A tracking and angle measurement method and system for a two-dimensional digital phased array radar

Abstract

The embodiment of the application discloses a tracking and angle measuring method and system of a two-dimensional digital phased array radar. The method comprises the following steps: constructing a general angle measuring curve in a first coordinate system; calculating a first difference and sum ratio and a second difference and sum ratio by calculating the ratio of the signal amplitudes of different dimension difference beams and sum beams; obtaining a first intermediate variable about the angle between the target and the first coordinate axis and a second intermediate variable about the angle between the target and the second coordinate axis according to the first amplitude ratio, the second amplitude ratio and the general angle measuring curve; performing filtering and prediction processing on the first intermediate variable and the second intermediate variable to obtain a first beam pointing control variable and a second beam pointing control variable; and performing phase matching correction on the transceiving signal according to the first beam pointing control variable and the second beam pointing control variable to realize beam pointing tracking control. The application effectively reduces the influence of the beam pointing and the radar working frequency point on the angle measuring curve, can realize single pulse angle measurement of any pointing, has small storage capacity, simple calculation and easy realization.

Description

Technical Field

[0001] This invention relates to the field of radar design. More specifically, it relates to a tracking angle measurement method and system for a two-dimensional digital phased array radar. Background Technology

[0002] The elevation S-curve in existing tracking angle measurement methods varies depending on the frequency and direction. For two-dimensional phased array radars operating in large airspace and multi-beam conditions, the amount of data required to store the S-curve and the slope of the S-curve fitting is enormous, making engineering implementation difficult. In addition, after the digital transceiver unit receives the beam pointing control quantity, it needs to perform complex calculations to convert the angle control quantity into a phase value, making it impossible to achieve beam angle measurement with arbitrary direction. Summary of the Invention

[0003] The purpose of this invention is to provide a tracking angle measurement method and system for a two-dimensional digital phased array radar, so as to solve at least one of the problems existing in the prior art.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] The first aspect of this invention provides a tracking angle measurement method for a two-dimensional digital phased array radar, the method comprising:

[0006] Construct a universal angle measurement curve in the first coordinate system;

[0007] The first difference-to-sum ratio and the second difference-to-sum ratio are obtained by calculating the ratio of the signal amplitudes of the difference beam and the sum beam in different dimensions;

[0008] Based on the first amplitude ratio, the second amplitude ratio, and the general angle measurement curve, the first intermediate variable and the second intermediate variable of the angle between the target and the first coordinate axis are obtained respectively.

[0009] The first intermediate variable and the second intermediate variable are filtered and predicted to obtain the first beam pointing control quantity and the second beam pointing control quantity, respectively.

[0010] The transmit and receive signals are phase-corrected based on the first beam pointing control value and the second beam pointing control value to achieve beam pointing tracking control.

[0011] Optionally, the universal angle measurement curve includes a first angle measurement curve, the calculation formula of which is:

[0012]

[0013] In the formula, Real(·) represents the real part of the complex number; Fs(Δk,Δl) is a simplified function of the antenna and radiation pattern; (·) *To take the conjugate of the complex number; |·| is the modulus of the complex number; Fd y (Δk, Δl) is a function of the first-dimensional difference pattern; Δk is the first intermediate variable; Δl is the second intermediate variable.

[0014] Optionally, the universal angle measurement curve includes a second angle measurement curve, the calculation formula of which is:

[0015]

[0016] In the formula, Fd z (Δk,Δl) is the second-dimensional difference pattern function.

[0017] Optionally, the formulas for calculating the antenna and radiation pattern are as follows:

[0018]

[0019] In the formula, a mn The amplitude weighting is applied to the element in the m-th row and n-th column; M is the number of rows of the phased array radar element, 0≤m≤M-1; N is the number of columns of the phased array radar element, 0≤n≤N-1; j is the complex unit.

[0020] Optionally, the function of the first dimension difference pattern is:

[0021]

[0022] In the formula, ρ is the first phase constant. When 0≤n≤N / 2-1, ρ=0; when N / 2-1<n≤N-1, ρ=π.

[0023] Optionally, the function of the second dimension difference pattern is:

[0024]

[0025] In the formula, υ is the second phase constant. When 0≤m≤M / 2-1, υ=0; when M / 2-1<m≤M-1, υ=π.

[0026] Optionally, the functions of the first dimension difference pattern and the second dimension difference pattern are independent of the beam center direction, the target deviation angle from the beam center, and the operating wavelength.

[0027] Optionally, when the number of rows of the phased array radar elements is equal to the number of columns of the phased array radar elements and the vertical spacing between the elements is equal to the horizontal spacing between the elements, the function of the first dimension difference pattern is equal to the function of the second dimension difference pattern.

[0028] Optionally, the step of performing phase correction on the transmit and receive signals based on the first beam pointing control amount and the second beam pointing control amount includes...

[0029] Add a correction amount to the phase of the current signal, the correction amount being...

[0030]

[0031] In the formula, This is the first beam pointing control value; This is the second beam pointing control variable.

[0032] A second aspect of the present invention provides a tracking angle measurement system for a two-dimensional digital phased array radar, the system comprising:

[0033] The curve construction module is used to construct a general angle measurement curve in the first coordinate system;

[0034] The calculation module is used to calculate the ratio of the signal amplitude of the difference beam and the sum beam in different dimensions to obtain the first difference-sum ratio and the second difference-sum ratio;

[0035] Based on the first amplitude ratio, the second amplitude ratio, and the general angle measurement curve, the first intermediate variable and the second intermediate variable of the angle between the target and the first coordinate axis are obtained respectively.

[0036] The processing module is used to filter and predict the first intermediate variable and the second intermediate variable to obtain the first beam pointing control quantity and the second beam pointing control quantity, respectively.

[0037] The correction module is used to perform phase correction on the transmit and receive signals according to the first beam pointing control quantity and the second beam pointing control quantity, so as to realize beam pointing tracking control.

[0038] The beneficial effects of this invention are as follows:

[0039] This invention provides a tracking angle measurement method for a two-dimensional digital phased array radar, which effectively reduces the influence of beam pointing and radar operating frequency on the angle measurement curve. It has a small storage requirement, can realize single-pulse angle measurement with arbitrary pointing, and the digital transceiver component has simple transceiver phase matching calculation and is easy to implement. Attached Figure Description

[0040] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0041] Figure 1 This diagram illustrates the definition of the array surface and coordinate system in the tracking angle measurement method for a two-dimensional digital phased array radar provided in an embodiment of the present invention.

[0042] Figure 2 This diagram illustrates the S-curves for different beam directions and operating wavelengths in the prior art.

[0043] Figure 3The flowchart illustrates the tracking angle measurement method for a two-dimensional digital phased array radar provided in an embodiment of the present invention.

[0044] Figure 4 This diagram illustrates the simulation results of the general angle measurement curve for the tracking angle measurement method of the two-dimensional digital phased array radar provided in this embodiment of the invention. Detailed Implementation

[0045] To more clearly illustrate the present invention, the following description, in conjunction with embodiments and accompanying drawings, further explains the invention. Similar components in the drawings are indicated by the same reference numerals. Those skilled in the art should understand that the specific description below is illustrative rather than restrictive and should not be construed as limiting the scope of protection of the present invention.

[0046] With the development of phased array radar technology, two-dimensional fully digital phased array radar has been widely used in various combat scenarios such as air defense early warning, tracking guidance, and communication. This type of radar adopts digital transceiver channels, and each transceiver channel can perform digital amplitude and phase weighting on the transmitted and received signals, thereby flexibly controlling the direction and pattern shape of the transmitted and received beams to complete target search and tracking in a designated airspace.

[0047] Phased array radars typically use monopulse angle measurement to track and measure the angle of a target, such as... Figure 1 and 2 As shown, in traditional methods, a sum-difference radiation pattern is first constructed in the array's spherical coordinate system (range, azimuth, and elevation), and the azimuth and elevation S-curves are calculated with the horizontal axis representing angular error and the vertical axis representing the error signal (difference-to-elevation ratio). This curve is stored on the main control computer for angle measurement by looking up a table. When the radar tracks a target, the digital transceiver unit's signal is beamformed by the DBF (Digital Beamforming Function) to form a sum signal, azimuth difference, and elevation difference signal. After target detection, the signal processing sends the detection results of the sum signal, azimuth difference, and elevation difference signal of the target echo to the main control computer. The main control computer calculates the error signal (difference-to-elevation ratio), compares it with the stored S-curve, and measures the target azimuth and elevation angle errors, thus obtaining the measured values ​​of the target azimuth and elevation angles. After filtering and prediction, the beam pointing control quantity is calculated and sent to the digital transceiver unit. Upon receiving the beam pointing control quantity, the digital transceiver unit converts it into the phase control quantity for each array element according to the relative position relationship of the array elements to phase the transmitted and received signals.

[0048] The elevation S-curve in existing tracking angle measurement methods varies depending on the frequency and direction. For two-dimensional phased array radars operating in large airspace and multi-beam conditions, the amount of data required to store the S-curve and the slope of the S-curve fitting is enormous, making engineering implementation difficult. In addition, after the digital transceiver unit receives the beam pointing control quantity, it needs to perform complex calculations to convert the angle control quantity into a phase value, making it impossible to achieve beam angle measurement with arbitrary direction.

[0049] In view of this, such as Figure 3 As shown, one embodiment of the present invention provides a tracking angle measurement method for a two-dimensional digital phased array radar. The method includes: constructing a universal angle measurement curve in a first coordinate system; calculating the ratio of the signal amplitudes of the difference beam and the sum beam in different dimensions to obtain a first difference-to-sum ratio and a second difference-to-sum ratio; obtaining a first intermediate variable and a second intermediate variable regarding the angle between the target and the first coordinate axis and the second coordinate axis, respectively, based on the first amplitude ratio, the second amplitude ratio, and the universal angle measurement curve; performing filtering and prediction processing on the first intermediate variable and the second intermediate variable to obtain a first beam pointing control quantity and a second beam pointing control quantity, respectively; and performing phase correction on the transmit and receive signals based on the first beam pointing control quantity and the second beam pointing control quantity to achieve beam pointing tracking control.

[0050] This embodiment aims to address the problems of traditional single-pulse angle measurement S-curve storage requirements, inability to achieve arbitrary beam pointing angle measurement, and complex beam pointing control and phase conversion between digital transceiver components when tracking targets in large airspace and multi-frequency conditions using two-dimensional digital phased array radar.

[0051] Specifically, such as Figure 1 As shown, in the array coordinate system (R, φ) y ,φ z Construct a two-dimensional universal angle measurement curve under φ. z The horizontal axis represents Δk (the first intermediate variable), and the vertical axis represents the corresponding difference and ratio ε. z (First difference and ratio); φ y The horizontal axis represents Δl (the second intermediate variable), and the vertical axis represents the corresponding difference and ratio ε. y (Second difference and sum ratio). During angle measurement, the main controller receives the target echo sum and difference signals detected by signal processing and calculates the sum and difference ratio. It then compares this with the angle measurement curve data and looks up the corresponding angle measurement results Δk and Δl in a table. After filtering and prediction, the main controller obtains the angle control quantity. and (First beam pointing control value and second beam pointing control value); the digital transceiver unit receives... and Then, the phase correction value is calculated. Adding it to the existing phase value enables the pointing control of the transmit and receive beams, thus achieving beam control and target tracking.

[0052] Furthermore, such as Figure 1 The array coordinate system is established as shown. The radar array is located in the oxy plane and has M×N array elements. The vertical spacing between the elements is d1, and the horizontal spacing between the elements is d2. The angle between the beam pointing and the y-axis is φ. y The angle between the z-axis and the z-axis is φ z That is, the target direction. In the coordinate system (R, φ)y ,φ z A universal angle measurement curve is constructed below, wherein the two angle measurement curves are respectively Δk=2πd1(cos(φ) on the horizontal axis. z )-cos(φ z0 )) / λ and Δl=2πd2(cos(φ y )-cos(φ y0 )) / λ, where the vertical axis represents the difference and the ratio ε, respectively. y and difference ratio ε z Two angle measurement curves. Δk and Δl are the horizontal axes of the universal angle measurement curve, used to replace the horizontal axes (the angle between the target and the y-axis and the z-axis) in the original angle measurement curve; ε y and ε z φ respectively y peacekeeping φ z φ is the ratio of the signal amplitudes of the difference beam and the sum beam; y φ z The angle between the target and the y-axis and z-axis, i.e., the target direction; (φ) y0 ,φ z0 ) is the angle between the beam and the y-axis and z-axis, i.e., the beam direction; λ is the radar operating wavelength.

[0053] In a specific example, Δk and Δl can be directly filtered and predicted to serve as the angle control parameters for beam pointing. and There is no need to convert the angle measurement results into corresponding angles before beam control.

[0054] The angle measurement curve in this embodiment is not affected by factors such as beam direction, radar operating frequency and operating wavelength. It has a small data storage requirement and can realize single-pulse angle measurement of arbitrary direction. The angle measurement results obtained in this embodiment are simple to match and convert with digital transceiver components, which is easy to implement.

[0055] In one possible implementation, the universal angle measurement curve includes a first angle measurement curve, the calculation formula of which is:

[0056]

[0057] In the formula, Real(·) represents the real part of the complex number; Fs(Δk,Δl) is a simplified function of the antenna and radiation pattern; (·) * To take the conjugate of the complex number; |·| is the modulus of the complex number; Fd y (Δk, Δl) is a function of the first-dimensional difference pattern; Δk is the first intermediate variable; Δl is the second intermediate variable.

[0058] In one possible implementation, the universal angle measurement curve includes a second angle measurement curve, the calculation formula of which is:

[0059]

[0060] In the formula, Fd z (Δk,Δl) is the second-dimensional difference pattern function.

[0061] In one possible implementation, the formulas for calculating the antenna and radiation pattern are as follows:

[0062]

[0063] In the formula, a mn The amplitude weighting is applied to the element in the m-th row and n-th column; M is the number of rows of the phased array radar element, 0≤m≤M-1; N is the number of columns of the phased array radar element, 0≤n≤N-1; j is the complex unit.

[0064] Specifically, the functions for antenna and radiation pattern are:

[0065]

[0066] In the formula, a mn For amplitude weighting, it is a matrix that is symmetrical about the center of the array, both horizontally and vertically; Fs(φ y ,φ z ) is the angle φ between the target and the y-axis y Angle φ with the z-axis z The sum and pattern function are variables.

[0067] Will and Substitute Fs(φ) y ,φ z We obtain Fs(Δk,Δl).

[0068] In one possible implementation, the function of the first dimension difference pattern is:

[0069]

[0070] In the formula, ρ is the first phase constant. When 0≤n≤N / 2-1, ρ=0; when N / 2-1<n≤N-1, ρ=π.

[0071] Specifically, φ y The dimension difference pattern function is

[0072]

[0073] In the formula, ρ=0; 0≤n≤N / 2-1, ρ=π; N / 2-1<n≤N-1; Fd y (φ y ,φ z ) represents the angle φ between the target and the y-axis.y Angle φ with the z-axis z φ is a variable y Dimension difference pattern function.

[0074] Will and Substitute Fd y (φ y ,φ z ) to obtain Fd y (Δk,Δl).

[0075] In one possible implementation, the function of the second-dimensional difference pattern is:

[0076]

[0077] In the formula, υ is the second phase constant. When 0≤m≤M / 2-1, υ=0; when M / 2-1<m≤M-1, υ=π.

[0078] Specifically, φ z The dimension difference pattern function is:

[0079]

[0080] In the formula, υ=0; 0≤m≤M / 2-1, υ=π; M / 2-1<m≤M-1; Fd z (φ y ,φ z ) represents the angle φ between the target and the y-axis. y Angle φ with the z-axis z φ is a variable z Dimension difference pattern function.

[0081] Will and Substitute Fd z (φ y ,φ z ) to obtain Fd z (Δk,Δl).

[0082] In one possible implementation, the functions of the first dimension difference pattern and the second dimension difference pattern are both independent of the beam center direction, the target deviation angle from the beam center, and the operating wavelength.

[0083] Specifically, the angle measurement curve is not affected by the beam center direction, the target's deviation from the beam center angle, or the operating wavelength.

[0084] In one possible implementation, when the number of rows of the phased array radar elements is equal to the number of columns of the phased array radar elements and the vertical spacing between the elements is equal to the horizontal spacing between the elements, the function of the first dimension difference pattern is equal to the function of the second dimension difference pattern.

[0085] like Figure 4 As shown, this illustrates different beam directions, different operating wavelengths, and different φ values ​​within the beam. z The corresponding (Δk, ε) z ) Angle measurement curve simulation, the simulation results show that regardless of (φ y0 ,φ z0 ), Δl, λ take any values, (Δk, ε z The angle measurement curves are all the same curve; similarly, regardless of (φ) y0 ,φ z0 ), Δk and λ take any values, (Δl, ε y The angle measurement curves are all the same curve. If M = N and d1 = d2, then (Δk, ε z )Angle measurement curve and (Δl, ε y The angle measurement curves also overlap to form a single angle measurement curve. The data from the two universal angle measurement curves are saved to the main control computer.

[0086] In one possible implementation, the phase correction of the transmit and receive signals based on the first beam pointing control amount and the second beam pointing control amount includes...

[0087] Add a correction amount to the phase of the current signal, the correction amount being...

[0088]

[0089] In the formula, This is the first beam pointing control value; This is the second beam pointing control variable.

[0090] Specifically, the digital transceiver component is based on the control quantity. and Phase correction is applied to the transmit and receive signals of each channel. The coefficient of the correction is in the range of 0≤m≤M-1 and 0≤n≤N-1. That is, a correction is added to the current signal phase to achieve beam pointing and tracking control.

[0091] This embodiment effectively reduces the influence of beam pointing and radar operating frequency on the angle measurement curve, has a small storage requirement, can realize single-pulse angle measurement with arbitrary pointing, and the digital transceiver component has simple transceiver phase matching calculation and is easy to implement.

[0092] A second aspect of the present invention provides a tracking angle measurement system for a two-dimensional digital phased array radar. The system includes a curve construction module for constructing a universal angle measurement curve in a first coordinate system; a calculation module for calculating the ratio of the signal amplitudes of the difference beam and the sum beam in different dimensions to obtain a first difference-to-sum ratio and a second difference-to-sum ratio; obtaining a first intermediate variable and a second intermediate variable regarding the angle between the target and the first coordinate axis and the second coordinate axis based on the first amplitude ratio, the second amplitude ratio, and the universal angle measurement curve; a processing module for filtering and predicting the first intermediate variable and the second intermediate variable to obtain a first beam pointing control quantity and a second beam pointing control quantity; and a correction module for performing phase correction on the transmitted and received signals based on the first beam pointing control quantity and the second beam pointing control quantity to achieve beam pointing tracking control.

[0093] This embodiment effectively reduces the influence of beam pointing and radar operating frequency on the angle measurement curve, has a small storage requirement, can realize single-pulse angle measurement with arbitrary pointing, and the digital transceiver component has simple transceiver phase matching calculation and is easy to implement.

[0094] In the description of this invention, it should be noted that the terms "upper," "lower," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two elements. For those skilled in the art, the specific meaning of the above terms in this invention can be understood according to the specific circumstances.

[0095] It should also be noted that in the description of this invention, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0096] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. For those skilled in the art, other variations or modifications can be made based on the above description. It is impossible to exhaustively list all the implementation methods here. All obvious variations or modifications derived from the technical solutions of the present invention are still within the protection scope of the present invention.

Claims

1. A tracking angle measurement method for a two-dimensional digital phased array radar, characterized in that, The method includes Construct a universal angle measurement curve in the first coordinate system; The first difference-to-sum ratio and the second difference-to-sum ratio are obtained by calculating the ratio of the signal amplitudes of the difference beam and the sum beam in different dimensions; Based on the first difference and ratio, the second difference and ratio, and the general angle measurement curve, the first intermediate variable and the second intermediate variable of the angle between the target and the first coordinate axis and the second coordinate axis are obtained respectively. The first intermediate variable and the second intermediate variable are filtered and predicted to obtain the first beam pointing control quantity and the second beam pointing control quantity, respectively. The transmit and receive signals are phase-corrected according to the first beam pointing control quantity and the second beam pointing control quantity to achieve beam pointing tracking control; The construction of the universal angle measurement curve in the first coordinate system includes Construct a two-dimensional universal angle measurement curve, the angle measurement curve in The horizontal axis is , The first intermediate variable is represented by the vertical axis, which represents the corresponding difference and ratio. , The first difference and ratio; The horizontal axis is , The second intermediate variable is represented by the vertical axis, which shows the corresponding difference and ratio. , The second difference and ratio; ， ； The radar array is located at oxy Plane, total There are array elements, and the vertical spacing between the array elements is... The horizontal spacing between array elements is ; , The angle between the target and the y-axis and z-axis, i.e., the target direction; The angle between the beam and the y-axis and z-axis, i.e., the beam direction; The operating wavelength of the radar; The phase correction of the transmit and receive signals based on the first beam pointing control amount and the second beam pointing control amount includes... Add a correction amount to the phase of the current signal, the correction amount being... In the formula, This is the first beam pointing control value; This is the second beam pointing control value; The range of the correction coefficient is 0 ≤ m ≤ M -1, 0≤ n ≤ N -1.

2. The tracking angle measurement method for a two-dimensional digital phased array radar according to claim 1, characterized in that, The universal angle measurement curve includes a first angle measurement curve, the calculation formula of which is: In the formula, To extract the real part of a complex number; A simplified function for antenna and radiation pattern; To take the conjugate of complex numbers; The modulus of a complex number; It is a function of the first-dimensional difference pattern; As the first intermediate variable; It is the second intermediate variable.

3. The tracking angle measurement method for a two-dimensional digital phased array radar according to claim 2, characterized in that, The universal angle measurement curve includes a second angle measurement curve, and the calculation formula for the second angle measurement curve is as follows: In the formula, This is the second-dimensional difference pattern function.

4. The tracking angle measurement method for a two-dimensional digital phased array radar according to claim 2, characterized in that, The formulas for calculating the antenna and radiation pattern are as follows: In the formula, For the first Line number Amplitude weighting of array elements; This represents the row number of the phased array radar elements. ; This represents the number of columns in a phased array radar. ; It is a complex unit.

5. The tracking angle measurement method for a two-dimensional digital phased array radar according to claim 4, characterized in that, The function of the first dimension difference pattern is In the formula, Let be the first phase constant, when hour, ;when hour, .

6. The tracking angle measurement method for a two-dimensional digital phased array radar according to claim 3, characterized in that, The function of the second-dimensional difference pattern is In the formula, For the second phase constant, when hour, ;when hour, .

7. The tracking angle measurement method for a two-dimensional digital phased array radar according to claim 6, characterized in that, The functions of the first and second dimension difference patterns are independent of the beam center direction, the target deviation angle from the beam center, and the operating wavelength.

8. The tracking angle measurement method for a two-dimensional digital phased array radar according to claim 7, characterized in that, When the number of rows of the phased array radar elements is equal to the number of columns of the phased array radar elements and the vertical spacing between the elements is equal to the horizontal spacing between the elements, the function of the first dimension difference pattern is equal to the function of the second dimension difference pattern.

9. A tracking angle measurement system for a two-dimensional digital phased array radar, characterized in that, The system includes The curve construction module is used to construct a general angle measurement curve in the first coordinate system; The calculation module is used to calculate the ratio of the signal amplitude of the difference beam and the sum beam in different dimensions to obtain the first difference-sum ratio and the second difference-sum ratio; Based on the first difference and ratio, the second difference and ratio, and the general angle measurement curve, the first intermediate variable and the second intermediate variable of the angle between the target and the first coordinate axis and the second coordinate axis are obtained respectively. The processing module is used to filter and predict the first intermediate variable and the second intermediate variable to obtain the first beam pointing control quantity and the second beam pointing control quantity, respectively. The correction module is used to perform phase correction on the transmit and receive signals according to the first beam pointing control quantity and the second beam pointing control quantity to realize beam pointing tracking control. The construction of the universal angle measurement curve in the first coordinate system includes Construct a two-dimensional universal angle measurement curve, the angle measurement curve in The horizontal axis is , The first intermediate variable is represented by the vertical axis, which represents the corresponding difference and ratio. , The first difference and ratio; The horizontal axis is , The second intermediate variable is represented by the vertical axis, which shows the corresponding difference and ratio. , The second difference and ratio; ， ； The radar array is located at oxy Plane, total There are array elements, and the vertical spacing between the array elements is... The horizontal spacing between array elements is ; , The angle between the target and the y-axis and z-axis, i.e., the target direction; The angle between the beam and the y-axis and z-axis, i.e., the beam direction; The operating wavelength of the radar; The phase correction of the transmit and receive signals based on the first beam pointing control amount and the second beam pointing control amount includes... Add a correction amount to the phase of the current signal, the correction amount being... In the formula, This is the first beam pointing control value; This is the second beam pointing control value; The range of the correction coefficient is 0 ≤ m ≤ M -1, 0≤ n ≤ N -1.

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