A method for correcting unit spacing and inertial navigation installation errors

Abstract

The present invention provides a method for correcting unit spacing and inertial navigation installation errors, comprising step 1 of acquiring radar measurement data; step 2 of preprocessing radar measurement data; step 3 of extracting unit spacing correction values; step 4 of recalculating target array coordinates; and step 5 of extracting inertial navigation installation error correction values. The present invention can effectively extract the difference between the design value and the actual value of the unit spacing, improve the beam pointing accuracy, and thus improve the radar angle measurement accuracy; the error correction parameters of the radar dynamic process can be calibrated, which has a very positive effect on improving radar accuracy optimization.

Description

Technical Field

[0001] The invention belongs to the field of radar technology, and in particular relates to a method for correcting unit spacing and inertial navigation installation errors. Background Art

[0002] Measuring target position parameters is one of the main tasks of radar, guiding its own air defense weapons to intercept incoming missiles or aircraft and indicating the direction for precise strikes. Radar angle measurement accuracy is a key factor in achieving the success of a strike, and it is also one of the key tactical indicators of the radar system. The influence of unit spacing and inertial navigation installation errors on angle accuracy presents a nonlinear characteristic. Only by finding the correct correction value can the angle measurement accuracy be effectively improved. If the actual unit spacing deviates from the design value, there will be deviations in the beam pointing, which will directly lead to the deterioration of the array angle measurement accuracy; the inertial navigation installation reference surface often inevitably has errors, which affects the target's angle output in the geodetic coordinate system. The current calibration method has the following problems:

[0003] (1) The calibration process is complicated, the consistency of repeated calibration results is poor, and the situation within the scanning angle range is not comprehensively considered;

[0004] (2) The influence of unit spacing error is often not taken seriously, and the correction of unit spacing is ignored;

[0005] (3) Only static calibration is performed on the inertial navigation installation error, and the error correction parameters of the radar dynamic process are not calibrated. Summary of the invention

[0006] The present invention aims to solve the problem of poor radar angle measurement accuracy caused by unit spacing and inertial navigation installation errors, extract unit spacing and inertial navigation installation error correction values ​​based on measurement data, and effectively improve the accuracy of radar angle measurement.

[0007] The present invention provides a method for correcting unit spacing and inertial navigation installation errors, the method comprising the following steps:

[0008] Step 1. Obtain radar measurement data. Record M groups of tracking measurement data at the same time, each group contains: beam pointing angle (A0, E0), inertial navigation attitude (N, T, D), array unit phase shift basis vector (α, β) and target point angle measurement value (A, E); beam pointing angle is azimuth A0, pitch E0; inertial navigation attitude is heading angle N, array tilt angle T, roll angle D; array unit phase shift basis vector is azimuth α, pitch β; target point angle measurement value is azimuth A, pitch E; calibrate the azimuth angle A from the center of the outer antenna to the center of the radar array T , pitch angle E T .

[0009] Step 2: Preprocess the radar measurement data to calculate the beam pointing coordinates (u0, v0) in the sinusoidal space, the target coordinates (u, v), and the deviation of the target relative to the beam pointing in the sinusoidal space (Δu, Δv).

[0010] Step 2.1: Convert the beam pointing angle from the earth polar coordinates (A0, E0) to the array polar coordinates based on the inertial navigation attitude (N, T, D). Then we get the beam pointing coordinates (u0, v0) in sinusoidal space; where the inertial navigation attitude is the heading angle N, the array inclination angle T, and the roll angle D; the array polar coordinates are the azimuth Pitch θ0.

[0011] Step 2.2: Based on the inertial navigation attitude (N, T, D), convert the target point angle measurement value from the geodetic polar coordinates (A, E) to the array polar coordinates Then we get the target coordinates (u, v) in sinusoidal space; the inertial navigation attitude is the heading angle N, the array inclination angle T, and the roll angle D; the array polar coordinates are the azimuth Pitch θ.

[0012] Step 2.3, further obtain the deviation (Δu, Δv) of the target relative to the beam pointing in the sinusoidal space, specifically Δu=u-u0 and Δv=v-v0.

[0013] Step 3: Extract the cell spacing correction value.

[0014] Step 3.1, for each group of candidate correction values ​​for element spacing (Δdx, Δdy), calculate a new beam pointing (u′0, v′0), where each group of candidate correction values ​​for element spacing is Δdx in the horizontal direction and Δdy in the vertical direction;

[0015] Step 3.2, obtain the new sinusoidal space coordinates (u′, v′) of the target according to the new beam pointing and target deviation (Δu, Δv);

[0016] Step 3.3: Convert the target (u′, v′) to the polar coordinates of the array Then, based on the inertial navigation attitude (N, T, D), the target is converted to the geodetic polar coordinates to obtain the corrected measurement values ​​(A′, E′);

[0017] Step 3.4: Count the M groups of new measured values ​​(A′, E′) and the calibration values ​​(A T , E T ) as the evaluation criterion for the group of correction values; and select a group of correction values ​​(Δdx0, Δdy0) with the smallest error as the final unit spacing correction value of the radar system.

[0018] Step 4: Recalculate the target array coordinates.

[0019] The beam pointing compensation is obtained according to the unit spacing correction value (Δdx0, Δdy0), and the polar coordinates of the target in the M group of data are recalculated.

[0020] Step 5: Extract the inertial navigation installation error correction value.

[0021] Step 5.1: For each set of candidate correction values ​​for inertial navigation installation errors (N b , T b , D b ), calculate the rotation matrix C from the array coordinate system to the inertial navigation reference plane Rb , each set of candidate correction values ​​for inertial navigation installation error is the heading angle N b , front tilt angle T b , Roll angle D b ;

[0022] Step 5.2, based on C Rb and inertial navigation attitude (N, T, D) to convert the target array polar coordinates Convert to geodetic polar coordinates to obtain corrected measurement values ​​(A″, E″);

[0023] Step 5.3: Count the M groups of new measured values ​​(A″, E″) and the calibration values ​​(A T , E T ) as the evaluation criterion for the set of correction values; select a set of correction values ​​with the smallest statistical error (N b0 , T b0 , D b0 ) is used as the final inertial navigation installation error correction value of the radar system.

[0024] Preferably, step 1 specifically includes:

[0025] Step 1.1, fix the position of the radar system and the external antenna, and the distance between them meets the radar far field condition; calibrate the azimuth angle A from the center of the external antenna to the center of the radar array T , pitch angle E T ;

[0026] Step 1.2, connect the external antenna to the simulator and turn on the target simulation function. The radar array is facing the external antenna without rotating, and the azimuth phase scan is working. Set up a flight for the simulated target. In order to obtain as much test data as possible, switch to high data rate tracking mode;

[0027] Establishing a track for the simulated target and assigning a batch number means: establishing a track for the simulated target and assigning a batch number to facilitate the extraction of test data. You only need to filter out the data of the batch number for subsequent data analysis.

[0028] Step 1.3, the radar rotates one circle, keeps tracking the simulated target within the radar azimuth phase scan range, and records M groups of tracking measurement data at the same time, each group contains: beam pointing angle (A0, E0), inertial navigation attitude (N, T, D), array unit phase shift basis vector (α, β) and target point track angle measurement value (A, E); the beam pointing angle is A0 for azimuth and E0 for pitch; the inertial navigation attitude is heading angle N, array inclination angle T, roll angle D; the array unit phase shift basis vector is α for azimuth and β for pitch; the target point track angle measurement value is A for azimuth and E for pitch.

[0029] Preferably, in step 2, the conversion process from the earth polar coordinates to the array polar coordinates should be specifically determined according to the definitions of the earth coordinate system, the array coordinate system and the inertial navigation attitude angle.

[0030] Preferably, in step 2, the process of converting the geodetic polar coordinates of the beam pointing angle to the array polar coordinates is as follows: first, convert the geodetic polar coordinates (A0, E0) to geodetic rectangular coordinates (X n , Y n , Z n ), and then converted to the rectangular coordinates of the array surface (X R , Y R , Z R ), and finally converted to the polar coordinates of the array Specifically:

[0031]

[0032]

[0033]

[0034] Preferably, in step 2, the polar coordinates of the beam pointing to the front The conversion to sine space coordinates (u0, v0) is: v0=sinθ0.

[0035] Preferably, in step 2, the polar coordinates of the target array are The conversion to sinusoidal space coordinates (u, v) is: v=sinθ.

[0036] Preferably, in step 3, the calculation formula for the new beam pointing (u′0, v′0) is: Where λ is the radar operating wavelength, dx and dy are the theoretical spacings of horizontal and vertical units, respectively.

[0037] Preferably, in step 3, the sinusoidal spatial coordinates (u′, v′) of the target are converted to the polar coordinates of the array. Specifically: θ′=asinv′,

[0038] Preferably, in step 3, the polar coordinates of the target array are The conversion process to the geodetic polar coordinates (A′, E′) should be based on the definitions of the geodetic coordinate system, the array coordinate system and the inertial navigation attitude angle.

[0039] Preferably, in step 3, the polar coordinates of the array The conversion process to the geodetic polar coordinates (A′, E′) is as follows: first, the array polar coordinates Convert to rectangular coordinates (X R , Y R , Z R ), and then converted to geodetic rectangular coordinates (X n , Y n , Z n ), and finally converted to geodetic polar coordinates (A′, E′), specifically:

[0040]

[0041]

[0042]

[0043] E′=asinZ n .

[0044] Preferably, in step 5, the rotation matrix C from the array coordinate system to the inertial navigation reference plane is Rb , which should be determined according to the definition of array coordinate system and inertial navigation attitude angle.

[0045] Preferably, in step 5, the rotation matrix C from the array coordinate system to the inertial navigation reference plane is Rb , the specific conversion formula is:

[0046]

[0047] The beneficial effects of the present invention are:

[0048] Compared with the prior art, the present invention has the following significant advantages:

[0049] (1) It can effectively extract the difference between the designed value and the actual value of the unit spacing, improve the beam pointing accuracy, and thus improve the radar angle measurement accuracy;

[0050] (2) The error correction parameters of the radar dynamic process can be calibrated, which has a very positive effect on the optimization of radar accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 It is a system processing flow chart of the present invention.

[0052] Figure 2 This is a schematic diagram of data entry.

[0053] Figure 3 This is a graph showing how the corrected forward azimuth first-order difference changes with the scanning angle.

[0054] Figure 4 This is a graph showing the change of the first-order difference of the pitch angle with the scanning angle before correction.

[0055] Figure 5 is a three-dimensional plot of the statistical error as a function of the horizontal and vertical cell spacing corrections.

[0056] Figure 6 It is a three-dimensional graph of the statistical error changing with the roll angle and array inclination correction value.

[0057] Figure 7 This is a graph showing the change of the first-order azimuth difference with the scanning angle after correction.

[0058] Figure 8 This is a graph showing the change of the first-order difference of the pitch angle with the scanning angle after correction. DETAILED DESCRIPTION

[0059] The technical solution provided by the present invention will be described in detail below in conjunction with specific embodiments. It should be understood that the following specific implementation methods are only used to illustrate the present invention and are not used to limit the scope of the present invention.

[0060] The specific implementation methods of the unit spacing and inertial navigation installation error correction method of the present invention are described in detail below with reference to the accompanying drawings. Figure 1 As shown, the specific steps include:

[0061] In the embodiment, the definition of each coordinate system is: Earth coordinate system X n Y n Z n The azimuth is the angle with the north in the polar coordinates, and the elevation is the angle with the X n OY n Angle of plane; front coordinate system X R Y R Z R In the example, the antenna array is at Y R OZ R Plane, X R The axis points to the direction of the normal line of the array, which conforms to the right-hand coordinate system rule. In polar coordinates, the azimuth is expressed in X R OY R Projection of the plane and X R The angle between the X and X axes is positive on the right and negative on the left. R OY RThe inertial navigation system is fixedly connected to the antenna array, and the coordinate systems of the two coincide. The heading angle N is defined as the angle between the normal line of the antenna array and due north; the inclination angle T is defined as the angle in the direction opposite to Y. n Axis observation, X n OZ n The plane rotates clockwise as positive; the roll angle D is defined as the roll angle against the X n Axis observation, Y n OZ n Counterclockwise rotation of the plane is positive.

[0062] The present invention provides a method for correcting unit spacing and inertial navigation installation errors, the method comprising the following steps:

[0063] Step 1, obtain radar measurement data, record M groups of tracking measurement data at the same time, each group contains: beam pointing angle (A0, E0), inertial navigation attitude (N, T, D), array unit phase shift basis vector (α, β) and target point angle measurement value (A, E); beam pointing angle is azimuth A0, pitch E0; inertial navigation attitude is heading angle N, array tilt angle T, roll angle D; array unit phase shift basis vector is azimuth α, pitch β; target point angle measurement value is azimuth A, pitch E; calibrate the azimuth angle A from the center of the outer antenna to the center of the radar array T , pitch angle E T .

[0064] Step 1.1, fix the position of the radar system and the external antenna, and the distance between them meets the radar far field conditions, such as Figure 2 As shown; calibrate the azimuth angle A from the center of the outer antenna to the center of the radar array T is 60°, the pitch angle E T 3°;

[0065] Step 1.2, connect the external antenna to the simulator and turn on the target simulation function. The radar array is facing the external antenna without rotating, and the azimuth phase scan is working. Set up a flight for the simulated target. In order to obtain as much test data as possible, switch to high data rate tracking mode;

[0066] Establishing a flight track means establishing a flight track for the simulated target and assigning a batch number to facilitate the extraction of test data. You only need to filter out the data of the batch number for subsequent data analysis.

[0067] Step 1.3, the radar rotates slowly and uniformly for one circle, keeps tracking the simulated target within the radar azimuth phase scan range, and records M groups of tracking measurement data at the same time, each group contains: beam pointing angle (A0, E0), inertial navigation attitude (N, T, D), array unit phase shift basis vector (α, β) and target point angle measurement value (A, E); the beam pointing angle is azimuth A0 and pitch E0; the inertial navigation attitude is heading angle N, array inclination angle T, roll angle D; the array unit phase shift basis vector is azimuth α, pitch β; the target point angle measurement value is azimuth A, pitch E. Figure 3 and Figure 4 The graphs showing the change of the first-order difference of the azimuth angle A and the elevation angle E with the scanning angle are shown respectively.

[0068] Step 2: Preprocess the radar measurement data to calculate the beam pointing coordinates (u0, v0) in the sinusoidal space, the target coordinates (u, v), and the deviation of the target relative to the beam pointing in the sinusoidal space (Δu, Δv).

[0069] Step 2.1: Convert the beam pointing angle from the earth polar coordinates (A0, E0) to the array polar coordinates based on the inertial navigation attitude (N, T, D). Then we get the beam pointing coordinates (u0, v0) in sinusoidal space; where the inertial navigation attitude is the heading angle N, the array inclination angle T, and the roll angle D; the array polar coordinates are the azimuth Pitch θ0.

[0070] Step 2.2: Based on the inertial navigation attitude (N, T, D), convert the target point angle measurement value from the geodetic polar coordinates (A, E) to the array polar coordinates Then we get the target coordinates (u, v) in sinusoidal space; the inertial navigation attitude is the heading angle N, the array inclination angle T, and the roll angle D; the array polar coordinates are the azimuth Pitch θ.

[0071] Step 2.3: Further, the deviation (Δu, Δv) of the target relative to the beam pointing in the sinusoidal space can be obtained, specifically Δu=u-u0 and Δv=v-v0.

[0072] In step 2, the conversion process from the earth polar coordinates to the array polar coordinates should be based on the definitions of the earth coordinate system, the array coordinate system and the inertial navigation attitude angle.

[0073] In the embodiment, the conversion process of the geodetic polar coordinates to the array polar coordinates, taking the beam pointing angle as an example, first converts the geodetic polar coordinates (A0, E0) to the geodetic rectangular coordinates (X n , Y n , Z n ), and then converted to the rectangular coordinates of the array surface (X R , Y R , Z R), and finally converted to the polar coordinates of the array Specifically:

[0074]

[0075]

[0076]

[0077] In step 2, the polar coordinates of the beam pointing to The conversion to sine space coordinates (u0, v0) is: v0=sinθ0.

[0078] In step 2, the target's polar coordinates The conversion to sinusoidal space coordinates (u, v) is: v=sinθ.

[0079] Step 3: Extract the cell spacing correction value.

[0080] Step 3.1, for each group of candidate correction values ​​for element spacing (Δdx, Δdy), calculate a new beam pointing (u′0, v′0), where each group of candidate correction values ​​for element spacing is Δdx in the horizontal direction and Δdy in the vertical direction;

[0081] Step 3.2, obtain the new sinusoidal space coordinates (u′, v′) of the target according to the new beam pointing and target deviation (Δu, Δv);

[0082] Step 3.3: Convert the target (u′, v′) to the polar coordinates of the array Then, based on the inertial navigation attitude (N, T, D), the target is converted to the geodetic polar coordinates to obtain the corrected measurement values ​​(A′, E′);

[0083] Step 3.4: Count the errors between the M groups of new measurement values ​​(A′, E′) and the calibration values ​​(60°, 3°) as the evaluation criteria for the group of correction values; select the group of correction values ​​(Δdx0, Δdy0) with the smallest error as the final unit spacing correction value of the radar system.

[0084] Figure 5 A three-dimensional graph showing the statistical error as a function of the horizontal and vertical unit spacing correction values. The set of correction values ​​with the smallest error (0.0002, 0.0001) is taken as the final unit spacing correction value of the radar system.

[0085] In step 3, the calculation formula for the new beam pointing (u′0, v′0) is: Where λ is the radar operating wavelength, dx and dy are the theoretical spacings of horizontal and vertical units, respectively.

[0086] In step 3, the sinusoidal space coordinates (u′, v′) of the target are converted to the polar coordinates of the array. Specifically: θ′=asinv′,

[0087] In step 3, the target's polar coordinates The conversion process to the geodetic polar coordinates (A′, E′) should be based on the definitions of the geodetic coordinate system, the array coordinate system and the inertial navigation attitude angle.

[0088] In the embodiment, the polar coordinates of the array To convert the polar coordinates (A′, E′) to the geodetic polar coordinates, first convert the polar coordinates Convert to rectangular coordinates (X R , Y R , Z R ), and then converted to geodetic rectangular coordinates (X n , Y n , Z n ), and finally converted to geodetic polar coordinates (A′, E′), specifically:

[0089]

[0090]

[0091]

[0092] E′=asinZ n .

[0093] Step 4: Recalculate the target array coordinates.

[0094] The beam pointing compensation is obtained according to the unit spacing correction value (Δdx0, Δdy0), and the polar coordinates of the target in the M group of data are recalculated.

[0095] Step 5: Extract the inertial navigation installation error correction value.

[0096] Step 5.1: For each set of candidate correction values ​​for inertial navigation installation errors (N b , T b , D b ), calculate the rotation matrix C from the array coordinate system to the inertial navigation reference plane Rb , each set of candidate correction values ​​for inertial navigation installation error is the heading angle N b , front tilt angle T b , Roll angle D b ;

[0097] Step 5.2, based on C Rb and inertial navigation attitude (N, T, D) to convert the target array polar coordinates Convert to geodetic polar coordinates to obtain corrected measurement values ​​(A″, E″);

[0098] Step 5.3: Count the errors between the M groups of new measured values ​​(A″, E″) and the calibration values ​​(60°, 3°) as the evaluation criteria for the group of correction values; select the group of correction values ​​(N) with the smallest statistical error. b0 , T b0 , D b0 ) is used as the final inertial navigation installation error correction value of the radar system.

[0099] Figure 6 Shows statistical error in N b0 = 0.2, the three-dimensional graph of the change of the roll angle and the array inclination correction value, the set of correction values ​​with the smallest error (T b0 =0.1, D b0 =-0.2) as the final inertial navigation installation correction value of the radar system.

[0100] In step 5, the rotation matrix C from the array coordinate system to the inertial navigation reference plane Rb , which should be determined according to the definition of array coordinate system and inertial navigation attitude angle.

[0101] In the embodiment, the rotation matrix C from the array coordinate system to the inertial navigation reference plane Rb , the specific conversion formula is:

[0102]

[0103] Figure 7 This is the change diagram of the first-order difference of the azimuth angle with the scanning angle after correction. Figure 8 This is the change diagram of the first-order difference of the pitch angle after correction with the scanning angle. Compared with Figure 1 and Figure 2 There is a significant improvement in accuracy.

[0104] The above description is only the best specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

[0105] The contents not described in detail in the specification of the present invention belong to the common knowledge of the professionals in this field.

Claims

1. A method for correcting unit spacing and inertial navigation installation errors, characterized in that: The steps of this method are as follows: Step 1, obtain radar measurement data; record M groups of tracking measurement data at the same time, each group contains: beam pointing angle (A0, E0), inertial navigation attitude (N, T, D), array unit phase shift basis vector (α, β) and target point angle measurement value (A, E); beam pointing angle is azimuth A0, pitch E0; inertial navigation attitude is heading angle N, array tilt angle T, roll angle D; array unit phase shift basis vector is azimuth α, pitch β; target point angle measurement value is azimuth A, pitch E; calibrate the azimuth angle A from the center of the outer antenna to the center of the radar array T , pitch angle E T ; Step 2: Preprocess the radar measurement data to calculate the beam pointing coordinates (u0, v0) in the sinusoidal space, the target coordinates (u, v), and the deviation of the target relative to the beam pointing in the sinusoidal space (Δu, Δv); Step 2.1: Convert the beam pointing angle from the earth polar coordinates (A0, E0) to the array polar coordinates based on the inertial navigation attitude (N, T, D). Then we get the beam pointing coordinates (u0, v0) in sinusoidal space; where the inertial navigation attitude is the heading angle N, the array inclination angle T, and the roll angle D; the array polar coordinates are the azimuth Pitch θ0; Step 2.2: Based on the inertial navigation attitude (N, T, D), convert the target point angle measurement value from the geodetic polar coordinates (A, E) to the array polar coordinates Then we get the target coordinates (u, v) in sinusoidal space; the inertial navigation attitude is the heading angle N, the array inclination angle T, and the roll angle D; the array polar coordinates are the azimuth Pitch θ; Step 2.3, further obtain the deviation (Δu, Δv) of the target relative to the beam pointing in the sinusoidal space, specifically Δu = u-u0 and Δv = v-v0; Step 3, extracting the unit spacing correction value; Step 3.1, for each set of candidate correction values ​​for element spacing (Δdx, Δdy), calculate a new beam pointing direction (u′0, v′0), where each set of candidate correction values ​​for element spacing is Δdx in the horizontal direction and Δdy in the vertical direction; Step 3.2, obtain the new sinusoidal space coordinates (u′, v′) of the target according to the new beam pointing and target deviation (Δu, Δv); Step 3.3: Convert the target (u′, v′) to the polar coordinates of the array Then, based on the inertial navigation attitude (N, T, D), the target is converted to the geodetic polar coordinates to obtain the corrected measurement values ​​(A′, E′); Step 3.4: Count the M groups of new measured values ​​(A′, E′) and the calibration values ​​(A T , E T ) as the evaluation criterion for the group of correction values; selecting a group of correction values ​​(Δdx0, Δdy0) with the smallest error as the final unit spacing correction value of the radar system; Step 4: Recalculate the target array coordinates; The beam pointing compensation is obtained according to the unit spacing correction value (Δdx0, Δdy0), and the polar coordinates of the target in the M group of data are recalculated. Step 5, extracting the inertial navigation installation error correction value; Step 5.1: For each set of candidate correction values ​​for inertial navigation installation errors (N b , T b , D b ), calculate the rotation matrix C from the array coordinate system to the inertial navigation reference plane Rb , each set of candidate correction values ​​for inertial navigation installation error is the heading angle N b , front tilt angle T b , Roll angle D b ; Step 5.2, based on C Rb and inertial navigation attitude (N, T, D) to convert the target array polar coordinates Convert to geodetic polar coordinates to obtain corrected measurement values ​​(A″, E″); Step 5.3: Count the M groups of new measured values ​​(A″, E″) and the calibration values ​​(A T , E T ) as the evaluation criterion for the set of correction values; select a set of correction values ​​with the smallest statistical error (N b0 , T b0 , D b0 ) is used as the final inertial navigation installation error correction value of the radar system.

2. The method according to claim 1, characterized in that Step 1 specifically includes: Step 1.1, fix the position of the radar system and the external antenna, and the distance between them meets the radar far field condition; calibrate the azimuth angle A from the center of the external antenna to the center of the radar array T , pitch angle E T ; Step 1.2, connect the external antenna to the simulator and turn on the target simulation function. The radar array is facing the external antenna without rotating, and the azimuth phase scan is working. Set up a flight for the simulated target. In order to obtain as much test data as possible, switch to high data rate tracking mode; Establishing a flight path means establishing a flight path for the simulated target and assigning a batch number to facilitate the extraction of test data. You only need to filter out the data of the batch number for subsequent data analysis. Step 1.3, the radar rotates one circle, keeps tracking the simulated target within the radar azimuth phase scan range, and records M groups of tracking measurement data at the same time, each group contains: beam pointing angle (A0, E0), inertial navigation attitude (N, T, D), array unit phase shift basis vector (α, β) and target point track angle measurement value (A, E); the beam pointing angle is A0 for azimuth and E0 for pitch; the inertial navigation attitude is heading angle N, array inclination angle T, roll angle D; the array unit phase shift basis vector is α for azimuth and β for pitch; the target point track angle measurement value is A for azimuth and E for pitch.

3. The method according to claim 1, characterized in that In step 2, the conversion process from the earth polar coordinates to the array polar coordinates should be based on the definitions of the earth coordinate system, the array coordinate system and the inertial navigation attitude angle; The process of converting the geodetic polar coordinates of the beam pointing angle to the array polar coordinates is as follows: first convert the geodetic polar coordinates (A0, E0) to the geodetic rectangular coordinates (X n , Y n , Z n ), and then converted to the rectangular coordinates of the array (X R , Y R , Z R ), and finally converted to the polar coordinates of the array Specifically:

4. The method according to claim 1, characterized in that: In step 2, the polar coordinates of the beam pointing to The conversion to the sine space coordinates (u0,v0) is: v0=sinθ0.

5. The method according to claim 1, characterized in that In step 2, the target's polar coordinates The conversion to sinusoidal space coordinates (u,v) is: v=sinθ.

6. The method according to claim 1, characterized in that In step 3, the calculation formula for the new beam pointing (u′0, v′0) is: Where λ is the radar operating wavelength, dx and dy are the theoretical spacings of horizontal and vertical units, respectively.

7. The method according to claim 1, characterized in that In step 3, the sinusoidal space coordinates (u′, v′) of the target are converted to the polar coordinates of the array. Specifically: θ′=asinv′, 8. The method according to claim 1, characterized in that In step 3, the target's polar coordinates The conversion process to the geodetic polar coordinates (A′, E′) should be based on the definitions of the geodetic coordinate system, the array coordinate system and the inertial navigation attitude angle; Polar coordinates The conversion process to the geodetic polar coordinates (A′, E′) is as follows: first convert the array polar coordinates Convert to rectangular coordinates (X R ,Y R ,Z R ), and then converted to geodetic rectangular coordinates (X n ,Y n ,Z n ), and finally converted to geodetic polar coordinates (A′, E′), specifically: E′=asinZ n 。 9. The method according to claim 1, characterized in that: In step 5, the rotation matrix C from the array coordinate system to the inertial navigation reference plane Rb , which should be determined according to the definition of the array coordinate system and the inertial navigation attitude angle; The rotation matrix C from the array coordinate system to the inertial navigation reference plane Rb , the specific conversion formula is:

Images