Radar sum-difference channel amplitude-phase angle measurement method, device and equipment

Abstract

The invention provides a radar sum-difference channel amplitude-phase angle measurement method, device and equipment. The method comprises the following steps: respectively acquiring measurement angle data, sum channel echo data and difference channel echo data of a radar; performing digital processing on the sum channel echo data and the difference channel echo data to obtain a sum channel digital signal and a difference channel digital signal; filtering clutter interference and a static target in the sum channel digital signal and the difference channel digital signal to correspondingly obtain a sum channel filtering signal and a difference channel filtering signal; calculating a left channel signal phase and a right channel signal phase of the radar based on the sum channel filtering signal and the difference channel filtering signal; substituting the left channel signal phase and the right channel signal phase into a preset angle compensation formula, and calculating to obtain a corresponding angle compensation value; based on the measured angle data and the angle compensation value, the final angle value of the target is obtained, and the accuracy of radar angle measurement is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of radar angle measurement, and in particular to a radar sum and difference channel amplitude and phase angle measurement method, device and equipment. Background Art

[0002] As an active detection sensor, radar can accurately detect the target position. The main indicators for measuring radar detection capability usually include distance accuracy and angle accuracy, especially angle accuracy, which has become the key to measuring the quality of radar detection capability.

[0003] Among the commonly used target angle measurement methods in engineering, the single pulse angle measurement method is simple to implement and has the advantages of high angle measurement accuracy and strong anti-interference ability. Therefore, it has been widely used in precision tracking radar measurement. The commonly used angle measurement technologies in current single pulse radars are amplitude angle measurement and phase angle measurement. The amplitude angle measurement method uses the difference between the amplitudes of echo signals from different auxiliary beams to measure the angle. When the target angle is located at the center of the detection beam, the amplitude of the echo signal is the largest. When the target angle deviates from the center of the detection beam, the amplitude of the echo signal will gradually decrease. The amplitude method uses the change characteristics of the echo signal amplitude with the angle to measure the angle. The phase angle measurement method uses phase information to measure the angle. The different array element spacings lead to the path difference between their received echo signals, which leads to the phase difference. Based on this phase difference, the angle can be calculated.

[0004] For the amplitude method of angle measurement, since the amplitude value of the echo signal received by the radar antenna is used to measure the angle, the disadvantage of this method is that it faces the problem of large antenna pattern errors and random errors in the measurement process (such as noise, equipment accuracy, and clutter). The phase method of angle measurement measures the incident angle of the signal by calculating the phase difference between different antennas when the same signal arrives at different receiving channels. Compared with the amplitude method, the phase method of angle measurement is not affected by the error of the antenna pattern, but it is still affected by noise errors during the measurement process.

[0005] Therefore, the existing radar angle measurement method has the problem of large angle error. Summary of the invention

[0006] In order to solve the above problems existing in the prior art, the present invention provides a radar sum and difference channel amplitude and phase angle measurement method, device and equipment.

[0007] The technical problem to be solved by the present invention is achieved through the following technical solutions:

[0008] In a first aspect, the present invention provides a radar sum difference channel amplitude and phase angle measurement method, comprising:

[0009] Respectively obtain the radar's measurement angle data, sum channel echo data, and difference channel echo data;

[0010] Digitally processing the sum channel echo data and the difference channel echo data to obtain a sum channel digital signal and a difference channel digital signal;

[0011] Filter the clutter interference and stationary targets in the sum channel digital signal and the difference channel digital signal to obtain a sum channel filtered signal and a difference channel filtered signal respectively;

[0012] Based on the sum channel filter signal and the difference channel filter signal, the left channel signal phase and the right channel signal phase of the radar are calculated;

[0013] Substitute the phase of the left channel signal and the phase of the right channel signal into the preset angle compensation formula to calculate the corresponding angle compensation value; the preset angle compensation formula is obtained by fitting together multiple ideal sum channel signals and ideal difference channel digital signals obtained based on the amplitude method and the phase method at the real target angle;

[0014] Based on the measured angle data and the angle compensation value, the target final angle value is obtained.

[0015] Optionally, filtering the clutter interference and the stationary target in the sum channel digital signal and the difference channel digital signal to obtain the sum channel filtered signal and the difference channel filtered signal accordingly includes:

[0016] Performing pulse compression processing on the sum channel digital signal and the difference channel digital signal to filter out clutter interference, and correspondingly obtaining sum channel compressed data and difference channel compressed data;

[0017] The sum channel compressed data and the difference channel compressed data are processed by moving target detection MTD to remove the stationary targets, and the sum channel filtered signal and the difference channel filtered signal are obtained accordingly.

[0018] Optionally, based on the sum channel filter signal and the difference channel filter signal, calculating the phase of the left channel signal and the phase of the right channel signal of the radar includes:

[0019] Based on the sum channel filter signal and the difference channel filter signal, the left channel signal phase and the right channel signal phase of the radar are obtained using the following formula:

[0020]

[0021] in, Indicates the left channel signal phase, represents the phase of the right channel signal, real represents the real part, imag represents the imaginary part, j represents the imaginary number, Σ represents the original amplitude and phase value of the sum channel filtered signal, Δ represents the original amplitude and phase value of the difference channel filtered signal, exp represents the exponential function, and β represents the phase compensation value of the radar and channel.

[0022] Optionally, the preset angle compensation formula is expressed as:

[0023]

[0024] Among them, Δθ represents the angle compensation value, k represents the compensation slope, and b represents the compensation slope distance. Indicates the left channel signal phase, Indicates the right channel signal phase, express and The difference.

[0025] Optionally, obtaining a target final angle value based on the measured angle data and the angle compensation value includes:

[0026] The measured angle data and the angle compensation value are summed to obtain the target final angle value, which is expressed as follows:

[0027] θ 最终 =θ 目标 +Δθ;

[0028] Among them, θ 最终 Indicates the final angle value of the target, θ 目标 represents the measured angle data, and Δθ represents the angle compensation value.

[0029] Optionally, the sum channel echo data and the difference channel echo data are digitally processed to obtain a sum channel digital signal and a difference channel digital signal, including:

[0030] AD sampling is performed on the sum channel echo data and the difference channel echo data to obtain a sum channel digital signal and a difference channel digital signal accordingly.

[0031] In a second aspect, the present invention provides a radar sum and difference channel amplitude and phase angle measurement device, comprising: an acquisition unit, a digital processing unit, a filtering unit, and a calculation unit;

[0032] The acquisition unit is used to respectively acquire the radar's measurement angle data, sum channel echo data, and difference channel echo data;

[0033] The digital processing unit is used to: digitally process the sum channel echo data and the difference channel echo data to obtain a sum channel digital signal and a difference channel digital signal;

[0034] The filtering unit is used to filter the clutter interference and stationary targets in the sum channel digital signal and the difference channel digital signal to obtain a sum channel filtered signal and a difference channel filtered signal respectively;

[0035] The calculation unit is used for: calculating the left channel signal phase and the right channel signal phase of the radar based on the sum channel filter signal and the difference channel filter signal; bringing the left channel signal phase and the right channel signal phase into a preset angle compensation formula to calculate a corresponding angle compensation value; obtaining a final angle value of the target based on the measured angle data and the angle compensation value; the preset angle compensation formula is obtained by fitting a plurality of ideal sum channel signals and an ideal difference channel digital signal obtained based on an amplitude method and a phase method at a real target angle.

[0036] Optionally, the filtering unit is specifically used for:

[0037] Performing pulse compression processing on the sum channel digital signal and the difference channel digital signal to filter out clutter interference, and correspondingly obtaining sum channel compressed data and difference channel compressed data;

[0038] The sum channel compressed data and the difference channel compressed data are processed by moving target detection MTD to remove the stationary targets, and the sum channel filtered signal and the difference channel filtered signal are obtained accordingly.

[0039] In a third aspect, the present invention provides a radar and difference channel amplitude and phase angle measurement device, comprising: a processor, a storage medium and a bus, the storage medium storing machine-readable instructions executable by the processor, when the radar and difference channel amplitude and phase angle measurement device is running, the processor and the storage medium communicate through the bus, and the processor executes the machine-readable instructions to perform the steps of the radar and difference channel amplitude and phase angle measurement method as described in the first aspect above.

[0040] The present invention provides a radar sum and difference channel amplitude and phase angle measurement method, device and equipment. Among them, a radar sum and difference channel amplitude and phase angle measurement method includes: respectively obtaining the radar's measurement angle data, sum channel echo data and difference channel echo data; digitally processing the sum channel echo data and the difference channel echo data to obtain the sum channel digital signal and the difference channel digital signal; filtering the clutter interference and stationary targets in the sum channel digital signal and the difference channel digital signal to obtain the sum channel filtered signal and the difference channel filtered signal accordingly; based on the sum channel filtered signal and the difference channel filtered signal, calculating the radar's left channel signal phase and right channel signal phase; bringing the left channel signal phase and the right channel signal phase into a preset angle compensation formula to calculate the corresponding angle compensation value; the preset angle compensation formula is obtained by fitting together multiple ideal sum channel signals and ideal difference channel digital signals obtained based on the amplitude method and the phase method at the real target angle; based on the measurement angle data and the angle compensation value, obtaining the target final angle value. In the present invention, an amplitude-phase radar angle measurement method combining the amplitude method and the phase method is adopted, that is, a plurality of ideal sum channel signals and ideal difference channel digital signals obtained based on the amplitude method and the phase method are fitted to obtain a preset angle compensation formula, and the obtained left channel signal phase and right channel signal phase are substituted into the preset angle compensation formula to obtain the final angle compensation value, thereby reducing the influence of random errors and antenna pattern errors in the measurement process, thereby improving the accuracy of radar angle measurement.

[0041] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 A schematic flow chart of a radar sum and difference channel amplitude and phase angle measurement method provided in an embodiment of the present invention;

[0043] Figure 2 A schematic structural diagram of a radar sum and difference channel amplitude and phase angle measurement device provided by an embodiment of the present invention;

[0044] Figure 3 A schematic structural diagram of a radar and difference channel amplitude and phase angle measurement device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0045] The present invention is further described in detail below with reference to specific embodiments, but the embodiments of the present invention are not limited thereto.

[0046] In order to improve the accuracy of radar angle measurement, an embodiment of the present invention provides a radar sum and difference channel amplitude and phase angle measurement method. Figure 1 A schematic flow chart of a radar sum difference channel amplitude and phase angle measurement method provided by an embodiment of the present invention is shown in FIG. Figure 1 As shown, including:

[0047] S101, respectively obtaining radar measurement angle data, sum channel echo data, and difference channel echo data.

[0048] S102 , digitally process the sum channel echo data and the difference channel echo data to obtain a sum channel digital signal and a difference channel digital signal.

[0049] Optionally, S102 may specifically include:

[0050] AD sampling is performed on the sum channel echo data and the difference channel echo data to obtain a sum channel digital signal and a difference channel digital signal accordingly.

[0051] S103, filtering the clutter interference and stationary targets in the sum channel digital signal and the difference channel digital signal to obtain a sum channel filtered signal and a difference channel filtered signal accordingly.

[0052] Optionally, S103 may specifically include:

[0053] Performing pulse compression processing on the sum channel digital signal and the difference channel digital signal to filter out clutter interference, and correspondingly obtaining sum channel compressed data and difference channel compressed data;

[0054] The sum channel compressed data and the difference channel compressed data are processed by moving target detection MTD to remove the stationary targets, and the sum channel filtered signal and the difference channel filtered signal are obtained accordingly.

[0055] S104. Based on the sum channel filter signal and the difference channel filter signal, calculate and obtain the left channel signal phase and the right channel signal phase of the radar.

[0056] Optionally, S104 may specifically include:

[0057] Based on the sum channel filter signal and the difference channel filter signal, the left channel signal phase and the right channel signal phase of the radar are obtained using the following formula:

[0058]

[0059] in, Indicates the left channel signal phase, represents the phase of the right channel signal, real represents the real part, imag represents the imaginary part, j represents the imaginary number, Σ represents the original amplitude and phase value of the sum channel filtered signal, Δ represents the original amplitude and phase value of the difference channel filtered signal, exp represents the exponential function, and β represents the phase compensation value of the radar and channel.

[0060] S105 , substituting the phase of the left channel signal and the phase of the right channel signal into a preset angle compensation formula to calculate a corresponding angle compensation value.

[0061] The preset angle compensation formula is obtained by fitting together multiple ideal sum channel signals and ideal difference channel digital signals obtained based on the amplitude method and the phase method at the actual target angle.

[0062] The algorithm principle of the radar sum difference channel amplitude and phase angle measurement method provided by the present invention is as follows:

[0063] During the fitting process, the actual angular deviation Δθ' of the echo can be determined according to the signal amplitude and phase values ​​of the sum and difference channels.

[0064] Using radar angle measurement formula:

[0065] Where d represents the distance between radar receiving antennas. When Δθ' < 1°, it is approximately proportional to the phase difference of the dual-channel signals. However, since the straight line does not necessarily pass through the origin, there is a compensation slant distance b, so the following relationship exists:

[0066]

[0067] Among them, the left channel signal fitting phase Right channel signal fitting phase The solution process is:

[0068]

[0069] Σ' represents the original amplitude and phase value (complex number) of the sum channel fitting filter signal corresponding to the target point after condensation, Δ' represents the original amplitude and phase value (complex number) of the difference channel filter signal corresponding to the target point after condensation, and β represents the phase compensation value of the sum channel, which is related to the operating frequency of the radar.

[0070] Therefore, in actual work, after k and b are obtained by fitting the actual data, the angle compensation value Δθ can be calculated accordingly.

[0071] The embodiment of the present invention provides a radar sum and difference channel amplitude and phase angle measurement method, which is an amplitude and phase radar angle measurement method that combines the amplitude method and the phase method. That is, a plurality of ideal sum channel signals and ideal difference channel digital signals obtained based on the amplitude method and the phase method are fitted to obtain a preset angle compensation formula. By substituting the obtained left channel signal phase and right channel signal phase into the preset angle compensation formula, a final angle compensation value is obtained, thereby reducing the influence of random errors and antenna pattern errors in the measurement process, thereby improving the accuracy of radar angle measurement.

[0072] Optionally, the preset angle compensation formula is expressed as:

[0073]

[0074] Among them, Δθ represents the angle compensation value, k represents the compensation slope, and b represents the compensation slope distance. Indicates the left channel signal phase, Indicates the right channel signal phase, express and The difference.

[0075] S106: Obtain a target final angle value based on the measured angle data and the angle compensation value.

[0076] Optionally, S106 may specifically include:

[0077] The measured angle data and the angle compensation value are summed to obtain the target final angle value, which is expressed as follows:

[0078] θ 最终 =θ 目标 +Δθ;

[0079] Among them, θ 最终 Indicates the final angle value of the target, θ 目标 represents the measured angle data, and Δθ represents the angle compensation value.

[0080] In order to elaborate on the execution process of the method provided by the embodiment of the present invention, a complete description is now given as follows:

[0081] In this embodiment, an external radiation source radar is selected for the experiment. The relevant parameters are: the direct wave is a single pulse signal with a carrier frequency of 2.9G-3.1GHz and a sampling rate of 50MHz.

[0082] Step 1: Data acquisition and preprocessing, including signal acquisition, pulse compression, and MTD calculation.

[0083] Step 1.1: Receive the target echo signal through the sum and difference receiving channels, and collect the analog signal into a digital signal to obtain the echo AD data of the sum and difference channels;

[0084] Step 1.2: Perform pulse compression processing on the echo AD data of the radar and difference channels, separate the targets at range and latitude, and filter out clutter interference in the target echo signal;

[0085] Step 1.3: Perform MTD processing on the pulse pressure data of the radar sum and difference channels, separate the moving targets in the velocity latitude, further filter out the stationary targets in the target echo signal, achieve the purpose of moving target detection, and obtain the amplitude and phase values ​​of the sum and difference signals of the target;

[0086] Step 1.4: Calculate the signal phase of the left channel and the right channel respectively through the amplitude and phase values ​​of the target sum and difference channel signals. For example:

[0087] When radar echo signal processing is performed at a carrier frequency of 3G, the sum channel complex signal result of the target echo MTD is -4-1i, and the difference channel result is -2-2i.

[0088] Step 2: Measure and fit the constant coefficients β, k, and b.

[0089] Step 2.1: Measure the phase compensation value β of the sum channel. Through actual measurement, the current radar works at the 3G carrier frequency, and its sum channel compensation value (exp(jβ)) = 0.4536 + 0.8912i;

[0090] Step 2.2: Fit and calculate k and b values. Through darkroom measurement, measure the target echo point at a known precise angle Δθ' and use the formula At the 3G carrier frequency, the fitting calculations yield k=-81.0720 and b=11.9594.

[0091] Step 3: Calculate the target measurement angle based on the echo data.

[0092] According to the phase difference of the second step, the left channel signal phase and the right channel signal phase Calculate the phase difference Multiply it by k and add it to b to get the angle compensation value Δθ.

[0093]

[0094] Step 4: Add the target angle value and the compensation angle value to get the final angle value:

[0095] θ 最终 =θ 目标 +Δθ;

[0096] The method provided in the embodiment of the present invention can be applied to an electronic device. Specifically, the electronic device can be: a desktop computer, a portable computer, an intelligent mobile terminal, a server, etc., which is not limited in the embodiment of the present invention.

[0097] Based on the same inventive concept, an embodiment of the present invention further provides a radar and difference channel amplitude and phase angle measuring device, Figure 2 A schematic diagram of the structure of a radar sum difference channel amplitude and phase angle measurement device provided by an embodiment of the present invention is shown in FIG. Figure 2 As shown, it includes: an acquisition unit 201, a digital processing unit 202, a filtering unit 203 and a calculation unit 204;

[0098] The acquisition unit 201 is used to respectively acquire the radar's measurement angle data, sum channel echo data, and difference channel echo data;

[0099] The digital processing unit 202 is used to: perform digital processing on the sum channel echo data and the difference channel echo data to obtain a sum channel digital signal and a difference channel digital signal;

[0100] The filtering unit 203 is used to filter the clutter interference and stationary targets in the sum channel digital signal and the difference channel digital signal to obtain a sum channel filtered signal and a difference channel filtered signal respectively;

[0101] The calculation unit 204 is used to: calculate the left channel signal phase and the right channel signal phase of the radar based on the sum channel filter signal and the difference channel filter signal; bring the left channel signal phase and the right channel signal phase into a preset angle compensation formula to calculate a corresponding angle compensation value; obtain the final angle value of the target based on the measured angle data and the angle compensation value; the preset angle compensation formula is obtained by fitting multiple ideal sum channel signals and ideal difference channel digital signals obtained based on the amplitude method and the phase method at the real target angle.

[0102] Optionally, the filtering unit is specifically used for:

[0103] Performing pulse compression processing on the sum channel digital signal and the difference channel digital signal to filter out clutter interference, and correspondingly obtaining sum channel compressed data and difference channel compressed data;

[0104] The sum channel compressed data and the difference channel compressed data are processed by moving target detection MTD to remove the stationary targets, and the sum channel filtered signal and the difference channel filtered signal are obtained accordingly.

[0105] Figure 3 A schematic diagram of the structure of a radar and difference channel amplitude and phase angle measurement device provided by an embodiment of the present invention includes: a processor 310, a storage medium 320 and a bus 330, wherein the storage medium 320 stores machine-readable instructions executable by the processor 310, and when the radar and difference channel amplitude and phase angle measurement device is running, the processor 310 communicates with the storage medium 320 via the bus 330, and the processor 310 executes the machine-readable instructions to execute the steps of the above method embodiment. The specific implementation method and technical effect are similar and will not be repeated here.

[0106] The storage medium may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk storage. Optionally, the storage medium may also be at least one storage device located away from the aforementioned processor.

[0107] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0108] It should be noted that the terms "first", "second", etc. are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Instead, they are merely examples of devices and methods consistent with some aspects of the present invention.

[0109] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification.

[0110] Although the present invention is described herein in conjunction with various embodiments, in the process of implementing the claimed invention, those skilled in the art can understand and implement other changes of the above disclosed embodiments by viewing the drawings and the disclosed content. In the description of the present invention, the term "comprising" does not exclude other components or steps, "one" or "an" does not exclude multiple situations, and the meaning of "multiple" is two or more, unless otherwise clearly and specifically limited. In addition, certain measures are recorded in different embodiments, but this does not mean that these measures cannot be combined to produce good results.

[0111] The above contents are further detailed descriptions of the present invention in combination with specific preferred embodiments, and it cannot be determined that the specific implementation of the present invention is limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, several simple deductions or substitutions can be made without departing from the concept of the present invention, which should be regarded as falling within the scope of protection of the present invention.

Claims

1. A radar sum and difference channel amplitude and phase angle measurement method, characterized in that: include: Respectively obtain the radar's measurement angle data, sum channel echo data, and difference channel echo data; Digitally processing the sum channel echo data and the difference channel echo data to obtain a sum channel digital signal and a difference channel digital signal; Filtering the clutter interference and stationary targets in the sum channel digital signal and the difference channel digital signal to obtain a sum channel filtered signal and a difference channel filtered signal respectively; Based on the sum channel filter signal and the difference channel filter signal, a left channel signal phase and a right channel signal phase of the radar are calculated; Substituting the phase of the left channel signal and the phase of the right channel signal into a preset angle compensation formula to calculate a corresponding angle compensation value; The preset angle compensation formula is obtained by fitting together multiple ideal sum channel signals and ideal difference channel digital signals obtained based on the amplitude method and the phase method at the real target angle; A target final angle value is acquired based on the measured angle data and the angle compensation value.

2. The radar sum and difference channel amplitude and phase angle measurement method according to claim 1, characterized in that: The filtering of the clutter interference and the stationary target in the sum channel digital signal and the difference channel digital signal to obtain the sum channel filtered signal and the difference channel filtered signal accordingly includes: Performing pulse compression processing on the sum channel digital signal and the difference channel digital signal to filter out the clutter interference, and correspondingly obtaining sum channel compressed data and difference channel compressed data; The sum channel compressed data and the difference channel compressed data are subjected to moving target detection MTD processing to remove the stationary target, and the sum channel filtered signal and the difference channel filtered signal are correspondingly obtained.

3. The radar sum and difference channel amplitude and phase angle measurement method according to claim 1, characterized in that: The step of calculating the left channel signal phase and the right channel signal phase of the radar based on the sum channel filter signal and the difference channel filter signal comprises: Based on the sum channel filter signal and the difference channel filter signal, the left channel signal phase and the right channel signal phase of the radar are obtained using the following formula: in, Indicates the left channel signal phase, represents the phase of the right channel signal, real represents the real part, imag represents the imaginary part, j represents the imaginary number, Σ represents the original amplitude and phase value of the sum channel filtered signal, Δ represents the original amplitude and phase value of the difference channel filtered signal, exp represents the exponential function, and β represents the phase compensation value of the radar and channel.

4. The radar sum and difference channel amplitude and phase angle measurement method according to claim 1, characterized in that: The preset angle compensation formula is expressed as: Among them, Δθ represents the angle compensation value, k represents the compensation slope, and b represents the compensation slope distance. Indicates the left channel signal phase, Indicates the right channel signal phase, express and The difference.

5. The radar sum and difference channel amplitude and phase angle measurement method according to claim 1, characterized in that: The step of obtaining a target final angle value based on the measured angle data and the angle compensation value comprises: The measured angle data and the angle compensation value are summed to obtain the target final angle value, which is expressed as follows: i 最终 =θ 目标 +Δθ; Among them, θ 最终 Indicates the final angle value of the target, θ 目标 represents the measured angle data, and Δθ represents the angle compensation value.

6. The radar sum and difference channel amplitude and phase angle measurement method according to claim 1, characterized in that: The digital processing of the sum channel echo data and the difference channel echo data to obtain a sum channel digital signal and a difference channel digital signal comprises: AD sampling processing is performed on the sum channel echo data and the difference channel echo data to obtain the sum channel digital signal and the difference channel digital signal accordingly.

7. A radar sum and difference channel amplitude and phase angle measuring device, characterized in that: include: An acquisition unit, a digital processing unit, a filtering unit, and a calculation unit; The acquisition unit is used to respectively acquire the radar's measurement angle data, sum channel echo data, and difference channel echo data; The digital processing unit is used to: digitally process the sum channel echo data and the difference channel echo data to obtain a sum channel digital signal and a difference channel digital signal; The filtering unit is used to filter the clutter interference and stationary targets in the sum channel digital signal and the difference channel digital signal to obtain a sum channel filtered signal and a difference channel filtered signal respectively; The calculation unit is used to: calculate the left channel signal phase and the right channel signal phase of the radar based on the sum channel filter signal and the difference channel filter signal; bring the left channel signal phase and the right channel signal phase into a preset angle compensation formula to calculate a corresponding angle compensation value; Based on the measured angle data and the angle compensation value, obtaining a target final angle value; The preset angle compensation formula is obtained by fitting multiple ideal sum channel signals and ideal difference channel digital signals obtained based on the amplitude method and the phase method at the actual target angle.

8. The radar sum and difference channel amplitude and phase angle measuring device according to claim 7, characterized in that: The filtering unit is specifically used for: Performing pulse compression processing on the sum channel digital signal and the difference channel digital signal to filter out clutter interference, and correspondingly obtaining sum channel compressed data and difference channel compressed data; The sum channel compressed data and the difference channel compressed data are subjected to moving target detection MTD processing to remove the stationary target, and the sum channel filtered signal and the difference channel filtered signal are correspondingly obtained.

9. A radar sum difference channel amplitude and phase angle measurement device, characterized in that: include: A processor, a storage medium and a bus, wherein the storage medium stores machine-readable instructions executable by the processor. When the radar and difference channel amplitude and phase angle measurement device is running, the processor communicates with the storage medium via the bus, and the processor executes the machine-readable instructions to perform the steps of the radar and difference channel amplitude and phase angle measurement method as described in any one of claims 1 to 6.

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