Beam pointing error correction method and system for anisotropic multimode sensor simulation

Abstract

The application provides a beam pointing error correction method and system for a special-shaped multi-mode sensor simulation, based on the idea of multi-element antenna beam synthesis, calculates the distance deviation of the antenna to the sensor according to the real-time changing radiation antenna position, and then combines the distance deviation and the working wavelength to solve the phase deviation, and according to the phase deviation, corrects the equal phase plane deviation of the multi-element antenna at the center of the sensor module through a phase shifter, realizes the compensation control of the multi-element antenna synthesis beam pointing, and finally realizes the angle simulation error correction of the single system semi-physical simulation of the special-shaped multi-mode sensor. The application guarantees the simulation accuracy of the real-time beam pointing of the semi-physical simulation of the sensor, reduces the target radiation capacity loss in the simulation process, and improves the reliability of the semi-physical simulation system.

Description

Technical Field

[0001] This invention relates to the field of simulation technology, and more specifically, to a beam pointing error correction method and system for simulation of irregularly shaped multimode sensors. Background Technology

[0002] In today's complex combat environment, the anti-jamming capability of guided weapon sensors has become a key factor in their hit probability. Among them, broadband multi-mode guided weapons, due to their advantages in multi-band anti-jamming capabilities, have become a focus of current precision-guided weapon development. Compared with conventional symmetrical multi-mode sensors, irregularly shaped multi-mode sensors have higher device technology maturity and relatively lower cost. However, hardware-in-the-loop simulation of irregularly shaped multi-mode sensors is currently a major challenge in the field of guided weapon development.

[0003] like Figure 1 The diagram shows the system composition and principle of a hardware-in-the-loop simulation of a guided weapon sensor. The simulation system mainly includes the sensor under test (SUT), a flight turntable, a target simulation system, an anechoic chamber, and a simulation control system. The target simulation system uses a multi-element antenna array for signal radiation. The SUT is mounted on the flight turntable. Normally, the center of the SUT's receiving module coincides with the turntable's rotation center, which remains constant during the turntable's rotation, thus ensuring the same position for the SUT's receiving module. The multi-element antenna array is mounted on a sphere centered on the turntable's rotation center, with the antenna radiation direction pointing towards the turntable's rotation center, ensuring beam pointing accuracy during real-time simulation. The target simulation system simulates target motion. The SUT detects target signals and sends feedback information to the simulation control system. The simulation control system calculates flight turntable control commands and target control commands in real time based on the feedback information from the SUT. The flight turntable and target simulation system respond to the corresponding control commands, forming a simulation closed loop.

[0004] Hardware-in-the-loop simulation of irregularly shaped sensors, due to the presence of two sensor module centers, can only guarantee the beam pointing simulation accuracy of one module center. Generally, the receiving center of one sensor under test is placed at the center of the flight turntable to ensure the beam pointing simulation accuracy of this sensor under test; the beam pointing simulation accuracy of the other sensor under test will deteriorate because it is not at the center of the flight turntable.

[0005] Currently, to achieve hardware-in-the-loop simulation of irregularly shaped multimode sensors, a dual-system linkage approach is generally adopted. This involves splitting the sensor under test into two modules, installing them separately into two hardware-in-the-loop simulation systems, and then using a communication link to achieve information exchange between the two systems. This ensures the beam pointing simulation accuracy of the center of the two modules of the irregularly shaped multimode sensor. However, the dual-system approach requires splitting the sensor and consumes excessive simulation resources. Therefore, a correction method is needed to address the beam simulation error problem of irregularly shaped multimode sensors and achieve single-system simulation of these sensors.

[0006] like Figure 2 The diagram shows the spatial relationship of a hardware-in-the-loop simulation of a single-system multimode sensor. The multimode sensor has two operating frequency bands, and correspondingly, the sensor also has two module centers, as shown below. Figure 2 The diagram shows module centers MC1 and MC2. The target simulation system will simulate targets in two operating frequency bands that meet the sensor requirements, such as... Figure 2 As shown, targets T1 and T2 have their radiating antennas mounted on a sphere centered on the rotation center of the flight turntable (i.e., the module center). Without any modifications, the beams of both targets T1 and T2 point towards the rotation center of the flight turntable. However, the beam of target T2 should be as follows: Figure 2 The image shows the position pointing to the center MC2 of the module. The present invention corrects the beam direction of the target T2 to the position of the center MC2 of the module through a certain compensation method.

[0007] The beam pointing correction scheme for the guidance and control hardware-in-the-loop simulation of a single system for a non-uniform multi-mode sensor provided by this invention adopts phase compensation and multi-element antenna beamforming technology, which can solve the problem of beam pointing simulation error in the hardware-in-the-loop simulation of a single system for a non-uniform multi-mode sensor, and support the improvement of the high-precision guidance and control hardware-in-the-loop simulation capability of non-uniform multi-mode sensors. Summary of the Invention

[0008] To address the shortcomings of existing technologies, the purpose of this invention is to provide a beam pointing error correction method and system for simulation of irregularly shaped multimode sensors.

[0009] A beam pointing error correction method for simulation of irregularly shaped multimode sensors provided by the present invention includes:

[0010] Step S1: Based on the real-time target line-of-sight information and the anechoic chamber structure layout, calculate the real-time position information of the target multi-element antenna; wherein, the multi-element antenna refers to a radio frequency signal synthesized by multiple antenna elements, and the phase of each antenna element remains consistent.

[0011] Step S2: Based on the motion information of the flight turntable and the sensor structure dimensions, calculate the real-time position information of the module center MC2 in the module center of the two sensor modules; wherein, the module centers of the two sensors corresponding to the two working frequency bands of the multi-mode sensor are module center MC1 and module center MC2, respectively. Module center MC1 is at the rotation center of the flight turntable, while module center MC2 is not at the rotation center of the flight turntable.

[0012] Step S3: Based on the real-time position information of the target multi-element antenna and the real-time position information of the module center MC2;

[0013] The real-time distance information from the multi-element antenna group to the center MC2 of the sensor module is calculated, and the distance difference from each antenna element in the multi-element group to the center MC2 of the sensor module is calculated based on the minimum distance among them.

[0014] Step S4: Calculate the real-time phase difference based on the distance difference and the sensor's operating wavelength;

[0015] Step S5: Using the phase difference as a control command, control the phase controller in the target simulation system to compensate for the phase difference of the multi-element antenna and complete the error correction of the synthesized beam pointing of the multi-element antenna.

[0016] Preferably, in step S1:

[0017] The real-time position coordinates (x, y) of the antenna elements of the target multi-element antenna were calculated. i ,y i ,z i )for:

[0018]

[0019] Subscripts i = 1, 2, 3, which correspond to antenna elements A1, B1, and C1, respectively;

[0020] R represents the distance from the rotation center of the flight turntable in the dark chamber to the spherical surface of the target simulation system;

[0021] α and β represent the elevation angle and azimuth angle of the target's line of sight, respectively.

[0022] The coordinates (x) i ,y i ,z i The coordinate system is established in the dark room with the center of the flight turntable as the origin. The line connecting the center of the flight turntable to the center of the target sphere is the x-axis, the line passing through the origin and perpendicular to the ground upwards is the y-axis, and the z-axis is determined according to the right-hand coordinate system.

[0023] Preferably, in step S2:

[0024] The coordinate transformation matrix from the flight turntable coordinate system to the inertial coordinate system is expressed as follows: It is expressed as follows:

[0025]

[0026] θ * , γ * These represent the three dimensions of the flight turntable control commands: the middle frame, the outer frame, and the inner frame.

[0027] The position of module center MC2 is denoted as point P1, and the vector corresponding to the coordinates of point P1 in the flight turntable system is... Represented as

[0028]

[0029] L1, L2, and L3 represent the axial, longitudinal, and lateral distances of the sensor structure, respectively.

[0030] Solve the coordinates of point P1 in the inertial frame. for:

[0031]

[0032] Preferably, in step S3:

[0033] Calculate the real-time distance information from the multi-element antenna group to the center MC2 of the sensor module, and select the minimum distance d. min Using this as a benchmark, the distance difference from each antenna in the ensemble to the center MC2 of the sensor module is calculated. The distance calculation is as follows:

[0034]

[0035] Subscripts i = 1, 2, 3, which correspond to antenna elements A1, B1, and C1, respectively;

[0036] x p1 y p1 z p1 This represents the coordinates of point P1 in the inertial frame.

[0037] Preferably, in step S4:

[0038] Based on the distance difference and the sensor's operating wavelength λ, the real-time phase difference p is calculated. i The specific solution is as follows:

[0039] p i =(d i -d min ) / λ·360°

[0040] Where the subscripts i = 1, 2, 3 correspond to antenna elements A1, B1, and C1, respectively;

[0041] In step S5:

[0042] With phase difference p i The control command controls the phase controller in the target simulation system to compensate for the phase difference of the multi-element antenna and complete the error correction of the pointing of the synthesized beam of the multi-element antenna.

[0043] A beam pointing error correction system for simulating irregularly shaped multimode sensors, provided by the present invention, includes:

[0044] Module M1: Based on real-time target line-of-sight information and the anechoic chamber structure layout, calculate the real-time position information of the target multi-element antenna; wherein, the multi-element antenna refers to a radio frequency signal synthesized by multiple antenna elements, and the phase of each antenna element remains consistent;

[0045] Module M2: Based on the motion information of the flight turntable and the structural dimensions of the sensors, calculate the real-time position information of the module center MC2 of the two sensors. The module centers of the two sensors corresponding to the two working frequency bands of the multi-mode sensors are module center MC1 and module center MC2, respectively. Module center MC1 is at the rotation center of the flight turntable, while module center MC2 is not at the rotation center of the flight turntable.

[0046] Module M3: Based on the real-time position information of the target multi-element antenna and the real-time position information of the module center MC2,

[0047] The real-time distance information from the multi-element antenna group to the center MC2 of the sensor module is calculated, and the distance difference from each antenna element in the multi-element group to the center MC2 of the sensor module is calculated based on the minimum distance among them.

[0048] Module M4: Based on the distance difference and the sensor's operating wavelength, calculate the real-time phase difference;

[0049] Module M5: Using the phase difference as a control command, it controls the phase controller in the target simulation system to compensate for the phase difference of the multi-element antenna and complete the error correction of the pointing of the synthesized beam of the multi-element antenna.

[0050] Preferably, in module M1:

[0051] The real-time position coordinates (x, y) of the antenna elements of the target multi-element antenna were calculated. i ,y i ,z i )for:

[0052]

[0053] Subscripts i = 1, 2, 3, which correspond to antenna elements A1, B1, and C1, respectively;

[0054] R represents the distance from the rotation center of the flight turntable in the dark chamber to the spherical surface of the target simulation system;

[0055] α and β represent the elevation angle and azimuth angle of the target's line of sight, respectively.

[0056] The coordinates (x) i ,y i ,z i The coordinate system is established in the dark room with the center of the flight turntable as the origin. The line connecting the center of the flight turntable to the center of the target sphere is the x-axis, the line passing through the origin and perpendicular to the ground upwards is the y-axis, and the z-axis is determined according to the right-hand coordinate system.

[0057] Preferably, in module M2:

[0058] The coordinate transformation matrix from the flight turntable coordinate system to the inertial coordinate system is expressed as follows: It is expressed as follows:

[0059]

[0060] θ * , γ * These represent the three dimensions of the flight turntable control commands: the middle frame, the outer frame, and the inner frame.

[0061] The position of module center MC2 is denoted as point P1, and the vector corresponding to the coordinates of point P1 in the flight turntable system is... Represented as

[0062]

[0063] L1, L2, and L3 represent the axial, longitudinal, and lateral distances of the sensor structure, respectively.

[0064] Solve the coordinates of point P1 in the inertial frame. for:

[0065]

[0066] Preferably, in module M3:

[0067] Calculate the real-time distance information from the multi-element antenna group to the center MC2 of the sensor module, and select the minimum distance d. min Using this as a benchmark, the distance difference from each antenna in the ensemble to the center MC2 of the sensor module is calculated. The distance calculation is as follows:

[0068]

[0069] Subscripts i = 1, 2, 3, which correspond to antenna elements A1, B1, and C1, respectively;

[0070] x p1 y p1 z p1 This represents the coordinates of point P1 in the inertial frame.

[0071] Preferably, in module M4:

[0072] Based on the distance difference and the sensor's operating wavelength λ, the real-time phase difference p is calculated. i The specific solution is as follows:

[0073] p i =(d i -d min ) / λ·360°

[0074] Where the subscripts i = 1, 2, 3 correspond to antenna elements A1, B1, and C1, respectively;

[0075] In module M5:

[0076] With phase difference p i The control command controls the phase controller in the target simulation system to compensate for the phase difference of the multi-element antenna and complete the error correction of the pointing of the synthesized beam of the multi-element antenna.

[0077] Compared with the prior art, the present invention has the following beneficial effects:

[0078] 1. This invention calculates the real-time position information of the multi-element antenna by using real-time target line-of-sight information, combines the motion information of the center of the receiving module of the non-standard multi-mode sensor under test, calculates the distance from the multi-element antenna to the center of the receiving module, calculates the phase error based on the distance difference and the working wavelength of the sensor, and finally compensates for the phase error to correct the pointing error of the synthesized beam.

[0079] 2. This invention realizes single-system semi-physical simulation of irregularly shaped multimode sensors, saving resources and costs, and avoiding the risks of disassembling the sensor.

[0080] 3. This invention improves beam pointing accuracy, reduces the loss of target radiated energy, and ensures the credibility of the simulation system. Attached Figure Description

[0081] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0082] Figure 1 A schematic diagram illustrating the system composition and principle of a hardware-in-the-loop simulation of a guided weapon sensor.

[0083] Figure 2 This is a schematic diagram of the spatial relationships in a hardware-in-the-loop simulation of a single system for an irregularly shaped multimode sensor.

[0084] Figure 3 This is a schematic diagram of beam correction in a hardware-in-the-loop simulation of an irregularly shaped multimode single system.

[0085] Figure 4 This is a schematic diagram of an irregularly shaped multimode sensor structure. Detailed Implementation

[0086] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0087] The purpose of this invention is to correct the angular error of radar signals encountered by irregularly shaped multimode sensors during hardware-in-the-loop (HIL) simulation, thereby ensuring high-precision HIL simulation. Specifically, this invention is based on the concept of beamforming from a multi-element antenna group. It calculates the distance deviation between the antenna and the sensor based on the real-time changing position of the radiating antenna, then calculates the phase deviation by combining the distance deviation and the operating wavelength. Based on the phase deviation, a phase shifter is used to correct the equiphase surface deviation of the multi-element antenna group at the center of the sensor module, achieving compensatory control of the beam pointing of the synthesized beam from the multi-element antenna group. Ultimately, this achieves the correction of the angular simulation error in the HIL simulation of an irregularly shaped multimode sensor single system. This beam pointing error correction method for irregularly shaped multimode sensor simulation ensures the simulation accuracy of real-time beam pointing in the HIL simulation of this type of sensor, reduces the loss of target radiation capability during the simulation process, and improves the reliability of the HIL simulation system.

[0088] A beam pointing error correction method for simulation of irregularly shaped multimode sensors provided by the present invention includes:

[0089] Step S1: Based on the real-time target line-of-sight information and the anechoic chamber structure layout, calculate the real-time position information of the target multi-element antenna; wherein, the multi-element antenna refers to the radio frequency signal synthesized by multiple antenna elements, and in order to ensure its simulation accuracy, the phase of each antenna element needs to be kept consistent;

[0090] Step S2: Based on the motion information of the flight turntable and the dimensions of the sensor structure, calculate the real-time position information of the center MC2 of the sensor module;

[0091] Step S3: Calculate the real-time distance information from the multi-element antenna group to the center MC2 of the sensor module, and use the smallest distance among them as the benchmark to calculate the distance difference between each antenna group and the center MC2 of the sensor module.

[0092] Step S4: Calculate the real-time phase difference based on the distance difference and the sensor's operating wavelength;

[0093] Step S5: Using the phase difference as the control command, control the phase controller in the target simulation system to compensate for the phase difference of the multi-element antenna and complete the error correction of the pointing of the synthesized beam of the multi-element antenna.

[0094] Because the module center MC2 is not at the turning center of the flight turntable, the distances from each of the multiple antenna groups to the module center MC2 are different. This will cause the phase of the radiated signals from the multiple antenna groups to be unequal at the module center MC2, resulting in angular deviations. Figure 3 The diagram shows a schematic of beam correction in a hardware-in-the-loop simulation of a non-uniform multimode single-system antenna. Point P1 represents the position of the module center MC2, and the target T2 is located at point P2. Target T2 is simulated by antenna elements A1, B1, and C1 in the multi-element antenna array. Since the distances (A1P1, B1P1, C1P1) from antenna elements A1, B1, and C1 to the module center MC2 are unequal, the phase of the multi-element antenna radiated signal at the module center MC2 is unequal. This causes the equiphase surface of the multi-element antenna signal to tilt at point P1, changing from surface I to surface I'. Consequently, the target position detected by the sensor changes from P2 to N. Therefore, the design idea of ​​the correction method in this invention is to compensate for the phase of the multi-element antenna radiated signal by calculating the distance difference between each antenna element in the multi-element antenna array to the module center MC2 in real time, ensuring that the phase of the multi-element antenna radiated signal received by the module center MC2 is equal, thus theoretically correcting this error.

[0095] The present invention will now be described in more detail. A beam pointing error correction method for simulation of irregularly shaped multimode sensors provided by the present invention includes:

[0096] Step S1: Based on the real-time target line-of-sight information and the anechoic chamber structure layout, calculate the real-time position information of the target's multi-element antennas;

[0097] Among these, the target line-of-sight information and the anechoic chamber structure are known items. The target line-of-sight is divided into elevation and azimuth angles, denoted as α and β, respectively. The angles of the corresponding antenna elements A1, B1, and C1 of the multi-element antenna can be represented as (α1, β1), (α2, β2), and (α3, β3), respectively. The distance from the rotation center of the flight turntable inside the anechoic chamber to the spherical surface of the target simulation system can be measured and denoted as R. A coordinate system is established inside the anechoic chamber with the rotation center of the flight turntable as the origin. The line connecting the rotation center of the flight turntable to the center of the target spherical surface is the x-axis, the y-axis is perpendicular to the ground and pointing upwards through the origin, and the z-axis is determined using a right-handed coordinate system. Under this coordinate system, the position information of the target multi-element antennas A1, B1, and C1 can be represented as follows:

[0098]

[0099] The subscripts i = 1, 2, 3 correspond to antenna elements A1, B1, and C1, respectively.

[0100] Step S2: Based on the motion information of the flight turntable and the dimensions of the sensor structure, calculate the real-time position information of the center MC2 of the sensor module.

[0101] Motion information of the flight turntable can be obtained from flight turntable control commands. These commands have three dimensions: the middle frame, the outer frame, and the inner frame, which are used to simulate the aircraft's directional, pitch, and roll movements, respectively, and are represented by θ. * , γ * , where is a known quantity.

[0102] The coordinate transformation matrix from the flight turntable coordinate system to the inertial coordinate system is expressed as follows: Specifically, it is expressed as follows:

[0103]

[0104] Sensor structural dimensions such as Figure 4 As shown, its axial, longitudinal, and lateral distances are L1, L2, and L3, respectively. The vector corresponding to the coordinates of the module center point P1 in the flight turntable system is... It can be represented as

[0105]

[0106] Based on the coordinate transformation matrix from the flight turntable frame to the inertial frame and the coordinates of the center point MC2 of the receiver module R2 in the flight turntable frame, the coordinates of the center point P1 of the receiver module R2 in the inertial frame are calculated. The specific solution is as follows:

[0107]

[0108] Step S3: Calculate the real-time distance information from the multi-element antenna group to the center MC2 of the sensor module, and select the minimum distance d. min Using this as a benchmark, the distance difference from each antenna in the ensemble to the center MC2 of the sensor module is calculated. The distance calculation is as follows:

[0109]

[0110] The subscripts i = 1, 2, 3 correspond to antenna elements A1, B1, and C1, respectively.

[0111] x p1 y p1 z p1 This represents the coordinates of point P1 in the inertial frame.

[0112] Step S4: Based on the distance difference and the sensor's operating wavelength λ, calculate the real-time phase difference p. i The specific solution is as follows:

[0113] p i =(d i -d min ) / λ·360°

[0114] The subscripts i = 1, 2, 3 correspond to antenna elements A1, B1, and C1, respectively.

[0115] Step S5: With phase difference p i The control command controls the phase controller in the target simulation system to compensate for the phase difference of the multi-element antenna and complete the error correction of the pointing of the synthesized beam of the multi-element antenna.

[0116] The present invention also provides a beam pointing error correction system for simulation of irregular multimode sensors. Those skilled in the art can implement the beam pointing error correction system for simulation of irregular multimode sensors by performing the steps of the beam pointing error correction method for simulation of irregular multimode sensors. That is, the beam pointing error correction method for simulation of irregular multimode sensors can be understood as a preferred embodiment of the beam pointing error correction system for simulation of irregular multimode sensors.

[0117] A beam pointing error correction system for simulating irregularly shaped multimode sensors, provided by the present invention, includes:

[0118] Module M1: Based on real-time target line-of-sight information and the anechoic chamber structure layout, calculate the real-time position information of the target multi-element antenna; wherein, the multi-element antenna refers to a radio frequency signal synthesized by multiple antenna elements, and the phase of each antenna element remains consistent;

[0119] Module M2: Based on the motion information of the flight turntable and the structural dimensions of the sensors, calculate the real-time position information of the module center MC2 of the two sensors. The module centers of the two sensors corresponding to the two working frequency bands of the multi-mode sensors are module center MC1 and module center MC2, respectively. Module center MC1 is at the rotation center of the flight turntable, while module center MC2 is not at the rotation center of the flight turntable.

[0120] Module M3: Based on the real-time position information of the target multi-element antenna and the real-time position information of the module center MC2,

[0121] The real-time distance information from the multi-element antenna group to the center MC2 of the sensor module is calculated, and the distance difference from each antenna element in the multi-element group to the center MC2 of the sensor module is calculated based on the minimum distance among them.

[0122] Module M4: Based on the distance difference and the sensor's operating wavelength, calculate the real-time phase difference;

[0123] Module M5: Using the phase difference as a control command, it controls the phase controller in the target simulation system to compensate for the phase difference of the multi-element antenna and complete the error correction of the pointing of the synthesized beam of the multi-element antenna.

[0124] Preferably, in module M1:

[0125] The real-time position coordinates (x, y) of the antenna elements of the target multi-element antenna were calculated. i ,y i ,z i )for:

[0126]

[0127] Subscripts i = 1, 2, 3, which correspond to antenna elements A1, B1, and C1, respectively;

[0128] R represents the distance from the rotation center of the flight turntable in the dark chamber to the spherical surface of the target simulation system;

[0129] α and β represent the elevation angle and azimuth angle of the target's line of sight, respectively.

[0130] The coordinates (x) i ,y i ,z i The coordinate system is established in the dark room with the center of the flight turntable as the origin. The line connecting the center of the flight turntable to the center of the target sphere is the x-axis, the line passing through the origin and perpendicular to the ground upwards is the y-axis, and the z-axis is determined according to the right-hand coordinate system.

[0131] Preferably, in module M2:

[0132] The coordinate transformation matrix from the flight turntable coordinate system to the inertial coordinate system is expressed as follows: It is expressed as follows:

[0133]

[0134] θ * , γ * These represent the three dimensions of the flight turntable control commands: the middle frame, the outer frame, and the inner frame.

[0135] The position of module center MC2 is denoted as point P1, and the vector corresponding to the coordinates of point P1 in the flight turntable system is... Represented as

[0136]

[0137] L1, L2, and L3 represent the axial, longitudinal, and lateral distances of the sensor structure, respectively.

[0138] Solve the coordinates of point P1 in the inertial frame. for:

[0139]

[0140] Preferably, in module M3:

[0141] Calculate the real-time distance information from the multi-element antenna group to the center MC2 of the sensor module, and select the minimum distance d. min Using this as a benchmark, the distance difference from each antenna in the ensemble to the center MC2 of the sensor module is calculated. The distance calculation is as follows:

[0142]

[0143] Subscripts i = 1, 2, 3, which correspond to antenna elements A1, B1, and C1, respectively;

[0144] x p1 y p1 z p1 This represents the coordinates of point P1 in the inertial frame.

[0145] Preferably, in module M4:

[0146] Based on the distance difference and the sensor's operating wavelength λ, the real-time phase difference p is calculated. i The specific solution is as follows:

[0147] p i =(d i -d min ) / λ·360°

[0148] Where the subscripts i = 1, 2, 3 correspond to antenna elements A1, B1, and C1, respectively;

[0149] In module M5:

[0150] With phase difference p i The control command controls the phase controller in the target simulation system to compensate for the phase difference of the multi-element antenna and complete the error correction of the pointing of the synthesized beam of the multi-element antenna.

[0151] Those skilled in the art will understand that, in addition to implementing the system, apparatus, and their modules provided by this invention in purely computer-readable program code, the same program can be implemented in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, the system, apparatus, and their modules provided by this invention can be considered a hardware component, and the modules included therein for implementing various programs can also be considered structures within the hardware component; alternatively, modules for implementing various functions can be considered both software programs implementing the method and structures within the hardware component.

[0152] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A beam pointing error correction method for simulation of irregularly shaped multimode sensors, characterized in that, include: Step S1: Based on the real-time target line-of-sight information and the anechoic chamber structure layout, calculate the real-time position information of the target multi-element antenna; wherein, the multi-element antenna refers to a radio frequency signal synthesized by multiple antenna elements, and the phase of each antenna element remains consistent. Step S2: Based on the motion information of the flight turntable and the sensor structure dimensions, calculate the real-time position information of the module center MC2 in the module center of the two sensor modules; wherein, the module centers of the two sensors corresponding to the two working frequency bands of the multi-mode sensor are module center MC1 and module center MC2, respectively. Module center MC1 is at the rotation center of the flight turntable, while module center MC2 is not at the rotation center of the flight turntable. Step S3: Based on the real-time position information of the target multi-element antenna and the real-time position information of the module center MC2; The real-time distance information from the multi-element antenna group to the center MC2 of the sensor module is calculated, and the distance difference from each antenna element in the multi-element group to the center MC2 of the sensor module is calculated based on the minimum distance among them. Step S4: Calculate the real-time phase difference based on the distance difference and the sensor's operating wavelength; Step S5: Using the phase difference as a control command, control the phase controller in the target simulation system to compensate for the phase difference of the multi-element antenna and complete the error correction of the pointing of the synthesized beam of the multi-element antenna. In step S1: The real-time position coordinates of the antenna elements of the target multi-element antenna were calculated. , , )for: Subscript i =1,2,3, which correspond to antenna elements A1, B1, and C1, respectively; R This represents the distance from the center of rotation of the flight turntable inside the darkroom to the spherical surface of the target simulation system; α , β These represent the elevation angle and azimuth angle of the target's line of sight, respectively. The coordinates ( , , A coordinate system is established in the darkroom with the center of rotation of the flight turntable as the origin. The line connecting the center of rotation of the flight turntable to the center of the target sphere is... x The axis, passing through the origin and perpendicular to the ground upwards, is... y The axis is then determined using the right-hand coordinate system. z axis; In step S2: The coordinate transformation matrix from the flight turntable coordinate system to the inertial coordinate system is expressed as follows: , means as follows: These represent the three dimensions of the flight turntable control commands: the middle frame, the outer frame, and the inner frame. The position of module center MC2 is denoted as point P1, and the vector corresponding to the coordinates of point P1 in the flight turntable system is... Represented as L1, L2, and L3 represent the axial, longitudinal, and lateral distances of the sensor structure, respectively. Solve the coordinates of point P1 in the inertial frame. for: ； In step S3: Calculate the real-time distance information from the multi-element antenna group to the center MC2 of the sensor module, and select the minimum distance among them. Based on this, the distance difference from each antenna in the ensemble to the center MC2 of the sensor module is calculated. The distance calculation is as follows: Subscript i =1,2,3, which correspond to antenna elements A1, B1, and C1, respectively; , , This represents the coordinates of point P1 in the inertial frame. In step S4: Based on the distance difference, combined with the sensor's operating wavelength The real-time phase difference is calculated. The specific solution is as follows: Subscript i =1,2,3, which correspond to antenna elements A1, B1, and C1, respectively; In step S5: With phase difference The control command controls the phase controller in the target simulation system to compensate for the phase difference of the multi-element antenna and complete the error correction of the pointing of the synthesized beam of the multi-element antenna.

2. A beam pointing error correction system for simulation of irregularly shaped multimode sensors, characterized in that, include: Module M1: Based on real-time target line-of-sight information and the anechoic chamber structure layout, calculate the real-time position information of the target multi-element antenna; wherein, the multi-element antenna refers to a radio frequency signal synthesized by multiple antenna elements, and the phase of each antenna element remains consistent; Module M2: Based on the motion information of the flight turntable and the structural dimensions of the sensors, calculate the real-time position information of the module center MC2 of the two sensors. The module centers of the two sensors corresponding to the two working frequency bands of the multi-mode sensors are module center MC1 and module center MC2, respectively. Module center MC1 is at the rotation center of the flight turntable, while module center MC2 is not at the rotation center of the flight turntable. Module M3: Based on the real-time position information of the target multi-element antenna and the real-time position information of the module center MC2, The real-time distance information from the multi-element antenna group to the center MC2 of the sensor module is calculated, and the distance difference from each antenna element in the multi-element group to the center MC2 of the sensor module is calculated based on the minimum distance among them. Module M4: Based on the distance difference and the sensor's operating wavelength, calculate the real-time phase difference; Module M5: Using the phase difference as a control command, it controls the phase controller in the target simulation system to compensate for the phase difference of the multi-element antenna and complete the error correction of the pointing of the synthesized beam of the multi-element antenna. In module M1: The real-time position coordinates of the antenna elements of the target multi-element antenna were calculated. , , )for: Subscript i =1,2,3, which correspond to antenna elements A1, B1, and C1, respectively; R This represents the distance from the center of rotation of the flight turntable inside the darkroom to the spherical surface of the target simulation system; α , β These represent the elevation angle and azimuth angle of the target's line of sight, respectively. The coordinates ( , , A coordinate system is established in the darkroom with the center of rotation of the flight turntable as the origin. The line connecting the center of rotation of the flight turntable to the center of the target sphere is... x The axis, passing through the origin and perpendicular to the ground upwards, is... y The axis is then determined using the right-hand coordinate system. z axis; In module M2: The coordinate transformation matrix from the flight turntable coordinate system to the inertial coordinate system is expressed as follows: , means as follows: These represent the three dimensions of the flight turntable control commands: the middle frame, the outer frame, and the inner frame. The position of module center MC2 is denoted as point P1, and the vector corresponding to the coordinates of point P1 in the flight turntable system is... Represented as L1, L2, and L3 represent the axial, longitudinal, and lateral distances of the sensor structure, respectively. Solve the coordinates of point P1 in the inertial frame. for: ； In module M3: Calculate the real-time distance information from the multi-element antenna group to the center MC2 of the sensor module, and select the minimum distance among them. Based on this, the distance difference from each antenna in the ensemble to the center MC2 of the sensor module is calculated. The distance calculation is as follows: Subscript i =1,2,3, which correspond to antenna elements A1, B1, and C1, respectively; , , This represents the coordinates of point P1 in the inertial frame. In module M4: Based on the distance difference, combined with the sensor's operating wavelength The real-time phase difference is calculated. The specific solution is as follows: Subscript i =1,2,3, which correspond to antenna elements A1, B1, and C1, respectively; In module M5: With phase difference The control command controls the phase controller in the target simulation system to compensate for the phase difference of the multi-element antenna and complete the error correction of the pointing of the synthesized beam of the multi-element antenna.

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