Target angle measurement method based on array radar
By building a three-dimensional model in array radar, correcting the array element position and introducing multi-frequency joint measurement technology, the problem of insufficient accuracy of traditional radar angle measurement methods is solved, high-precision and fast target angle measurement are achieved, and anti-interference ability is enhanced .
Patent Information
- Application Number
- CN202411353141.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-26
- Publication Date
- 2024-12-17
AI Technical Summary
Traditional radar angle measurement methods have limitations in accuracy and response speed, especially in low signal-to-noise ratio environments, and the parameters and installation errors of the array radar itself affect the measurement accuracy.
By building a three-dimensional model of array radar, filtering and correcting the installation position of each array element, calculating the initial phase difference between adjacent array elements, introducing multi-frequency joint measurement technology and weighted least squares optimization to achieve high-precision target angle Measurement.
It significantly improves the target angle measurement accuracy of the radar system in complex environments, enhances anti-interference ability, and ensures stable operation in complex environments.
Smart Images
Figure CN119148124A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the field of radar target detection, and in particular to a target angle measurement method based on array radar. Background Art
[0002] Array radar is a radar system that is composed of multiple antenna units (array elements) arranged in a certain way, and the radar performance is improved through the interaction between the units. The array elements are generally arranged in a uniform matrix array. A typical array radar system includes antenna array, digital transmit / receive (T / R) components, clock, data transmission system, digital processor and other parts. Among them, the antenna array is the core part, which is composed of multiple antenna units arranged in a certain pattern. The T / R component is responsible for the transmission and reception of signals; the digital processor is responsible for signal processing and the realization of radar functions.
[0003] Traditional radar angle measurement methods, such as mechanical scanning and electronic scanning, have certain limitations in accuracy and response speed. Especially in low signal-to-noise ratio environments, traditional methods often cannot guarantee the accuracy of measurement results. In addition, the errors in the parameters of the array radar itself and the errors in the installation progress are often ignored, especially the array element error, which is also an important factor affecting the measurement accuracy. With the development of radar technology, the accuracy requirements for target angle measurement are getting higher and higher, and a new and more accurate measurement method is urgently needed. Summary of the invention
[0004] In view of the above-mentioned deficiencies in the prior art, the present invention provides a target angle measurement method based on array radar, which significantly improves the target angle measurement accuracy of the radar system in complex environments.
[0005] In order to achieve the above-mentioned object of the invention, the technical solution adopted by the present invention is: A target angle measurement method based on array radar is provided, which comprises the following steps: S1: Build an array radar, establish a three-dimensional model of the array radar according to the size parameters of the array radar, and determine the signal receiving surface on the three-dimensional model. Establish a three-dimensional coordinate system with the signal receiving surface as the x0y plane and the direction perpendicular to the signal receiving surface as the z axis. The origin of the three-dimensional coordinate system is the center point of the signal receiving surface. S2: Based on the coordinates of each array element in the three-dimensional coordinate system, a test target is set on the z-axis, and the faulty array element is screened using the test target, and the installation position of each array element is corrected to obtain a high-precision array radar; S3: Calculate the initial phase difference between adjacent array elements based on the high-precision array radar, determine the field strength of the signal transmitted to the preset detection target or area, and calculate the target angle of the detection target or area.
[0006] Further, step S2 includes: S21: Get the coordinates of each array element on the array radar in the three-dimensional coordinate system , i The number of the array element is set, the target measuring point is set in the z-axis direction, and the test target is set on the target measuring point, and the azimuth angle of the test target relative to each array element is calculated. ; ; S22: Based on azimuth Computing array elements i Phase difference to the test target ; ; in, For array element i The coordinates of adjacent array elements in the three-dimensional coordinate system, is the wavelength of the signal transmitted by the array element, d is the distance between two adjacent array elements on the signal receiving surface, I is the number of array elements on the signal receiving surface; S23: Calculate the actual phase difference of the echo signal received after two adjacent array elements send signals to the test target ,in, For array element i The phase of the received echo signal, For array element i -1 The phase of the received echo signal; S24: According to the phase difference The actual phase difference Calculating Phase Error , determine whether the phase error exceeds the phase error threshold ,like , then determine the array element i If a fault occurs, the array element at that position needs to be replaced. , then the array element i If no fault occurs, execute step S6 to correct the array element. i With array element i -1 installation distance between; S25: Utilizing Phase Error Computing array elements i With array element i -1 Correction value for installation distance between ; ; when When the array element is moved i Stay away from the array i -1 Length ,when When the array element is moved i Close to the array i -1 Length ,when No need to move array elements i ; S26: After correcting the relative position of each array element in turn, a high-precision array radar is obtained.
[0007] Further, step S3 includes: S31: Afterwards, calculation is performed with any array element i The average distance between the center and the four adjacent elements ; ; in, The corrected array element i The coordinates of For array element i The coordinates of the surrounding array elements, e For array element i The surrounding array element numbers, and ; S32: Determine the beam pointing azimuth of each array element according to the detection target or area preset by the high-precision array radar , calculate the initial phase difference between adjacent array elements; ; S33: Calculate the beam pointing azimuth of each array element The field strength of the transmitted signal E i ; ; S34: The array elements of the high-precision array radar send field strength to the detection target or area E i , azimuth The detected target angle is calculated based on the echo signal reflected from the detected target or area. ; ; in, is the target angle detected by any combination of two adjacent array elements, The wavelength of the signal sent to the detection target or area. is the phase difference received by two adjacent array elements. For array elements at different frequencies u The target angle calculated below is U is the total number of frequency points, wx is the weight under different frequency conditions.
[0008] The beneficial effects of the present invention are as follows: the present invention proposes a method for correcting and fault screening each array element based on the design parameters of the array radar, ensuring that the established array radar has high-precision performance and avoiding the influence of non-signal errors on target detection. After obtaining a high-precision array radar, a multi-frequency joint measurement technology is introduced. By measuring the target angle at different frequencies and optimizing with the weighted least squares method, a plurality of measurement results are comprehensively processed to obtain a more accurate target angle value, which can realize rapid measurement and tracking of the target angle, enhance the anti-interference ability of the radar system, and ensure stable operation in complex environments. BRIEF DESCRIPTION OF THE DRAWINGS
[0009] Figure 1 The figure is a flow chart of the target angle measurement method based on array radar. DETAILED DESCRIPTION
[0010] The specific implementation modes of the present invention are described below so that those skilled in the art can understand the present invention. However, it should be clear that the present invention is not limited to the scope of the specific implementation modes. For those of ordinary skill in the art, as long as various changes are within the spirit and scope of the present invention as defined and determined by the attached claims, these changes are obvious, and all inventions and creations utilizing the concept of the present invention are protected.
[0011] like Figure 1 As shown, a target angle measurement method based on array radar includes the following steps: S1: Build an array radar, establish a three-dimensional model of the array radar according to the size parameters of the array radar, and determine a signal receiving surface on the three-dimensional model. The signal receiving surface is a plane where the echo signal received by each array element in the array radar after the signal is sent and reflected by the target is received. In this embodiment, the signal receiving surface and the signal sending surface are equivalent to the same plane, and a three-dimensional coordinate system is established with the signal receiving surface as the x0y plane and the direction perpendicular to the signal receiving surface as the z axis. The origin of the three-dimensional coordinate system is the center point of the signal receiving surface. S2: Based on the coordinates of each array element in the three-dimensional coordinate system, a test target is set on the z-axis, the test target is at a certain height from the signal receiving surface, and the faulty array element is screened by using the test target, and the installation position of each array element is corrected to obtain a high-precision array radar; step S2 specifically includes: S21: Get the coordinates of each array element on the array radar in the three-dimensional coordinate system , i The number of the array element is set, the target measuring point is set in the z-axis direction, and the test target is set on the target measuring point, and the azimuth angle of the test target relative to each array element is calculated. ; ; S22: Based on azimuth Computing array elements i Phase difference to the test target ; ; in, For array element i The coordinates of adjacent array elements in the three-dimensional coordinate system, is the wavelength of the signal transmitted by the array element, d is the distance between two adjacent array elements on the signal receiving surface, I is the number of array elements on the signal receiving surface; S23: Calculate the actual phase difference of the echo signal received after two adjacent array elements send signals to the test target ,in, For array element i The phase of the received echo signal, For array element i -1 The phase of the received echo signal; S24: According to the phase difference The actual phase difference Calculating Phase Error , determine whether the phase error exceeds the phase error threshold ,like , then determine the array element i If a fault occurs, the array element at that position needs to be replaced. , then the array element i If no fault occurs, execute step S6 to correct the array element. i With array element i -1 installation distance; phase error threshold As a criterion for judging whether an array element is faulty, the phase of the signal is an important parameter of the measurement target. A large error in the phase indicates that the signal of the array element is abnormal and faulty.
[0012] When troubleshooting and correcting array element faults one by one, i -1 has been corrected last time, so i When troubleshooting and correcting the fault, the array element i -1 for reference.
[0013] S25: Utilizing Phase Error Computing array elements i With array element i -1 Correction value for installation distance between ; ; when When the array element is moved i Stay away from the array i -1 Length ,when When the array element is moved i Close to the array i -1 Length ,when No need to move array elements i ; S26: After correcting the relative position of each array element in turn, a high-precision array radar is obtained.
[0014] S3: Based on high-precision array radar calculation, calculate the initial phase difference between adjacent array elements, determine the field strength of the signal transmitted to the preset detection target or area, and calculate the target angle of the detection target or area; the initial phase difference of the radar array refers to the difference between the initial phases of the radiation or reception signals of adjacent array elements in the array when transmitting or receiving signals. This phase difference is achieved by adjusting the signal phase of each array element to achieve the purpose of controlling the beam direction and shape.
[0015] Step S3 specifically includes: S31: Afterwards, calculation is performed with any array element i The average distance between the center and the four adjacent elements ; ; in, The corrected array element i The coordinates of For array element i The coordinates of the surrounding array elements, e For array element i The surrounding array element numbers, and ; S32: Determine the beam pointing azimuth of each array element according to the detection target or area preset by the high-precision array radar , calculate the initial phase difference between adjacent array elements; ; S33: Calculate the beam pointing azimuth of each array element The field strength of the transmitted signal E i ; ; S34: The array elements of the high-precision array radar send field strength to the detection target or area E i , azimuth The detected target angle is calculated based on the echo signal reflected from the detected target or area. ; ; in, is the target angle detected by any combination of two adjacent array elements, The wavelength of the signal sent to the detection target or area. is the phase difference received by two adjacent array elements. For array elements at different frequencies u The target angle calculated below is U is the total number of frequency points, w x is the weight under different frequency conditions.
[0016] The present invention proposes a method for correcting and fault screening each array element based on the design parameters of the array radar, ensuring that the established array radar has high-precision performance and avoiding the influence of non-signal errors on target detection. After obtaining a high-precision array radar, a multi-frequency joint measurement technology is introduced. By measuring the target angle at different frequencies and optimizing with the weighted least squares method, multiple measurement results are comprehensively processed to obtain a more accurate target angle value, which can achieve rapid measurement and tracking of the target angle, enhance the anti-interference ability of the radar system, and ensure stable operation in complex environments.
Claims
1. A target angle measurement method based on array radar, characterized in that: The following steps are involved: S1: Build an array radar, establish a three-dimensional model of the array radar according to the size parameters of the array radar, and determine the signal receiving surface on the three-dimensional model. Establish a three-dimensional coordinate system with the signal receiving surface as the x0y plane and the direction perpendicular to the signal receiving surface as the z axis. The origin of the three-dimensional coordinate system is the center point of the signal receiving surface. S2: Based on the coordinates of each array element in the three-dimensional coordinate system, a test target is set on the z-axis, and the faulty array element is screened using the test target, and the installation position of each array element is corrected to obtain a high-precision array radar; S3: Calculate the initial phase difference between adjacent array elements based on the high-precision array radar, determine the field strength of the signal transmitted to the preset detection target or area, and calculate the target angle of the detection target or area.
2. The target angle measurement method based on array radar according to claim 1, characterized in that: The step S2 comprises: S21: Get the coordinates of each array element on the array radar in the three-dimensional coordinate system , i The number of the array element is set, the target measuring point is set in the z-axis direction, and the test target is set on the target measuring point, and the azimuth angle of the test target relative to each array element is calculated. ; ； S22: Based on azimuth Computing array elements i Phase difference to the test target ; ； in, For array element i The coordinates of adjacent array elements in the three-dimensional coordinate system, is the wavelength of the signal transmitted by the array element, d is the distance between two adjacent array elements on the signal receiving surface, I is the number of array elements on the signal receiving surface; S23: Calculate the actual phase difference of the echo signal received after two adjacent array elements send signals to the test target ,in, For array element i The phase of the received echo signal, For array element i -1 The phase of the received echo signal; S24: According to the phase difference The actual phase difference Calculating Phase Error , determine whether the phase error exceeds the phase error threshold ,like , then determine the array element i If a fault occurs, the array element at that position needs to be replaced. , then the array element i If no fault occurs, execute step S6 to correct the array element. i With array element i -1 installation distance between; S25: Utilizing Phase Error Computing array elements i With array element i -1 Correction value for installation distance between ; ； when When the array element is moved i Stay away from the array i -1 Length ,when When the array element is moved i Close to the array i -1 Length ,when No need to move array elements i ; S26: After correcting the relative position of each array element in turn, a high-precision array radar is obtained.
3. The target angle measurement method based on array radar according to claim 1, characterized in that: The step S3 comprises: S31: Afterwards, calculation is performed with any array element i The average distance between the center and the four adjacent elements ; ； in, The corrected array element i The coordinates of For array element i The coordinates of the surrounding array elements, e For array element i The surrounding array element numbers, and ; S32: Determine the beam pointing azimuth of each array element according to the detection target or area preset by the high-precision array radar , calculate the initial phase difference between adjacent array elements; ； S33: Calculate the beam pointing azimuth of each array element The field strength of the transmitted signal E i ; ； S34: The array elements of the high-precision array radar send field strength to the detection target or area E i , azimuth The detected target angle is calculated based on the echo signal reflected from the detected target or area. ; ； in, is the target angle detected by any combination of two adjacent array elements, The wavelength of the signal sent to the detection target or area. is the phase difference received by two adjacent array elements. For array elements at different frequencies u The target angle calculated below is U is the total number of frequency points, w x is the weight under different frequency conditions.