Receiving beam resource pool beam forming method and device

Abstract

The invention provides a beam forming method and device for a receiving beam resource pool, and belongs to the field of receiving beam forming. A beam resource pool management module periodically sends pointing information of a managed receiving beam to a sub-array resource management module; the sub-array resource management module adaptively schedules sub-arrays and updates a sub-array set according to the pointing information of each receiving beam, synthesizes sub-array beams based on the updated sub-array set, performs time delay compensation on each sub-array beam, and synthesizes a receiving beam in a specified direction based on the compensated sub-array beams; and the compensation value for carrying out time delay compensation on each sub-array beam is-delta tau k: # imgabs0 #, so that the receiving aperture efficiency is maximized.

Description

Technical Field

[0001] The present invention relates to the technical field of beamforming of a receiving phased array system, and in particular to a beamforming method and device for a receiving beam resource pool. Background Art

[0002] Phased array systems can adopt a planar configuration or a multi-faceted array configuration. The multi-faceted array configuration covers different airspaces with different array surfaces, thereby expanding the beam coverage of the phased array. Phased arrays can also be designed to conform to various carrier platforms. Phased array systems based on multi-faceted array configurations or conformal designs with carrier platforms schedule different sub-arrays to complete beam synthesis according to changes in beam pointing.

[0003] Currently, large-scale phased array systems generally adopt a modular design approach, which improves the standardization and versatility of the design. By dividing a large array into multiple standardized sub-arrays, it can not only meet the needs of arrays of different sizes, but also significantly improve the flexibility and versatility of the system. In addition, standardized sub-array modules are conducive to mass production, thereby reducing production and manufacturing costs. Modular design also makes maintenance and repair more convenient. When a fault occurs, only the corresponding module needs to be replaced, which will not affect the operation of the entire system.

[0004] For large phased arrays, standardized and modular subarrays constitute a subarray resource pool. In order to fully utilize the flexibility of multi-faceted or conformal phased array systems based on multiple subarrays and maximize the efficiency of receiving aperture, the key lies in how to schedule and allocate subarrays in the subarray resource pool to synthesize receiving beams. Summary of the invention

[0005] The technical problem to be solved by the present invention is how to achieve efficient scheduling of subarray resources and maximize the efficiency of receiving aperture.

[0006] The present invention solves the above technical problems through the following technical solutions: a receiving beam resource pool beam synthesis method, wherein a beam resource pool management module periodically sends the directional information of the managed receiving beam to a subarray resource management module, the subarray resource management module adaptively schedules the subarray according to the directional information of each receiving beam and updates the subarray set, synthesizes the subarray beam based on the updated subarray set, performs time delay compensation on each subarray beam, and synthesizes the receiving beam in the specified direction based on the compensated subarray beam;

[0007] The compensation value for the delay compensation of each subarray beam is -Δτ k :

[0008] in, is the sub-matrix coordinate system O of the kth sub-matrix in the updated sub-matrix set k -XYZ origin Ok The coordinates in the front coordinate system O-XYZ, is the coordinate of the geometric center of the updated sub-matrix set, is the direction vector of the i-th received beam, and c is the speed of light.

[0009] Preferably, the process of the subarray resource management module adaptively scheduling the subarray and updating the subarray set according to the directional information of each receiving beam includes:

[0010] Step 1: According to the receiving beam i (t) directional information Calculate the receive beam i (t) direction vector

[0011]

[0012] Step 2: Calculate the normal vector of subarray m and the receiving beam Beam i (t) direction vector The inner product of the matrix and the sub-array attenuation factor η is calculated based on the inner product m , subarray attenuation factor η m The calculation method is as follows:

[0013]

[0014] in When η m When it is less than or equal to the set threshold, the subarray m is removed from the subarray set S i (t); otherwise, put subarray m into or leave it in subarray set S i (t), get the updated sub-matrix set S i (t).

[0015] Preferably, the normal vector of the subarray m and the receiving beam Beam i (t) direction vector The inner product of is calculated as:

[0016] in, is the unit vector in the normal direction of submatrix m,

[0017] Preferably, the set threshold is 0, that is, when the sub-array attenuation factor η of the sub-array m is m >0, put the subarray m into the subarray set S i (t), that is, subarray m participates in receiving beam Beam at time t i (t) formation.

[0018] Preferably, the process of synthesizing the subarray beam based on the updated subarray set includes:

[0019] 1.1. Calculate the coordinates of each antenna unit in the kth subarray in the subarray coordinate system O k -XYZ coordinates (x′ k,n ,y′ k,n ,z′ k,n ):

[0020] Among them, (x k,n ,y k,n ,z k,n ) is the coordinate of the antenna unit in the kth subarray in the array coordinate system O-XYZ, 1≤n≤N k , N k is the number of antenna units in the kth subarray, K is the updated subarray set S i (t) the number of neutron arrays,

[0021] 1.2. Get the kth sub-matrix in the sub-matrix coordinate system O k -The coordinate matrix under XYZ is:

[0022]

[0023] 1.3. Calculate the weighted vector of the kth sub-matrix Based on the weighted vector, a subarray beam Beam is formed. i (t,k).

[0024] Preferably, the coordinates of the geometric center of the updated subarray set are The calculation method is:

[0025] Among them, K is the sub-array set S i The number of subarrays in (t).

[0026] Preferably, the compensated subarray beam is Beam i (t-Δτ k ,k), based on the compensated sub-array beam synthesis, the receiving beam Beam in the specified direction i (t) is calculated as:

[0027] where η k is the sub-array attenuation factor of sub-array k.

[0028] The present invention also provides a receiving beam resource pool beam synthesis device, including:

[0029] A beam resource pool management module, used for periodically sending the directional information of the managed receiving beam;

[0030] A subarray resource management module is used to adaptively schedule subarrays and update subarray sets according to the directional information of each receiving beam, synthesize subarray beams based on the updated subarray set, perform time delay compensation on each subarray beam, and synthesize a receiving beam in a specified direction based on the compensated subarray beams;

[0031] The compensation value for the delay compensation of each subarray beam is -Δτ k :

[0032] is the sub-matrix coordinate system O of the kth sub-matrix in the updated sub-matrix set k -XYZ origin O k The coordinates in the front coordinate system O-XYZ, is the coordinate of the geometric center of the updated sub-matrix set, is the direction vector of the i-th received beam, and c is the speed of light.

[0033] Preferably, the process of the subarray resource management module adaptively scheduling the subarray and updating the subarray set according to the directional information of each receiving beam includes:

[0034] Step 1: According to the receiving beam i (t) directional information Calculate the receive beam i (t) direction vector

[0035]

[0036] Step 2: Calculate the normal vector of subarray m and the receiving beam Beam i (t) direction vector The inner product of the matrix and the sub-array attenuation factor η is calculated based on the inner product m , subarray attenuation factor η m The calculation method is as follows:

[0037]

[0038] in When η m When it is less than or equal to the set threshold, the subarray m is removed from the subarray set S i (t); otherwise, put subarray m into or leave it in subarray set S i (t), get the updated sub-matrix set S i (t).

[0039] Preferably, the normal vector of subarray m and the receiving beam Beam i(t) direction vector The inner product of is calculated as:

[0040] in, is the unit vector in the normal direction of submatrix m,

[0041] Preferably, the set threshold is 0, that is, when the sub-array attenuation factor η of the sub-array m is m >0, put the subarray m into the subarray set S i (t), that is, subarray m participates in receiving beam Beam at time t i (t) formation.

[0042] Preferably, the process of synthesizing the subarray beam based on the updated subarray set includes:

[0043] 1.1. Calculate the coordinates of each antenna unit in the kth subarray in the subarray coordinate system O k -XYZ coordinates (x′ k,n ,y′ k,n ,z′ k,n ):

[0044] Among them, (x k,n ,y k,n ,z k,n ) is the coordinate of the antenna unit in the kth subarray in the array coordinate system O-XYZ, 1≤n≤N k , N k is the number of antenna units in the kth subarray, K is the updated subarray set S i (t) the number of neutron arrays,

[0045] 1.2. Get the kth sub-matrix in the sub-matrix coordinate system O k -The coordinate matrix under XYZ is:

[0046]

[0047] 1.3. Calculate the weighted vector of the kth sub-matrix Based on the weighted vector, a subarray beam Beam is formed. i (t,k).

[0048] Preferably, the compensated subarray beam is Beam i (t-Δτ k ,k), based on the compensated sub-array beam synthesis, the receiving beam Beam in the specified direction i (t) is calculated as:

[0049] where ηk is the sub-array attenuation factor of sub-array k.

[0050] The advantages provided by the present invention are:

[0051] The present invention realizes optimal scheduling of receiving subarray resources according to the receiving beam pointing, and can maximize the gain of the receiving beam. For a non-planar receiving phased array composed of multiple subarrays, the delay difference introduced by the different phase centers between different subarrays and the delay difference introduced by the different phase centers of the subarrays and the system are estimated and compensated during beam synthesis, and the flexibility of the multi-faceted or conformal phased array system based on multiple subarrays is fully utilized to maximize the receiving aperture efficiency. Flexible subarray resource scheduling, subarray and system delay compensation, and multiple subarray beam synthesis can be realized for the non-planar receiving phased array system.

[0052] At the same time, the introduction of the sub-array attenuation factor can maximize the spatial coverage capability of the conformal array and reduce the impact of the phase center change of the multi-faceted array on beam synthesis. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 A schematic diagram of a phased array face coordinate system definition for a receive beam resource pool beam synthesis method provided by an embodiment of the present invention;

[0054] Figure 2 A schematic diagram of the workflow of a beam resource pool management module and a subarray resource management module in a receive beam resource pool beam synthesis method provided by an embodiment of the present invention;

[0055] Figure 3 A schematic diagram of a system coordinate system taking two arrays as an example for a receive beam resource pool beam synthesis method and apparatus provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the technical solution of the present invention is clearly and completely described below in combination with specific embodiments and with reference to the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0057] Example 1

[0058] like Figure 2As shown, this embodiment provides a receiving beam resource pool beam synthesis method, the beam resource pool management module periodically sends the directional information of the managed receiving beam to the subarray resource management module, the subarray resource management module adaptively schedules the subarray according to the directional information of each receiving beam and updates the subarray set, synthesizes the subarray beam based on the updated subarray set, and performs delay compensation on each subarray beam, and synthesizes the receiving beam in the specified direction based on the compensated subarray beam;

[0059] The compensation value for the delay compensation of each subarray beam is -Δτ k :

[0060] in, is the sub-matrix coordinate system O of the kth sub-matrix in the updated sub-matrix set m -XYZ origin O m The coordinates in the front coordinate system O-XYZ, is the coordinate of the geometric center of the updated sub-matrix set, is the direction vector of the i-th received beam, and c is the speed of light.

[0061] The beam resource pool management module manages I receiving beams at time t, and the i-th receiving beam is denoted as Beam i (t), i∈[1,I], I represents the total number of receiving beams, and sends the receiving beam Beam to the subarray resource management module with a period of time T. i (t) directional information

[0062] The subarray resource management module manages the M subarrays of the receiving phased array system. Subarray m contains N m antenna units, 1≤m≤M, establish a unified array coordinate system O-XYZ for the entire array, the origin of the array coordinate system O-XYZ is O, and the N m The coordinates of the antenna unit in the array coordinate system O-XYZ are (x m,n ,y m,n ,z m,n ), 1≤n≤N m , establish the sub-array coordinate system O for the sub-array m m -XYZ, subarray coordinate system O m -The origin of XYZ is O m , origin O m The coordinates in the front coordinate system O-XYZ are

[0063]

[0064] Array coordinate system O-XYZ and subarray coordinate system O m-XYZ is a translation relationship, such as Figure 1 As shown, the unit vector along the normal direction of sub-matrix m is

[0065] The subarray resource management module forms a receiving beam Beam at time t i (t) is a set of sub-matrices S i (t), the process of the subarray resource management module adaptively scheduling the subarray and updating the subarray set according to the directional information of each receiving beam includes:

[0066] Step 1: According to the receiving beam i (t) directional information Calculate the receive beam i (t) direction vector

[0067]

[0068] Step 2: Calculate the normal vector of subarray m and the receiving beam Beam i (t) direction vector The inner product of the matrix and the sub-array attenuation factor η is calculated based on the inner product m , η m The calculation method is as follows:

[0069]

[0070] in When η m When it is less than or equal to the set threshold, the subarray m is removed from the set S i (t); otherwise, put subarray m into or leave it in subarray set S i (t), get the updated sub-matrix set S i (t).

[0071] Step 2: Normal vector of subarray m and receiving beam Beam i (t) direction vector The inner product of is calculated as:

[0072] in, is the unit vector in the normal direction of submatrix m,

[0073] Set the threshold to 0, that is, when the subarray attenuation factor η of subarray m m >0, put the subarray m into the subarray set S i (t), that is, subarray m participates in receiving beam Beam at time t i (t) formation.

[0074] The process of synthesizing the subarray beam based on the updated subarray set includes:

[0075] 1.1. Subarray resource management module schedules the updated subarray set S i (t), calculate the K subarrays in the kth subarray in the subarray coordinate system O k -XYZ coordinates (x′ k,n ,y′ k,n ,z′ k,n ):

[0076] Among them, (x k,n ,y k,n ,z k,n ) is the coordinate of the antenna unit in the kth subarray in the array coordinate system O-XYZ, 1≤n≤N k , N k is the number of antenna units in the kth subarray, 1≤k≤K,

[0077] 1.2. Get the kth sub-matrix in the sub-matrix coordinate system O k -The coordinate matrix under XYZ is:

[0078]

[0079] 1.3. Calculate the weighted vector of the kth sub-matrix Based on the weighted vector, a subarray beam Beam is formed. i (t,k).

[0080] The subarray resource management module calculates the updated subarray set S i The geometric center of (t) Calculate the delay difference Δτ of the kth subarray relative to the geometric center k , and the sub-array beam Beam formed by the k-th sub-array i (t, k) is used to perform time delay compensation and obtain the compensated sub-array beam Beam i (t-Δτ k ,k), the sub-array resource management module is based on the updated sub-array set S i (t) Complete receiving beam Beam i (t) synthesis.

[0081] Among them, the updated sub-array set S i The geometric center of (t) The calculation method is:

[0082] Among them, K is the sub-array set S i The number of subarrays in (t).

[0083] Receive Beam i The calculation method of the synthesis of (t) is:

[0084] where η k is the sub-array attenuation factor of sub-array k.

[0085] At time t+T, where T is the receive beam update period, the beam resource pool management module updates the i-th receive beam Beam i The directional information of (t) is and will point to information Sent to the subarray resource management module, the subarray resource management module updates the subarray set to S i (t+T), calculate the sub-array set S i (t+T) relative to the sub-array set S i The delay difference introduced by the change of (t) relative to the origin O of the global coordinate system has an impact on the received beam Beam i (t+T) delay compensation is performed until the synthesis of all receiving beams in the beam resource management module is completed.

[0086] Subarray set S i (t+T) relative to the sub-array set S i (t) The time delay difference Δτ introduced by the change relative to the origin O of the global coordinate system i (t+T) is calculated as:

[0087]

[0088] in, is the set of sub-matrices S i The geometric center of (t+T) c is the speed of light.

[0089] The present invention realizes optimal scheduling of receiving subarray resources according to the receiving beam pointing, and can maximize the gain of the receiving beam. For a non-planar receiving phased array composed of multiple subarrays, the delay difference introduced by the different phase centers between different subarrays and the delay difference introduced by the different phase centers of the subarrays and the system are estimated and compensated during beam synthesis, and the flexibility of the multi-faceted or conformal phased array system based on multiple subarrays is fully utilized to maximize the receiving aperture efficiency. Flexible subarray resource scheduling, subarray and system delay compensation, and multiple subarray beam synthesis can be realized for the non-planar receiving phased array system.

[0090] Example 2

[0091] This embodiment provides a receive beam resource pool beam synthesis device, including:

[0092] A beam resource pool management module, used for periodically sending the directional information of the managed receiving beam;

[0093] The subarray resource management module is used to adaptively schedule the subarray and update the subarray set according to the directional information of each receiving beam, synthesize the subarray beam based on the updated subarray set, perform delay compensation on each subarray beam, and synthesize the receiving beam in the specified direction based on the compensated subarray beam; the compensation value for the delay compensation of each subarray beam is -Δτ k ,

[0094] is the sub-matrix coordinate system O of the kth sub-matrix in the updated sub-matrix set k -XYZ origin O k The coordinates in the front coordinate system O-XYZ, is the coordinate of the geometric center of the updated sub-matrix set, is the direction vector of the i-th received beam, and c is the speed of light.

[0095] The beam resource pool management module manages I receiving beams at time t, and the i-th receiving beam is denoted as Beam i (t), i∈[1,I], I represents the total number of receiving beams, and sends the receiving beam Beam to the subarray resource management module with a period of time T. i (t) directional information

[0096] The subarray resource management module manages the M subarrays of the receiving phased array system. Subarray m contains N m antenna units, 1≤m≤M, establish a unified array coordinate system O-XYZ for the entire array, the origin of the array coordinate system O-XYZ is O, and the N m The coordinates of the antenna unit in the array coordinate system O-XYZ are (x m,n ,y m,n ,z m,n ), 1≤n≤N m , establish the sub-array coordinate system O for the sub-array m m -XYZ, subarray coordinate system O m -The origin of XYZ is O m , origin O m The coordinates in the front coordinate system O-XYZ are

[0097]

[0098] Array coordinate system O-XYZ and subarray coordinate system O m -XYZ is a translation relationship, such as Figure 1As shown, the unit vector along the normal direction of sub-matrix m is

[0099] The subarray resource management module forms a receiving beam Beam at time t i (t) is a set of sub-matrices S i (t), the process of the subarray resource management module adaptively scheduling the subarray and updating the subarray set according to the directional information of each receiving beam includes:

[0100] Step 1: According to the receiving beam i (t) directional information Calculate the receive beam i (t) direction vector

[0101]

[0102] Step 2: Calculate the normal vector of subarray m and the receiving beam Beam i (t) direction vector The inner product of the matrix and the sub-array attenuation factor η is calculated based on the inner product m , η m The calculation method is as follows:

[0103]

[0104] in When η m When it is less than or equal to the set threshold, the subarray m is removed from the subarray set S i (t); otherwise, put subarray m into or leave it in subarray set S i (t), get the updated sub-matrix set S i (t).

[0105] Step 2: Subarray m and receiving beam Beam i (t) direction vector The inner product of is calculated as:

[0106] in, is the unit vector in the normal direction of submatrix m,

[0107] The threshold is set to 0, that is, when the sub-array attenuation factor η of the sub-array m m >0, put the subarray m into the subarray set S i (t), that is, subarray m participates in receiving beam Beam at time t i (t) formation.

[0108] The process of synthesizing the subarray beam based on the updated subarray set includes:

[0109] 1.1. Subarray resource management module schedules the updated subarray set S i (t), calculate the K subarrays in the kth subarray in the subarray coordinate system O k -XYZ coordinates (x′ k,n ,y′ k,n ,z′ k,n ):

[0110] Among them, (x k,n ,y k,n ,z k,n ) is the coordinate of the antenna unit in the kth subarray in the array coordinate system O-XYZ, 1≤n≤N k , N m is the number of antenna units in the kth subarray, 1≤k≤K,

[0111] 1.2. Get the kth sub-matrix in the sub-matrix coordinate system O k -The coordinate matrix under XYZ is:

[0112]

[0113] 1.3. Calculate the weighted vector of the kth sub-matrix Based on the weighted vector, a subarray beam Beam is formed. i (t,k).

[0114] The subarray resource management module calculates the updated subarray set S i The geometric center of (t) Calculate the delay difference Δτ of the kth subarray relative to the geometric center k , and the sub-array beam Beam formed by the k-th sub-array i (t, k) is used to perform time delay compensation and obtain the compensated sub-array beam Beam i (t-Δτ k ,k), the sub-array resource management module is based on the updated sub-array set S i (t) Complete receiving beam Beam i (t) synthesis.

[0115] Among them, the updated sub-array set S i The geometric center of (t) The calculation method is:

[0116] Among them, K is the sub-array set S i The number of subarrays in (t).

[0117] Receive Beami The calculation method of the synthesis of (t) is:

[0118] where η k is the sub-array attenuation factor of sub-array k.

[0119] At time t+T, the beam resource pool management module updates the i-th receiving beam Beam i The directional information of (t) is and will point to information Sent to the subarray resource management module, the subarray resource management module updates the subarray set to S i (t+T), calculate the sub-array set S i (t+T) relative to the sub-array set S i The delay difference introduced by the change of (t) relative to the origin O of the global coordinate system has an impact on the received beam Beam i (t+T) delay compensation is performed until the synthesis of all receiving beams in the beam resource management module is completed.

[0120] Subarray set S i (t+T) relative to the sub-array set S i (t) The time delay difference Δτ introduced by the change relative to the origin O of the global coordinate system i (t+T) is calculated as:

[0121]

[0122] in, is the set of sub-matrices S i The geometric center of (t+T) c is the speed of light.

[0123] Example 3

[0124] This embodiment takes two arrays as an example to introduce the receive beam resource pool beam synthesis method and device of the present invention:

[0125] like Figure 1 As shown in the figure, a receiving phased array system consists of two planes, each plane consists of four sub-arrays, where sub-arrays 1, 2, 5, and 6 are coplanar, and sub-arrays 3, 4, 7, and 8 are coplanar, and the angle between the two planes is 150°. Each sub-array contains 16 antenna elements, and the position of each antenna element in the coordinate system O-XYZ is shown in Figure 3 As shown, the incident angle of the beam The definitions are: θ is the angle between the incident direction and the XOZ plane, and the positive angle is the positive half axis of the Y axis. It is the angle between the projection of the incident direction on the XOZ plane and the positive half axis of the Z axis. The positive angle is positive if it is offset from the positive half axis of the X axis. It should be noted that the incident angle of the beam here is The definitions are for illustrative purposes only and are not exclusive and should not be construed as limiting the present invention.

[0126] The directional information of the received beam is the incident angle The direction vector of the received beam is:

[0127]

[0128] At time t, the received beam Beam i The incident angle of (t) is (0°, 15°), then the received beam Beam i The direction vector of (t) is:

[0129]

[0130] At this time, the angle between the beam pointing and the two array surfaces is 15°, so for all sub-arrays k, So for all sub-matrices, we have η k =1, then the sub-array set S i (t) = {sub-array 1, sub-array 2, ..., sub-array 8}.

[0131] Each sub-array forms a sub-array beam i (t,k), where 1≤k≤8. Calculate the subarray set S i The geometric center O of each sub-matrix in (t) k And the subarray set S i The geometric center of (t) get:

[0132] O1={0.0001,2.9120,2.0800}m

[0133] O2={-0.2720,2.9120,2.0800}m

[0134] O3={-0.6031,2.9120,1.9911}m

[0135] O4={-0.8374,2.9120,1.8551}m

[0136] O5={0.0001,2.6160,2.0800}m

[0137] O6={-0.2720,2.6160,2.0800}m

[0138] O7={-0.6031,2.6160,1.9911}m

[0139] O8={-0.8374,2.6160,1.8551}m

[0140]

[0141] Assuming the operating wavelength of the phased array is 13.33 cm, the subarray k is relative to The delay difference Δτ k They are: {0.6221, 0.3873, -0.1846, -0.8248, 0.6221, 0.3873, -0.1846, -0.8248}ns respectively. Beam Beam can be synthesized by compensating the above delays for beams 1-8 respectively. i (t).

[0142] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A receive beam resource pool beam synthesis method, characterized in that: The beam resource pool management module periodically sends the directional information of the managed receiving beam to the subarray resource management module. The subarray resource management module adaptively schedules the subarray according to the directional information of each receiving beam and updates the subarray set, synthesizes the subarray beam based on the updated subarray set, and performs delay compensation on each subarray beam, and synthesizes the receiving beam in the specified direction based on the compensated subarray beam. The compensation value for the delay compensation of each subarray beam is -Δτ k : in, is the sub-matrix coordinate system O of the kth sub-matrix in the updated sub-matrix set k -XYZ origin O k The coordinates in the front coordinate system O-XYZ, is the coordinate of the geometric center of the updated sub-matrix set, is the direction vector of the i-th received beam, and c is the speed of light.

2. The receive beam resource pool beam synthesis method according to claim 1, characterized in that: The process of the subarray resource management module adaptively scheduling the subarray and updating the subarray set according to the directional information of each receiving beam includes: Step 1: According to the receiving beam i (t) Direction information Calculate the receive beam i (t) direction vector Step 2: Calculate the normal vector of subarray m and the receiving beam Beam i (t) direction vector The inner product of the matrix and the sub-array attenuation factor η is calculated based on the inner product m , subarray attenuation factor η m The calculation method is as follows: in When η m When it is less than or equal to the set threshold, the subarray m is removed from the set S i (t); otherwise, put subarray m into or leave it in subarray set S i (t), get the updated sub-matrix set S i (t).

3. The receive beam resource pool beam synthesis method according to claim 2, characterized in that: The normal vector of the subarray m in step 2 and the receiving beam Beam i (t) direction vector The inner product of is calculated as: in, is the unit vector in the normal direction of submatrix m, 4. The receive beam resource pool beam synthesis method according to claim 2 or 3, characterized in that: The threshold is set to 0, that is, when the sub-array attenuation factor η of the sub-array m m >0, put the subarray m into the subarray set S i (t), that is, subarray m participates in receiving beam Beam at time t i (t) formation.

5. The receive beam resource pool beam synthesis method according to claim 1, characterized in that: The process of synthesizing the subarray beam based on the updated subarray set includes: 1.

1. Calculate the coordinates of each antenna unit in the kth subarray in the subarray coordinate system O k -XYZ coordinates (x′k,n,yk′,n,z′k,n): Among them, (x k,n ,y k,n ,z k,n ) is the coordinate of the antenna unit in the kth subarray in the array coordinate system O-XYZ, 1≤n≤N k , N k is the number of antenna units in the kth subarray, 1≤k≤K, K is the updated subarray set S i (t) the number of neutron arrays, 1.

2. Get the kth sub-matrix in the sub-matrix coordinate system O k -The coordinate matrix under XYZ is: 1.

3. Calculate the weighted vector of the kth sub-matrix Based on the weighted vector, a subarray beam Beam is formed. i (t,k).

6. The receive beam resource pool beam synthesis method according to claim 1, characterized in that: The coordinates of the geometric center of the updated sub-array set The calculation method is: Among them, K is the sub-array set S i The number of subarrays in (t).

7. The receive beam resource pool beam synthesis method according to claim 1, characterized in that: The compensated subarray beam is Beam i (t-Δτ k ,k), based on the compensated sub-array beam synthesis, the receiving beam Beam in the specified direction i (t) is calculated as: where η k is the sub-array attenuation factor of sub-array k.

8. A receiving beam resource pool beam synthesis device, characterized in that: include: A beam resource pool management module, used for periodically sending the directional information of the managed receiving beam; A subarray resource management module is used to adaptively schedule subarrays and update subarray sets according to the directional information of each receiving beam, synthesize subarray beams based on the updated subarray set, perform time delay compensation on each subarray beam, and synthesize a receiving beam in a specified direction based on the compensated subarray beams; The compensation value for the delay compensation of each subarray beam is -Δτ k : is the sub-matrix coordinate system O of the kth sub-matrix in the updated sub-matrix set m -XYZ origin O m The coordinates in the front coordinate system O-XYZ, is the coordinate of the geometric center of the updated sub-matrix set, is the direction vector of the i-th received beam, and c is the speed of light.

9. The receive beam resource pool beam synthesis device according to claim 8, characterized in that: The process of the subarray resource management module adaptively scheduling the subarray and updating the subarray set according to the directional information of each receiving beam includes: Step 1: According to the receiving beam i (t) Direction information Calculate the receive beam i (t) direction vector Step 2: Calculate the normal vector of subarray m and the receiving beam Beam i (t) direction vector The inner product of the matrix m is used to calculate the attenuation factor η of the matrix m. m :When the attenuation factor of the subarray m is η m When it is less than or equal to the set threshold, the subarray m is removed from the subarray set S i (t); otherwise, put subarray m into or leave it in subarray set S i (t), get the updated sub-matrix set S i (t).

10. The receive beam resource pool beam synthesis device according to claim 9, characterized in that: The normal vector of subarray m and the received beam Beam i (t) direction vector The inner product of is calculated as: in, is the unit vector in the normal direction of submatrix m,

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