in real time to keep the detection beam emitted by the target phased array radar always pointing towards the metal ball.

[0071] In one possible implementation, the deviation calculation unit is specifically used for: The reflectivity data at different electronic scanning angles are compared with the preset reflectivity standard value corresponding to the metal sphere to obtain the reflectivity deviation of the target phased array radar at different electronic scanning angles. The polarization data at different electronic scanning angles are compared with the preset polarization standard value corresponding to the metal sphere to obtain the polarization deviation of the target phased array radar at different electronic scanning angles.

[0072] In one possible implementation, the scanning range determination unit 601 is specifically used for: The positioning information of the aerial work platform and the positioning information of the target phased array radar are obtained; the positioning information includes longitude, latitude and altitude. Based on the positioning information of the aerial work platform and the positioning information of the target phased array radar, the horizontal distance between the aerial work platform and the target phased array radar is calculated. Based on the horizontal distance, the positioning information of the aerial work platform, the positioning information of the target phased array radar, and the vertical distance between the metal ball and the aerial work platform, the ideal azimuth and ideal elevation angles of the metal ball are calculated. Based on the ideal azimuth angle and the ideal elevation angle, the horizontal azimuth scanning range and the vertical elevation scanning range are determined respectively; The horizontal azimuth scanning range is (az). t -△A, az t +△A), az t The ideal azimuth angle is given by △A, where △A is the azimuth angle scanning margin; the vertical elevation scanning range is (el). t -△E,el t +△E), el t Let ΔE be the ideal pitch angle, and ΔE be the pitch angle scan margin.

[0073] In one possible implementation, the actual angle determination unit 604 is specifically used for: The center position of the reflectivity intensity plane map is determined as the echo center position of the metal sphere; The azimuth coordinates corresponding to the echo center in the reflectivity intensity plane are converted into the actual azimuth angle, and the pitch coordinates corresponding to the echo center in the reflectivity intensity plane are converted into the actual pitch angle.

[0074] In one possible implementation, the suspension distance between the metal ball and the aerial work platform is greater than or equal to 150 meters.

[0075] In addition, this application embodiment also provides a calibration device for the electronically scanned angle deviation of a phased array radar, including: a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the calibration method for the electronically scanned angle deviation of the phased array radar as described above.

[0076] In addition, this application embodiment also provides a phased array weather radar, which includes the calibration device described above, and the calibration device is used to perform the calibration method for the electronic sweep angle deviation of the phased array radar as described above.

[0077] This application's embodiments utilize an aerial work platform suspending a standard metal sphere as the calibration target, eliminating the need for expensive anechoic chambers or dedicated far-field calibration towers, significantly reducing calibration costs. Furthermore, it only requires an open area around the radar, making it less demanding on environmental conditions and more adaptable. Simultaneously, calibration can be performed at any time during radar installation and operation, dynamically adapting to parameter changes during antenna transportation, installation, and operation, resulting in more flexible calibration timing. In addition, by combining horizontal sector scanning and vertical electronic scanning, a reflectivity intensity planar map is quickly obtained, and beam staring calibration is performed based on the precisely locked position of the metal sphere. The overall process is simple and efficient, enabling accurate acquisition of reflectivity and polarization deviations at different electronic scanning angles in a short time, greatly improving calibration efficiency and accuracy.

[0078] The above provides a detailed description of a method for calibrating the electronically scanned angle deviation of a phased array radar and related products. The various embodiments in the specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section. It should be noted that those skilled in the art can make several improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

Claims

1. A method for calibrating the electronically scanned angle deviation of a phased array radar, characterized in that, The method includes: The horizontal azimuth and vertical elevation scanning ranges of the target phased array radar are determined based on a metal ball suspended below the aerial work platform; the metal ball is located in the far-field region of the target phased array radar; the suspension distance between the metal ball and the aerial work platform is greater than or equal to N meters; The target phased array radar is controlled to perform horizontal sector scanning and vertical electronic scanning in the horizontal azimuth scanning range and the vertical elevation scanning range, respectively, to obtain multiple azimuth echo data and multiple elevation echo data. Based on the multiple azimuth echo data and the multiple pitch echo data, a reflectivity intensity plane map is generated by data synthesis. The actual azimuth and actual pitch angles of the metal sphere are determined based on the reflectivity intensity planar diagram. A calibration operation is performed based on the actual azimuth angle and the actual elevation angle to obtain the reflectivity deviation and polarization deviation under different electronic scanning angles.

2. The method according to claim 1, characterized in that, The calibration operation based on the actual azimuth and actual elevation angles yields reflectivity deviation and polarization deviation at different electronic scanning angles, including: Control the antenna array of the target phased array radar to rotate to the actual azimuth angle; The target phased array radar, which is located at the actual azimuth angle, is controlled to mechanically pitch within the actual pitch angle range, and continuously emits a detection beam towards the metal sphere and receives the echo signal to obtain reflectivity data and polarization data at different electronic scanning angles. Based on the reflectivity data and polarization data at different electronic scanning angles, the reflectivity deviation and polarization deviation of the target phased array radar at different electronic scanning angles are calculated and determined. During the swinging process of the target phased array radar, the electronic scanning angle of the target phased array radar is adjusted in real time to keep the detection beam emitted by the target phased array radar always pointing towards the metal ball.

3. The method according to claim 2, characterized in that, The calculation and determination of the reflectivity deviation and polarization deviation of the target phased array radar at different electronic scanning angles, based on the reflectivity data and polarization data at different electronic scanning angles, includes: The reflectivity data at different electronic scanning angles are compared with the preset reflectivity standard value corresponding to the metal sphere to obtain the reflectivity deviation of the target phased array radar at different electronic scanning angles. The polarization data at different electronic scanning angles are compared with the preset polarization standard value corresponding to the metal sphere to obtain the polarization deviation of the target phased array radar at different electronic scanning angles.

4. The method according to claim 1, characterized in that, The method of determining the horizontal azimuth and vertical elevation scanning range of the phased array radar based on a metal ball suspended below the aerial work platform includes: The positioning information of the aerial work platform and the positioning information of the target phased array radar are obtained; the positioning information includes longitude, latitude and altitude. Based on the positioning information of the aerial work platform and the positioning information of the target phased array radar, the horizontal distance between the aerial work platform and the target phased array radar is calculated. Based on the horizontal distance, the positioning information of the aerial work platform, the positioning information of the target phased array radar, and the vertical distance between the metal ball and the aerial work platform, the ideal azimuth and ideal elevation angles of the metal ball are calculated. Based on the ideal azimuth angle and the ideal elevation angle, the horizontal azimuth scanning range and the vertical elevation scanning range are determined respectively; The horizontal azimuth scanning range is (az). t -△A, az t +△A), az t The ideal azimuth angle is given by △A, where △A is the azimuth angle scanning margin; the vertical elevation scanning range is (el). t -△E,el t +△E), el t Let ΔE be the ideal pitch angle, and ΔE be the pitch angle scan margin.

5. The method according to claim 1, characterized in that, Determining the actual azimuth and actual pitch angle of the metal sphere based on the reflectivity intensity plane map includes: The center position of the reflectivity intensity plane map is determined as the echo center position of the metal sphere; The azimuth coordinates corresponding to the echo center in the reflectivity intensity plane are converted into the actual azimuth angle, and the pitch coordinates corresponding to the echo center in the reflectivity intensity plane are converted into the actual pitch angle.

6. The method according to claim 1, characterized in that, The suspension distance between the metal ball and the aerial work platform is greater than or equal to 150 meters.

7. A calibration device for the electronically scanned angle deviation of a phased array radar, characterized in that, The device includes: The scanning range determination unit is used to determine the horizontal azimuth scanning range and vertical elevation scanning range of the target phased array radar based on a metal ball suspended below the aerial work platform; the metal ball is located in the far field region of the target phased array radar; the suspension distance between the metal ball and the aerial work platform is greater than or equal to N meters; The echo data acquisition unit is used to control the target phased array radar to perform horizontal sector scanning and vertical electronic scanning in the horizontal azimuth scanning range and the vertical elevation scanning range, respectively, to obtain multiple azimuth echo data and multiple elevation echo data. An image generation unit is used to synthesize data based on the multiple azimuth echo data and the multiple pitch echo data to generate a reflectivity intensity plane map; The actual angle determination unit is used to determine the actual azimuth and actual pitch angle of the metal sphere based on the reflectivity intensity plane diagram. The deviation calibration unit is used to perform calibration operations based on the actual azimuth angle and the actual pitch angle to obtain the reflectivity deviation and polarization deviation under different electronic scanning angles.

8. The apparatus according to claim 7, characterized in that, The deviation calibration unit specifically includes: An azimuth rotation control unit is used to control the antenna array of the target phased array radar to rotate to the actual azimuth angle; The swing and detection unit is used to control the target phased array radar at the actual azimuth angle to perform mechanical pitch swing within the actual pitch angle range, and continuously emit detection beams towards the metal ball and receive echo signals to obtain reflectivity data and polarization data at different electronic scanning angles. The deviation calculation unit is used to calculate and determine the reflectivity deviation and polarization deviation of the target phased array radar at different electronic scanning angles based on the reflectivity data and polarization data at different electronic scanning angles. During the swinging process of the target phased array radar, the electronic scanning angle of the target phased array radar is adjusted in real time to keep the detection beam emitted by the target phased array radar always pointing towards the metal ball.

9. A calibration device for the electronically scanned angle deviation of a phased array radar, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, it implements the calibration method for electronically scanned angle deviation of a phased array radar as described in any one of claims 1-6.

10. A phased array weather radar, characterized in that, The phased array weather radar includes the calibration device as described in claim 9, the calibration device being used to perform the calibration method for the electronic sweep angle deviation of the phased array radar as described in any one of claims 1-6.

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