Beam scheduling method and beam scheduling system of distributed high-precision phased array measurement radar

Abstract

The embodiment of the application provides a kind of distributed high-precision phased array measurement radar beam scheduling method and beam scheduling system, belong to radar beam scheduling technical field.The scheduling method includes: obtaining the antenna azimuth angle pitch information of each substation and radar site information, to obtain the conversion matrix of geocentric coordinate, station heart coordinate conversion matrix and array surface coordinate conversion matrix;Obtain the scheduling request of main station TRK;The main station target RAE coordinate of the scheduling request is converted into array surface coordinate according to the array surface coordinate conversion matrix;The main station target RAE coordinate is converted into geocentric coordinate according to the geocentric coordinate conversion matrix;The geocentric coordinate is sent to each substation for observation;Obtain each the feedback observation information of the substation, and integrate each the observation information according to time sequence signal, to obtain the observation data of target.The application solves the problem of each radar receiving time sequence synchronization and target position unification under multiple stations, ensures the consistency of data between different radar stations.

Description

Technical Field

[0001] This invention relates to the field of radar beam scheduling technology, and more specifically to a beam scheduling method and system for a distributed high-precision phased array measurement radar. Background Technology

[0002] Traditional radar systems mostly operate on a self-transmitting and self-receiving basis. Even small errors in azimuth and elevation can translate into significant distance variations over long distances. Currently, research on optimization algorithms for echo processing in signal processing systems has largely reached a bottleneck, making further improvements in radar measurement accuracy a hot topic. Theoretically, for the same target, the more observers in the system, the higher the final observation accuracy. Therefore, multi-station collaborative operation has become a feasible direction for improving system measurement accuracy. Based on the above, multi-station distributed measurement radar with one transmitter and multiple receivers has emerged.

[0003] A traditional phased array radar system comprises multiple subsystems, such as microwave, display, beamforming, echo processing, data processing, and beam scheduling. A multi-station distributed radar system, however, includes multiple sets of microwave, display, beamforming, echo processing, data processing, and beam scheduling components. The difference between a multi-station distributed system and a traditional phased array radar is that only one radar microwave component in a multi-station distributed system has both transmitting and receiving capabilities; the microwave components of other radars only have receiving capabilities. Traditional phased array radar systems directly generate and transmit their own timing and control information in the beam scheduling direction, making them unsuitable for multi-station distributed radar beam scheduling systems. Summary of the Invention

[0004] The purpose of this invention is to provide a beam scheduling method and system for a distributed high-precision phased array measurement radar, which solves problems such as timing synchronization of each radar receiver and uniformity of target position in a multi-station system.

[0005] To achieve the above objectives, embodiments of the present invention provide a beam scheduling method for a distributed high-precision phased array measurement radar, the scheduling method comprising:

[0006] Obtain the antenna azimuth and elevation information and radar site information of each substation to obtain the geocentric coordinate transformation matrix, the station-centric coordinate transformation matrix and the array coordinate transformation matrix;

[0007] Obtain the scheduling request from the main site TRK;

[0008] The main station target RAE coordinates of the scheduling request are transformed into array coordinates according to the array coordinate transformation matrix;

[0009] The target RAE coordinates of the main station are converted to geocentric coordinates according to the geocentric coordinate transformation matrix;

[0010] The geocentric coordinates were sent to various secondary stations for observation.

[0011] The observation information fed back from each of the substations is obtained, and the observation information of each station is integrated according to the time-series signal to obtain the observation data of the target.

[0012] Optionally, the pulse timing of the master station and each slave station is the same.

[0013] Optionally, the antenna azimuth and elevation information and radar site information of each substation are obtained to obtain the geocentric coordinate transformation matrix, the station-centric coordinate transformation matrix, and the array coordinate transformation matrix, including:

[0014] The XYZ coordinates of the main station radar are determined according to formulas (1) to (4).

[0015]

[0016] X radar =(N+H)cos(Lati)*cos(Long), (2)

[0017] Y radar =(N+H)cos(Lati)*sin(Long), (3)

[0018] Z radar =(N*(1-e 2 )+H)*sin(Lati), (4)

[0019] Among them, X radar Let x be the x-axis coordinate of the XYZ coordinates of the main station radar, and y be the y-axis coordinate. radar Let Z be the y-axis coordinate of the XYZ coordinates of the main station radar, and Z be the z-axis coordinate of the main station radar. radar Let be the z-axis coordinate of the XYZ coordinates of the main station radar, a be the Earth radius, e be the first curvature, Lati be the longitude of the main station radar, Long be the latitude of the main station radar, and H be the altitude of the main station radar.

[0020] Optionally, transforming the array surface coordinates of the master station target RAE of the scheduling request according to the array surface coordinate transformation matrix includes:

[0021] According to formulas (5) to (12), obtain a coordinate value A of the main station target in the array RAE coordinate system. plant ,

[0022]

[0023]

[0024]

[0025]

[0026]

[0027]

[0028]

[0029]

[0030] According to formula (13), obtain a coordinate value R of the main station target in the array surface RAE coordinate system. plant ,

[0031] R plant =R, (13)

[0032] According to formula (14), obtain a coordinate value E of the main station target in the RAE coordinate system of the array surface. plant ,

[0033]

[0034] Where R is the slant range of the main station target in the RAE coordinate system, A is the azimuth angle of the main station target in the RAE coordinate system, E is the elevation angle of the main station target in the RAE coordinate system, antA and antE are the elevation angles of the main station radar antenna at two azimuth positions, and A pnlat R is the slant range of the main station target in the RAE coordinate system of the array surface. plant E represents the azimuth angle of the main station target in the RAE coordinate system of the array surface. plant The elevation angle of the main station target in the array's RAE coordinate system is given.

[0035] Optionally, the main station target RAE coordinates are converted to geocentric coordinates according to the geocentric coordinate transformation matrix, including:

[0036] The RAE coordinates of the main station target are converted into ENU coordinates according to formula (15).

[0037]

[0038] Where R is the slant distance of the main station target in the RAE coordinate system, A is the azimuth angle of the main station target in the RAE coordinate system, and E is the elevation angle of the main station target in the RAE coordinate system. targrt N targrt and U targrt These are the three coordinate values ​​of the main station target in the ENU coordinate system;

[0039] The ENU coordinates of the main station target are converted into the geocentric XYZ coordinates of the target according to formulas (16) to (17).

[0040]

[0041]

[0042] Where Lati is the longitude of the main station radar, Long is the latitude of the main station radar, and X target Y target and Z target These are the three coordinate values ​​of the main station target in the XYZ coordinate system, E target N target and U target These are the three coordinate values ​​of the main station target in the ENU coordinate system, X radar Let x be the x-axis coordinate of the XYZ coordinates of the main station radar, and y be the y-axis coordinate. radar Let Z be the y-axis coordinate of the XYZ coordinates of the main station radar, and Z be the z-axis coordinate of the main station radar. radar The z-axis coordinate of the XYZ coordinates of the main station radar is given.

[0043] Optionally, the observation information fed back from each of the substations is acquired, and the observation information of each substation is integrated according to the time-series signal to obtain the observation data of the target, including:

[0044] The target geocentric XYZ coordinates are converted to the substation target ENU coordinates according to formulas (18) to (19).

[0045]

[0046]

[0047] Where lati is the longitude of the secondary station radar, long is the latitude of the secondary station radar, and X target Y target and Z target These are the three coordinate values ​​of the main station target in the XYZ coordinate system, e target n target and u target These are the three coordinate values ​​of the secondary station target in the ENU coordinate system, X and X. radar Let x be the x-axis coordinate of the XYZ coordinates of the secondary station radar shown, and y be the y-axis coordinate of the secondary station radar. radar Let Z be the y-axis coordinate of the XYZ coordinates of the secondary station radar, and Z be the z-axis coordinate of the secondary station radar. radar The z-axis coordinate of the XYZ coordinates of the secondary station radar;

[0048] The ENU coordinates of the substation target are converted into RAE coordinates according to formula (20).

[0049]

[0050] Where r is the slant range of the secondary station target in the RAE coordinate system, a is the azimuth angle of the secondary station target in the RAE coordinate system, and e is the elevation angle of the secondary station target in the RAE coordinate system. target n target and u target These are the three coordinate values ​​of the substation target in the ENU coordinate system;

[0051] According to formulas (21) to (28), obtain a coordinate value a of the sub-station target in the array RAE coordinate system. plant ,

[0052]

[0053]

[0054]

[0055]

[0056]

[0057]

[0058]

[0059]

[0060] According to formula (29), obtain a coordinate value r of the sub-station target in the RAE coordinate system of the array surface. plant ,

[0061] r plant =r, (29)

[0062] According to formula (30), obtain a coordinate value e of the sub-station target in the RAE coordinate system of the array surface. plant ,

[0063]

[0064] Where r is the slant range of the secondary target in the RAE coordinate system, a is the azimuth angle of the secondary target in the RAE coordinate system, e is the elevation angle of the secondary target in the RAE coordinate system, antA and antE are the elevation angles of the secondary radar antenna at two azimuth positions, and a plant Let r be the slant range of the secondary station target in the RAE coordinate system of the array surface. plantLet e ​​be the azimuth angle of the secondary station target in the RAE coordinate system of the array surface. plant The elevation angle of the substation target in the RAE coordinate system of the array surface is given.

[0065] On the other hand, the present invention provides a beam scheduling system for a distributed high-precision phased array measurement radar. The beam scheduling system includes a master radar, multiple slave radars and a ground station. The master radar, multiple slave radars and the ground station are interconnected and used to execute the beam scheduling method as described above.

[0066] Through the above technical solution, this invention provides a beam scheduling method and system for a distributed high-precision phased array measurement radar. By acquiring the scheduling request from the master station's TRK, the master station's target RAE coordinates are converted into array surface coordinates and target geocentric XYZ coordinates, respectively. The array surface coordinates are used for beamforming at the master station. The target geocentric XYZ coordinates are then converted into target RAE coordinates at the slave station and then back into array surface coordinates for beamforming at the slave station. Compared with existing technologies, this invention uses timing synchronization processing to determine the reference for pulse information, enabling the master and slave stations to perform beam transmission and reception under a unified reference. Simultaneously, the master station manages the control information of all radars, ensuring the system operates under the control of a single control signal, avoiding the problem of synchronizing multiple control signals.

[0067] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0068] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings:

[0069] Figure 1 This is a flowchart of a beam scheduling method according to an embodiment of the present invention;

[0070] Figure 2 This is a flowchart illustrating the conversion of the main station target RAE coordinates to the array surface REA coordinates according to an embodiment of the present invention;

[0071] Figure 3 This is a flowchart illustrating the conversion of the main station target RAE coordinates to the target geocentric XYZ coordinates according to an embodiment of the present invention;

[0072] Figure 4 This is a flowchart illustrating the conversion of the target geocentric XYZ coordinates to the RAE coordinates of the secondary station target array according to an embodiment of the present invention;

[0073] Figure 5This is a schematic diagram of radar deployment according to one embodiment of the present invention;

[0074] Figure 6 This is a flowchart of time-frequency control according to an embodiment of the present invention;

[0075] Figure 7 This is a flowchart of beam control information transmission according to an embodiment of the present invention;

[0076] Figure 8 This is a flowchart of beam control signals for a task management forming module according to an embodiment of the present invention. Detailed Implementation

[0077] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the scope of the present invention.

[0078] Figure 1 This is a flowchart of a beam scheduling method according to an embodiment of the present invention. Figure 1 In this context, the beam scheduling method may include the following steps:

[0079] In step S10, the antenna azimuth and elevation information and radar site information of each substation are acquired to obtain the geocentric coordinate transformation matrix, the station-centric coordinate transformation matrix, and the array coordinate transformation matrix. The number of radars can be multiple as known to those skilled in the art; in one example of this invention, such as... Figure 5 As shown, there can be four radars, including one main radar and three secondary radars. The distance between the main and secondary stations is more than 30 km, and they communicate via fiber optic cables. The main station is used to transmit and receive electromagnetic waves, while the secondary stations are only used to receive electromagnetic waves.

[0080] In step S20, the scheduling request of the master station TRK is obtained. Under normal circumstances, the master station radar is in search mode. When a target is detected, the master station data processing module sends the scheduling request of the master station TRK to the master station task management module.

[0081] In step S30, the RAE coordinates of the master station target in the scheduling request are transformed into array coordinates according to the array coordinate transformation matrix.

[0082] In step S40, the target RAE coordinates of the main station are converted to geocentric coordinates according to the geocentric coordinate transformation matrix.

[0083] In step S50, the geocentric coordinates are sent to each secondary station for observation. Specifically, as follows: Figure 6 , Figure 7 and Figure 8As shown, after the master station data processing module obtains the scheduling request from the master station TRK, it will form beam control signals for the master and slave stations based on the location information of the currently searched target, and send them to the master station beamforming module. The master station beamforming module then directly transmits the beam control information to each slave station.

[0084] In step S60, the feedback observation information from each substation is obtained, and each observation information is integrated according to the time-series signal to obtain the observation data of the target.

[0085] In one embodiment of the present invention, in order to ensure synchronous data transmission, the pulse timing of the master and slave stations needs to be unified. The information requiring unification can be of various kinds known to those skilled in the art; in one example of the present invention, it specifically includes unified beam control information and pulse signal information.

[0086] In one embodiment of the present invention, after obtaining the antenna azimuth and elevation information and radar site information of each substation, it is necessary to process the information. The processing methods for this information can be various those known to those skilled in the art. In one example of the present invention, specifically, the XYZ coordinates of the main station radar can be determined according to formulas (1) to (4).

[0087]

[0088] X radar =(N+H)cos(Lati)*cos(Long), (2)

[0089] Y radar =(N+H)cos(Lati)*sin(Long), (3)

[0090] Z radar =(N*(1-e 2 )+H)*sin(Lati), (4)

[0091] Among them, X radar The x-axis coordinate of the main station radar's XYZ coordinates, Y radar The y-axis coordinate of the main station radar's XYZ coordinates, Z... radar is the z-axis coordinate of the main station radar's XYZ coordinates, a is the Earth's radius, e is the first curvature, Lati is the longitude of the main station radar, Long is the latitude of the main station radar, and H is the altitude of the main station radar.

[0092] In one embodiment of the present invention, the arrangement method of the master station beam can be one of several known to those skilled in the art. In one example of the present invention, the target RAE of the master station in the scheduling request can be transformed into array coordinates according to the array coordinate transformation matrix for use in the master station beam arrangement. The specific steps can be as follows: Figure 2As shown. Specifically, in Figure 2 In this context, the beam scheduling method may include:

[0093] In step S31, the coordinate value A of the main station target in the array surface RAE coordinate system is obtained according to formulas (5) to (12). plant ,

[0094]

[0095]

[0096]

[0097]

[0098]

[0099]

[0100]

[0101]

[0102] Wherein, ELSE represents all cases other than those in formulas (8) to (11).

[0103] In step S32, the coordinate value R of the main station target in the array surface RAE coordinate system is obtained according to formula (13). plant ,

[0104] R plant =R, (13)

[0105] In step S33, the coordinate value E of the main station target in the array surface RAE coordinate system is obtained according to formula (14). plant ,

[0106]

[0107] Where R is the slant range of the main station target in the RAE coordinate system, A is the azimuth of the main station target in the RAE coordinate system, E is the elevation angle of the main station target in the RAE coordinate system, and antA and antE are the elevation angles of the main station radar antenna in two azimuths, respectively. plant The slant range of the main station target in the RAE coordinate system of the array surface, R plant The azimuth of the main station target in the RAE coordinate system of the array, E plant The elevation angle of the main station target in the array's RAE coordinate system.

[0108] In one embodiment of the present invention, the method for the master station to transmit target location information can be one of several known to those skilled in the art. In one example of the present invention, the target RAE coordinates of the master station can be converted to geocentric coordinates using a geocentric coordinate transformation matrix. Specifically, as shown below... Figure 3 As shown, the following steps may be included:

[0109] In step S41, the RAE coordinates of the main station target are converted to ENU coordinates according to formula (15).

[0110]

[0111] Where R is the slant range of the main station target in the RAE coordinate system, A is the azimuth of the main station target in the RAE coordinate system, E is the elevation angle of the main station target in the RAE coordinate system, and E... targrt N targrt and U targrt These are the three coordinate values ​​of the main station target in the ENU coordinate system;

[0112] In step S42, the ENU coordinates of the main station target are converted into the geocentric XYZ coordinates of the target according to formulas (16) to (17).

[0113]

[0114]

[0115]

[0116] Where lati is the longitude of the main station radar, Long is the latitude of the main station radar, and X is the longitude of the main station radar. target Y target and Z target These are the three coordinates of the main station target in the XYZ coordinate system, E target N target and U target These are the three coordinates of the main station target in the ENU coordinate system, X radar The x-axis coordinate of the main station radar's XYZ coordinates, Y radar The y-axis coordinate of the main station radar's XYZ coordinates, Z... radar The z-axis coordinate of the main station radar's XYZ coordinates.

[0117] In one embodiment of the present invention, the beam arrangement method for the secondary stations can be one of several known to those skilled in the art. In one example of the present invention, feedback observation information from each secondary station is acquired, and each observation information is integrated according to the timing signal to obtain the target observation data. The target geocentric XYZ coordinates are converted into target RAE coordinates for each secondary station, and finally converted into target array RAE coordinates for the secondary stations, which are used for beam arrangement of the secondary stations. Specifically, as shown... Figure 4 As shown, the following steps may be included:

[0118] In step S61, the target geocentric XYZ coordinates are converted to the substation target ENU coordinates according to formulas (18) to (19).

[0119]

[0120]

[0121] Where lati is the longitude of the secondary station radar, long is the latitude of the secondary station radar, and X target Y target and Z target These are the three coordinate values ​​of the main station target in the XYZ coordinate system, e target n target and u target These are the three coordinates of the secondary station target in the ENU coordinate system, X radar The x-axis coordinate of the secondary station radar's XYZ coordinates, Y... radar The y-axis coordinate of the secondary station radar's XYZ coordinates, Z... radar The z-axis coordinate of the secondary station's radar is the XYZ coordinate.

[0122] According to formula (20), the ENU coordinates of the secondary station target are converted into the RAE coordinates of the secondary station target.

[0123]

[0124] Where r is the slant range of the secondary target in the RAE coordinate system, a is the azimuth of the secondary target in the RAE coordinate system, and e is the elevation angle of the secondary target in the RAE coordinate system. target n target and u target These are the three coordinate values ​​of the secondary station target in the ENU coordinate system;

[0125] According to formulas (21) to (28), obtain a coordinate value a of the secondary station target in the RAE coordinate system of the array. plant ,

[0126]

[0127]

[0128]

[0129]

[0130]

[0131]

[0132]

[0133]

[0134] Wherein, ELSE represents all cases other than those in formulas (24) to (27).

[0135] In step S64, the coordinate value r of the secondary station target in the array surface RAE coordinate system is obtained according to formula (29). plant ,

[0136] r plant =r, (29)

[0137] In step S65, the coordinate value e of the secondary station target in the array surface RAE coordinate system is obtained according to formula (30). plant ,

[0138]

[0139] Where r is the slant range of the secondary station target in the RAE coordinate system, a is the azimuth angle of the secondary station target in the RAE coordinate system, antA and antE are the elevation angles of the secondary station radar antenna in two azimuths, respectively. plant r is the slant range of the secondary station target in the RAE coordinate system of the array surface. plant e represents the azimuth of the secondary station target in the RAE coordinate system of the array surface. plant The elevation angle of the secondary station target in the array's RAE coordinate system.

[0140] On the other hand, the present invention provides a beam scheduling system for a distributed high-precision phased array measurement radar, characterized in that the beam scheduling system includes a master radar, multiple slave radars and a ground station, the master radar, multiple slave radars and the ground station are interconnected, and are used to execute any of the beam scheduling methods described above.

[0141] Through the above technical solution, this invention provides a beam scheduling method and system for a distributed high-precision phased array measurement radar. By acquiring the scheduling request from the master station's TRK, the master station's target RAE coordinates are converted into array surface coordinates and target geocentric XYZ coordinates, respectively. The array surface coordinates are used for beamforming at the master station. The target geocentric XYZ coordinates are then converted into target RAE coordinates at the slave station and then back into array surface coordinates for beamforming at the slave station. Compared with existing technologies, this invention uses timing synchronization processing to determine the reference for pulse information, enabling the master and slave stations to perform beam transmission and reception under a unified reference. Simultaneously, the master station manages the control information of all radars, ensuring the system operates under the control of a single control signal, avoiding the problem of synchronizing multiple control signals.

[0142] The optional embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the embodiments of the present invention are not limited to the specific details in the above embodiments. Within the scope of the technical concept of the embodiments of the present invention, various simple modifications can be made to the technical solutions of the embodiments of the present invention, and these simple modifications all fall within the protection scope of the embodiments of the present invention.

[0143] It should also be noted that the various specific technical features described in the above embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the embodiments of the present invention will not describe the various possible combinations separately.

[0144] Those skilled in the art will understand that all or part of the steps in the methods described above can be implemented by a program instructing related hardware. This program is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0145] Furthermore, various different embodiments of the present invention can be combined arbitrarily, as long as they do not violate the spirit of the embodiments of the present invention, they should also be regarded as the content disclosed by the embodiments of the present invention.

Claims

1. A beam scheduling method for a distributed high-precision phased array measurement radar, characterized in that, The scheduling method includes: Obtain the antenna azimuth and elevation information and radar site information of each substation to obtain the geocentric coordinate transformation matrix, the station-centric coordinate transformation matrix and the array coordinate transformation matrix; Obtain the scheduling request from the main site TRK; The main station target RAE coordinates of the scheduling request are transformed into array coordinates according to the array coordinate transformation matrix; The target RAE coordinates of the main station are converted to geocentric coordinates according to the geocentric coordinate transformation matrix; The geocentric coordinates were sent to various secondary stations for observation. Acquire the feedback observation information from each of the substations, and integrate the observation information from each substation according to the time-series signal to obtain the observation data of the target, including: According to formulas (18) to (19), the target geocentric XYZ coordinates are converted to the substation target ENU coordinates. ，（18） ，（19） in, For the longitude of the secondary station's radar, The latitude of the secondary station's radar. , and These are the three coordinate values ​​of the main station target in the XYZ coordinate system. , and These are the three coordinate values ​​of the target at the secondary station in the ENU coordinate system. The XYZ coordinates of the secondary station radar are shown. Axis coordinates The XYZ coordinates of the secondary station radar Axis coordinates The XYZ coordinates of the secondary station radar Axis coordinates; The ENU coordinates of the substation target are converted to RAE coordinates according to formula (20). ，（20） in, The slant distance of the substation target in the RAE coordinate system is given. The azimuth angle of the secondary station target in the RAE coordinate system is given. Let the elevation angle of the secondary station target in the RAE coordinate system be denoted as . , and These are the three coordinate values ​​of the substation target in the ENU coordinate system; According to formulas (21) to (28), obtain a coordinate value of the sub-station target in the array RAE coordinate system. , ，（21） ，（22） ，（23） ， ，（24） ， ，（25） ， ，（26） ， ，（27） ,ELSE,(28) According to formula (29), obtain a coordinate value of the sub-station target in the RAE coordinate system of the array surface. , ，（29） According to formula (30), obtain a coordinate value of the sub-station target in the array surface RAE coordinate system. , ，（30） in, The slant distance of the secondary station target in the RAE coordinate system is [value missing]. The azimuth angle of the secondary station target in the RAE coordinate system is given. Let the elevation angle of the secondary station target in the RAE coordinate system be denoted as . , These are the elevation angles of the secondary station's radar antenna in two azimuth positions. The slant range of the secondary station target in the RAE coordinate system of the array surface. The azimuth angle of the secondary station target in the RAE coordinate system of the array surface is given. The elevation angle of the substation target in the RAE coordinate system of the array surface.

2. The beam scheduling method according to claim 1, characterized in that, The pulse timing sequence of the main station and each of the secondary stations is the same.

3. The beam scheduling method according to claim 1, characterized in that, Obtain the antenna azimuth and elevation information and radar site information of each substation to obtain the geocentric coordinate transformation matrix, the station-centric coordinate transformation matrix, and the array coordinate transformation matrix, including: The XYZ coordinates of the main station radar are determined according to formulas (1) to (4). ，（1） ，（2） ，（3） ，（4） in, The XYZ coordinates of the main station radar Axis coordinates The XYZ coordinates of the main station radar Axis coordinates The XYZ coordinates of the main station radar Axis coordinates For the Earth's radius, For the first curvature, The longitude of the main station radar is given. The latitude of the main station radar. The altitude of the main station radar is given.

4. The beam scheduling method according to claim 1, characterized in that, Transforming the primary station target RAE coordinates of the scheduling request into array surface coordinates according to the array surface coordinate transformation matrix includes: According to formulas (5) to (12), obtain a coordinate value of the main station target in the array RAE coordinate system. , ，（5） ，（6） ，（7） ， ，（8） ， ，（9） ， ，（10） ， ，（11） ,ELSE,(12) According to formula (13), obtain a coordinate value of the main station target in the array surface RAE coordinate system. , ，（13） According to formula (14), obtain a coordinate value of the main station target in the array surface RAE coordinate system. , ，（14） in, The slant distance of the main station target in the RAE coordinate system is given. The azimuth angle of the main station target in the RAE coordinate system is given. The pitch angle of the main station target in the RAE coordinate system is [value]. , These are the elevation angles of the main station's radar antenna in two azimuth positions. The slant range of the main station target in the RAE coordinate system of the array surface is given. The azimuth angle of the main station target in the RAE coordinate system of the array surface. The elevation angle of the main station target in the array's RAE coordinate system is given.

5. The beam scheduling method according to claim 3, characterized in that, The target RAE coordinates of the main station are converted to geocentric coordinates according to the geocentric coordinate transformation matrix, including: The RAE coordinates of the main station target are converted into ENU coordinates according to formula (15). ，（15） in, The slant distance of the main station target in the RAE coordinate system is given. The azimuth angle of the main station target in the RAE coordinate system is given. The pitch angle of the main station target in the RAE coordinate system is [value]. , and These are the three coordinate values ​​of the main station target in the ENU coordinate system; According to formulas (16) to (17), the ENU coordinates of the main station target are converted into the geocentric XYZ coordinates of the target. ，（16） ，（17） in, The longitude of the main station radar is given. The latitude of the main station radar. , and These are the three coordinate values ​​of the main station target in the XYZ coordinate system. , and These are the three coordinate values ​​of the main station target in the ENU coordinate system. The XYZ coordinates of the main station radar Axis coordinates The XYZ coordinates of the main station radar Axis coordinates The XYZ coordinates of the main station radar Axis coordinates.

6. A beam scheduling system for a distributed high-precision phased array measurement radar, characterized in that, The beam scheduling system includes a master radar, multiple slave radars, and a ground station, which are interconnected to execute the beam scheduling method as described in any one of claims 1 to 5.

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