Single-channel airborne meteorological radar pitching directional angle adjusting method and radar equipment

Abstract

The invention provides a single-channel airborne meteorological radar pitching directional angle adjusting method, and belongs to the field of airborne radar control, and the method comprises the steps: obtaining the real-time position, course angle, pitching beam width, scanning range and digital elevation map of an aircraft, and determining the terrain height of the position right below the aircraft; obtaining a radar beam center ideal landing angle according to the real-time position of the aircraft, calculating the radar beam lower edge height change, and obtaining the horizontal distance between the radar beam lower edge in the area where the aircraft is located and the ground landing point according to the radar beam lower edge height change; according to the relation between the horizontal distance and the current range of the radar, determining a target detection area covered by a radar beam and positions and heights of scattering points in the target detection area; determining a radar beam pitching directional angle according to the height of the scattering point; and based on the radar beam pitching directional angle, the radar antenna is controlled to perform multi-scanning upwards in sequence according to the beam width, and meteorological target data of different scanning layers are acquired.

Description

Technical Field

[0001] The present application belongs to the field of airborne radar control, and in particular relates to a single-channel airborne weather radar pitch pointing angle adjustment method and radar equipment. Background Art

[0002] Automatic ground clutter suppression in airborne weather radar is an important function for weather detection. It can greatly reduce the pilot's dependence on experience in using radar products and alleviate the pilot's operating burden. Therefore, the ability to reliably suppress ground clutter in different environments is a basic capability requirement of weather radar.

[0003] At present, airborne weather radars in civil aviation, general aviation and other fields are mainly traditional mechanical scanning radars due to their single use scenarios. They usually have only a single channel, namely: and channel. The beam pointing accuracy of a single channel is relatively low and cannot achieve accurate height measurement. It mainly performs automatic ground clutter suppression through multi-scan fusion from distance upward, but the pitch scanning angle needs to be designed in advance. This solution is suitable for civil aviation and general aviation with relatively fixed routes, but in the face of miniaturized airborne weather radars and complex and changeable geographical environments, this solution is not suitable enough and is not easy to meet the needs of pilots. Summary of the invention

[0004] The purpose of the present application is to provide a single-channel airborne weather radar pitch pointing angle adjustment method and radar equipment to solve or alleviate at least one problem in the background technology.

[0005] The technical solution of the present application is: a method for adjusting the pitch pointing angle of a single-channel airborne weather radar, comprising:

[0006] Obtain the aircraft's real-time position, heading angle, pitch beam width, scanning range and digital elevation map, and obtain the terrain height directly below the aircraft based on the aircraft's real-time position data and digital elevation map data;

[0007] The ideal ground-mounted angle of the center of the radar beam is obtained according to the real-time position of the aircraft. The height change of the lower edge of the radar beam is calculated according to the ideal ground-mounted angle, the real-time position of the aircraft, the pitch beam width and the terrain height. The horizontal distance between the lower edge of the radar beam and the ground-mounted point in the area where the aircraft is located is obtained according to the height change of the lower edge of the radar beam.

[0008] According to the relationship between the horizontal distance and the current range of the radar, the target detection area covered by the radar beam and the position and height of the scattered points within the target detection area are determined;

[0009] Determining the radar beam elevation pointing angle according to the height of the scatter points;

[0010] Based on the pitch pointing angle of the radar beam, the radar antenna is controlled to perform multiple scans upward in sequence according to the beam width to obtain meteorological target data of different scanning layers. After the scanning is completed, the meteorological target data of the multiple scans are subjected to multi-beam fusion to suppress ground clutter.

[0011] In a preferred embodiment of the present application, the real-time position of the aircraft includes longitude, latitude and absolute pressure altitude.

[0012] In a preferred embodiment of the present application, the calculation method of the ideal ground angle of the center of the radar beam is:

[0013]

[0014] In the formula, Ideal ground angle for radar beam center;

[0015] R e is the radius of the Earth;

[0016] PrH is the absolute pressure altitude.

[0017] In a preferred embodiment of the present application, the height change H of the lower edge of the radar beam is down_D The calculation method is:

[0018]

[0019] In the formula, H down_D is the height variation of the lower edge of the beam;

[0020] n r is the step value;

[0021] R(n r ) is the horizontal detection distance, horizontal detection distance R(n r ) on the horizontal plane is the horizontal distance D1.

[0022] In a preferred embodiment of the present application, the process of determining the target detection area covered by the radar beam and the positions and heights of the scattered points within the target detection area is as follows:

[0023] When the horizontal projection D1 ≥ the current range R, the lower edge of the radar beam has no intersection with the terrain height, and there is no need to determine the scatter point;

[0024] When the horizontal projection D1 is less than the current range R and the current range R is the first and second predetermined ranges, with the real-time position of the aircraft as the center and the current range R as the radius, randomly select scattered points within the radial distance interval (D1, R) of the radar beam coverage range, calculate the longitude and latitude of the selected scattered points, and query the digital elevation map to obtain its altitude according to the longitude and latitude;

[0025] When the horizontal projection D1 is less than the current range R and the current range R is the third predetermined range, the terrain height at the position below the aircraft is used as the reference and the ground overlap range δ between the center of the radar beam and the terrain height is calculated when the ground overlap angle of the center of the radar beam is the ideal ground overlap angle of the center of the beam. When the ground overlap range δ is not empty, scattered points are randomly selected within the ground overlap range δ, the longitude and latitude of the selected scattered points are calculated, and the digital elevation map is queried based on the longitude and latitude to obtain the altitude data.

[0026] In the preferred embodiment of the present application, the latitude and longitude of the selected scatter points are calculated as follows:

[0027]

[0028] In the formula, Lon i , Lat i is the longitude and latitude coordinates of the i-th scatter point;

[0029] Lon and Lat are the longitude and latitude coordinates of the real-time position of the aircraft;

[0030] α is the scanning range;

[0031] d is a randomly generated distance.

[0032] In a preferred embodiment of the present application, the process of determining the radar beam elevation pointing angle according to the height of the scatter points is as follows:

[0033] When the horizontal projection D1 ≥ the current range R, the minimum pitch angle of the radar beam pitch pointing angle is selected as the ideal ground angle.

[0034] When the horizontal projection D1 is less than the current range R and the current range R is the first predetermined range, the ideal ground angle is controlled. In step value When the pitch pointing angle determined by the calculation formula of the change in the lower edge height of the radar beam satisfies D1 ≥ R, the minimum pitch angle of the radar beam pitch pointing angle is selected as n is the number of steps;

[0035] When the horizontal projection D1 < the current range R and the current range R is the second predetermined range, the ideal ground angle is controlled. In step value When the pitch pointing angle determined by the calculation formula of the change in the lower edge height of the radar beam satisfies (R-D1)≤C·R, the minimum pitch angle of the radar beam pitch pointing angle is selected as C is the coefficient;

[0036] When the horizontal projection D1 is less than the current range R and the current range R is the third predetermined range, the ideal ground angle is controlled. In step value Increase, when the ground range δ is empty according to the calculation formula of the radar beam lower edge height change and the determined scatter point height, the minimum pitch angle of the radar beam pitch pointing angle is selected as

[0037] On the other hand, the technical solution of the present application is: a radar device, characterized in that the radar device includes a data processing device, which executes the single-channel airborne meteorological radar pitch pointing angle adjustment method as described in any one of claims 1 to 7.

[0038] Compared with the prior art, the method of the present application has the following beneficial features:

[0039] 1) Optimize the detection needs of meteorological targets ahead of the current altitude layer based on the combined channel: Use the real-time position, altitude and other data provided by the aircraft itself, and use the digital elevation map on the aircraft. On the basis of the combined channel of the traditional airborne meteorological radar, through algorithm design and software modification, the radar has the ability to adaptively adjust the antenna pitch angle, optimize and meet the detection needs of the weather ahead of the current altitude layer;

[0040] 2) Scenario-based adaptive parameter adjustment capability: Through real-time calculation inside the aircraft, the geographic information in the flight environment is solved in real time, and the scanning parameters are automatically adjusted based on geographic altitude information, radar control parameters, etc. Compared with the constant parameter route in previous designs, adaptive parameter adjustment can solve the problems of long test flight parameter adjustment time and obvious differences in ground clutter suppression effects in different scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solution provided by the present application, the following is a brief introduction to the accompanying drawings. Obviously, the accompanying drawings described below are only some embodiments of the present application.

[0042] Figure 1 Schematic diagram of the ideal landing angle of the beam center and the horizontal distance of the landing point of the lower edge of the beam in this application.

[0043] Figure 2 This is a schematic diagram of the ground angle automatically selected when D1 ≥ R in this application.

[0044] Figure 3 This is a schematic diagram of determining the distribution points when D1 is less than R and R is a small or medium range in this application.

[0045] Figure 4 This is a schematic diagram of determining the distribution points when D1 is less than R and R is a large range in this application.

[0046] Figure 5 Schematic diagram of the area between the beam center and the actual ground in this application.

[0047] Figure 6 Automatically select points within the detection range for this application to calculate and obtain a height diagram.

[0048] Figure 7 Schematic diagram of adaptive adjustment of beam pitch angle in this application. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solutions and advantages of the implementation of this application clearer, the technical solutions in the embodiments of this application will be described in more detail below in conjunction with the drawings in the embodiments of this application.

[0050] The purpose of this application is to provide a pitch angle adaptive adjustment method based on a digital elevation map for a single-channel (only and channels) airborne weather radar, so as to automatically suppress ground clutter and provide the aircraft flying at the current altitude and complex geographical environment with the weather target information ahead. The method obtains the terrain height information of the target area where the beam irradiates and covers based on the aircraft's real-time latitude and longitude, altitude, pitch beam width, scanning range, current range and other information, so that the airborne weather radar can automatically adjust the radar pitch angle to a suitable value in the case of accurate height measurement without differential path, and focus the detection area of ​​the current multi-scanning technology on the front of the route, and finally provide the pilot with the weather information on the route after ground clutter suppression, so as to solve the problem of differences in the effect of clutter suppression in different geographical environments and the long-term test flight adjustment under the traditional method, and improve the autonomy level of the airborne weather radar.

[0051] Combination Figures 1 to 7 As shown, the single-channel airborne weather radar pitch pointing angle adjustment method provided in the present application includes the following steps:

[0052] Step S10: Obtain the aircraft's real-time position (longitude Lon, latitude Lat, absolute pressure altitude PrH), heading angle (HAngle), pitch beam width θ, scanning range α, current range R and digital elevation map sent by the avionics system, and obtain the terrain height Hg directly below the aircraft based on the aircraft's real-time position data and the digital elevation map.

[0053] For example, in one embodiment of the present application, the real-time position coordinates received by the onboard weather radar from the avionics system are L1 (lon, lat), the absolute pressure altitude PrH is 5000m, and the heading angle is 30°. Combined with the digital elevation map on the aircraft, the terrain height H directly below the aircraft is obtained according to the real-time position coordinates of the aircraft. g =1000m.

[0054] Step S20: Calculate the ideal ground angle of the beam center corresponding to the current aircraft absolute pressure altitude PrH according to the aircraft real-time position

[0055] In the formula, R eis the radius of the earth, and PrH is the absolute altitude of the aircraft.

[0056] Then, based on the ideal ground angle of the beam center Pitch beam width θ, scanning range α and terrain height H at the aircraft location g , calculate the height change H of the lower edge of the beam down-D , through the height change H of the lower edge of the beam down_D The horizontal distance D1 when the lower edge of the beam touches the ground can be obtained

[0057] In this application, the height change of the lower edge of the radar beam is calculated as follows:

[0058]

[0059] In the formula, H down_D is the height change of the lower edge of the beam, R(n r ) is the horizontal detection distance, n r is the step value, usually 1 km, the horizontal detection distance R(n r ) on the horizontal plane is the horizontal distance D1.

[0060] According to the height change of the lower edge of the beam H down_D The horizontal projection distance D1 between the lower edge of the beam and the ground landing point in the area where the aircraft is located can be calculated.

[0061] For example, in this embodiment of the present application, according to the current aircraft absolute pressure altitude PrH, the corresponding ideal ground angle of the beam center at this altitude is calculated using the ground angle formula:

[0062] Combined with the radar pitch beam width θ and the terrain height H of the aircraft's real-time position g The height change curve of the lower edge of the beam at the terrain height of the aircraft at its location is calculated by using the height change formula, such as Figure 5 The three lines between the beam center and the actual ground overlap area are the beam upper edge, beam center, and beam lower edge. The horizontal dotted line is the terrain height Hg. According to the height change curve and the terrain height, the horizontal distance D1 = 50km when the horizontal ground is in contact is obtained.

[0063] Step S30, determining the relationship between the horizontal projection distance D1 and the current range R of the radar, and determining the target detection area covered by the radar beam and the locations and heights of the distribution points within the target detection area based on the relationship between the two.

[0064] The specific process is:

[0065] 1) When D1 ≥ R, that is, the radar beam does not touch the ground within this range, this angle can be directly used as the minimum pitch angle of the radar beam multi-scan;

[0066] 2) When D1<R and R is a small or medium range, take the real-time position of the aircraft as the center and the current range R as the radius, use the random function to randomly select points within the radial distance interval (D1, R) as the target detection area covered by the radar beam, calculate the coordinates of the selected distribution point, and obtain its height by querying the digital elevation map, such as Figure 3 As shown;

[0067] For example, in this embodiment of the present application, with the aircraft real-time position coordinate L1 (lon, lat) as the center and the current range R = 80km as the radius, based on the heading angle HAngle = 30° and the azimuth scanning range α, randomly select points within the beam coverage area of ​​the radial distance interval (50km, 80km), and use the following formula to calculate the latitude and longitude coordinates L of the randomly selected scattered points i (Lati, loni) calculation: s

[0068]

[0069] Where d is a randomly generated radial distance within the radial distance interval (50km, 80km).

[0070] 3) When D1<R and R is a large range, the terrain height H below the aircraft is centered on the aircraft's real-time position. g As a benchmark, the ground contact range δ between the beam center and the actual ground is calculated by the height change formula when the beam center has an ideal ground contact angle. When the ground contact range δ is not empty, a random point is randomly selected within the range by a random function, and the coordinates of the selected point are calculated. The height is obtained by querying the digital elevation map, such as Figure 4 shown.

[0071] For example, in this embodiment of the present application, the real-time position coordinates L1 (lon, lat) of the aircraft are taken as the center, based on the absolute pressure altitude PrH of the aircraft, the terrain altitude H of the real-time position g , heading angle Hangle = 30°, etc., calculate the ground coverage range δ(d1, d2) of the radar beam and the terrain height Hg corresponding to the horizontal ground. When the ground coverage range δ is not empty, randomly select points within the ground coverage range δ(d1, d2), and calculate the longitude and latitude coordinates L of the randomly selected scattered points using the above coordinate formula i (Lati, loni), where d is the randomly generated radial distance within the ground range δ(d1, d2).

[0072] Finally, the obtained scatter point heights are statistically analyzed, and the height mean or variance of the scatter points in the target detection area is calculated to determine the geographical environment of the target detection area. For example, when the variance of the scatter point height is large, it is judged that there is a sudden change in terrain in the target detection area, otherwise it does not exist; when the height mean of the scatter points is large, it is judged that the target detection area belongs to a typical plateau, otherwise it is a plain.

[0073] Step S40: Determine the multi-beam pitch angle of the radar according to the height of the distribution point.

[0074] 1) When D1 ≥ R, the minimum elevation angle of the radar multi-beam is selected as the ideal ground angle

[0075] For example, in this embodiment of the present application, when the current range is 40 km, the minimum pitch angle of the radar multi-beam is the ideal ground angle. Other pitch pointing angles are at the ideal ground angle Based on the pitch beam width adjustment;

[0076] 2) When D1<R and R is a small range, the average height of the scattered points calculated in step S30 is too large, and the ideal ground contact angle is controlled. In step value When the pitch pointing angle determined by the calculation formula of the height change of the lower edge of the radar beam satisfies D1≥R, the minimum pitch angle of the radar multi-beam is selected as n is the number of steps, step value Usually 0.1°;

[0077] 3) When D1<R and R is in the middle range, the average height of the scattered points calculated in step S30 is too large, so the ideal ground contact angle is controlled In step value When the elevation pointing angle determined by the calculation formula of the height change of the lower edge of the radar beam satisfies (R-D1)≤C·R, the minimum elevation angle of the radar multi-beam is selected as Among them, the coefficient C can be 15% to 20%

[0078] For example, in this embodiment of the present application, when D1 < R and the current range R is the medium range of 160 km, the minimum pitch angle of the radar multi-beam is The stepping angle is 0.2°, and after 5 iterations, (R-D1)≤15%*R is satisfied. At this time, the minimum pitch angle of the radar multi-beam is selected as -1.9°+5*0.2°, and the other pitch pointing angles are at the ideal ground contact angle. Based on the pitch beam width adjustment.

[0079] 4) When D1<R and R is a large range, the height mean square error of the scattered points calculated in step S30 is too large and the beam center actually touches the ground, then the ideal touch angle is controlled In step value Increase, when the radar beam lower edge height change calculation formula and the scattered point height are iteratively calculated to meet the beam center to achieve actual non-ground (i.e. Figure 5 The intersection interval between the center of the middle beam and the terrain height Hg is empty), and the minimum pitch angle of the radar multi-beam is selected as

[0080] For example, in this embodiment of the present application, when D1 < R and R is a large range of 480 km, the minimum pitch angle of the radar multi-beam is Increase by 0.2° in steps, according to the real-time terrain height when the beam center is not touching the ground otherwise, The step value increases, and through 4 iterative calculations, the beam center is actually not touching the ground. The pitch angle is -1.9°+4*0.2°, which is the minimum pitch angle of the multi-beam.

[0081] Step S50: Based on the radar multi-beam pointing angle obtained in step S40, the radar beam is controlled to perform multiple scans upward in sequence according to the beam width to obtain target data of different scanning layers. After the scanning is completed, the multi-scanned meteorological target data is subjected to multi-beam fusion to suppress ground clutter.

[0082] Compared with the prior art, the method of the present application has the following beneficial features:

[0083] 1) Optimize the detection needs of meteorological targets ahead of the current altitude layer based on the combined channel: Use the real-time position, altitude and other data provided by the aircraft itself, and use the digital elevation map on the aircraft. On the basis of the combined channel of the traditional airborne meteorological radar, through algorithm design and software modification, the radar has the ability to adaptively adjust the antenna pitch angle, optimize and meet the detection needs of the weather ahead of the current altitude layer;

[0084] 2) Scenario-based adaptive parameter adjustment capability: Through real-time calculation inside the aircraft, the geographic information in the flight environment is solved in real time, and the scanning parameters are automatically adjusted based on geographic altitude information, radar control parameters, etc. Compared with the constant parameter route in previous designs, adaptive parameter adjustment can solve the problems of long test flight parameter adjustment time and obvious differences in ground clutter suppression effects in different scenarios.

[0085] Finally, the present application also provides a radar device, which is mainly used for airborne weather radar and can be expanded to other airborne radars using the multi-beam fusion. The radar device includes a data processing device, which executes the above-mentioned single-channel airborne weather radar pitch pointing angle adjustment method.

[0086] The processing device may include one or more processing units, for example, the processing device may include an application processor (AP), a modem processor, a graphics processor (GPU), an image signal processor (ISP), a controller, a memory, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. Among them, different processing units may be independent devices or integrated into one or more processors. Among them, the controller may generate an operation control signal according to the instruction opcode and the timing signal to complete the control of fetching and executing instructions.

[0087] A memory may also be provided in the processing device for storing instructions and data. In some embodiments, the memory in the processing device is a cache memory. The memory may store instructions or data that have just been used or are cyclically used by the processing device. If the processing device needs to use the instruction or data again, it may be directly called from the memory, thereby avoiding repeated access, reducing the waiting time of the processing device, and thus improving the efficiency of the system.

[0088] In some embodiments, the processing device may include one or more interfaces. For example, the interface may include an inter-integrated circuit (I2C) interface, an inter-integrated circuit sound (I2S) interface, a pulse code modulation (PCM) interface, a universal asynchronous receiver / transmitter (UART) interface, a mobile industry processor interface (MIPI), a general-purpose input / output (GPIO) interface, a subscriber identity module (SIM) interface, and / or a universal serial bus (USB) interface.

[0089] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A method for adjusting the pitch pointing angle of a single-channel airborne weather radar, characterized in that: include: Obtain the aircraft's real-time position, heading angle, pitch beam width, scanning range and digital elevation map, and obtain the terrain height directly below the aircraft based on the aircraft's real-time position data and digital elevation map data; The ideal ground-mounted angle of the center of the radar beam is obtained according to the real-time position of the aircraft. The height change of the lower edge of the radar beam is calculated according to the ideal ground-mounted angle, the real-time position of the aircraft, the pitch beam width and the terrain height. The horizontal distance between the lower edge of the radar beam and the ground-mounted point in the area where the aircraft is located is obtained according to the height change of the lower edge of the radar beam. According to the relationship between the horizontal distance and the current range of the radar, the target detection area covered by the radar beam and the position and height of the scattered points within the target detection area are determined; Determining the radar beam elevation pointing angle according to the height of the scatter points; Based on the pitch pointing angle of the radar beam, the radar antenna is controlled to perform multiple scans upward in sequence according to the beam width to obtain meteorological target data of different scanning layers. After the scanning is completed, the meteorological target data of the multiple scans are subjected to multi-beam fusion to suppress ground clutter.

2. The method for adjusting the elevation pointing angle of a single-channel airborne weather radar according to claim 1, characterized in that: The real-time position of the aircraft includes latitude, longitude and absolute pressure altitude.

3. The method for adjusting the elevation pointing angle of a single-channel airborne weather radar according to claim 2, characterized in that: The calculation method of the ideal ground angle of the center of the radar beam is: In the formula, Ideal ground angle for radar beam center; R e is the radius of the Earth; PrH is the absolute pressure altitude.

4. The method for adjusting the elevation pointing angle of a single-channel airborne weather radar as claimed in claim 3, characterized in that: The height change H of the lower edge of the radar beam down_D The calculation method is: In the formula, H down_D is the height variation of the lower edge of the beam; n r is the step value; R(n r ) is the horizontal detection distance, horizontal detection distance R(n r ) on the horizontal plane is the horizontal distance D1.

5. The method for adjusting the elevation pointing angle of a single-channel airborne weather radar according to claim 4, characterized in that: The process of determining the target detection area covered by the radar beam and the location and height of the scattered points within the target detection area is as follows: When the horizontal projection D1 ≥ the current range R, the lower edge of the radar beam has no intersection with the terrain height, and there is no need to determine the scatter point; When the horizontal projection D1 is less than the current range R and the current range R is the first and second predetermined ranges, with the real-time position of the aircraft as the center and the current range R as the radius, randomly select scattered points within the radial distance interval (D1, R) of the radar beam coverage range, calculate the longitude and latitude of the selected scattered points, and query the digital elevation map to obtain its altitude according to the longitude and latitude; When the horizontal projection D1 is less than the current range R and the current range R is the third predetermined range, the terrain height at the position below the aircraft is used as the reference and the ground overlap range δ between the center of the radar beam and the terrain height is calculated when the ground overlap angle of the center of the radar beam is the ideal ground overlap angle of the center of the beam. When the ground overlap range δ is not empty, scattered points are randomly selected within the ground overlap range δ, the longitude and latitude of the selected scattered points are calculated, and the digital elevation map is queried based on the longitude and latitude to obtain the altitude data.

6. The method for adjusting the elevation pointing angle of a single-channel airborne weather radar according to claim 5, characterized in that: The latitude and longitude of the selected scatter points are calculated as: In the formula, Lon i , Lat i is the longitude and latitude coordinates of the i-th scatter point; Lon and Lat are the longitude and latitude coordinates of the real-time position of the aircraft; α is the scanning range; d is a randomly generated distance.

7. The method for adjusting the elevation pointing angle of a single-channel airborne weather radar according to claim 6, characterized in that: The process of determining the radar beam elevation pointing angle according to the height of the scatter points is as follows: When the horizontal projection D1 ≥ the current range R, the minimum pitch angle of the radar beam pitch pointing angle is selected as the ideal ground angle. When the horizontal projection D1 is less than the current range R and the current range R is the first predetermined range, the ideal ground angle is controlled. In step value When the pitch pointing angle determined by the calculation formula of the change in the lower edge height of the radar beam satisfies D1 ≥ R, the minimum pitch angle of the radar beam pitch pointing angle is selected as n is the number of steps; When the horizontal projection D1 < the current range R and the current range R is the second predetermined range, the ideal ground angle is controlled. In step value When the pitch pointing angle determined by the calculation formula of the change in the lower edge height of the radar beam satisfies (R-D1)≤C·R, the minimum pitch angle of the radar beam pitch pointing angle is selected as C is the coefficient; When the horizontal projection D1 is less than the current range R and the current range R is the third predetermined range, the ideal ground angle is controlled. In step value Increase, when the ground range δ is empty according to the calculation formula of the radar beam lower edge height change and the determined scatter point height, the minimum pitch angle of the radar beam pitch pointing angle is selected as 8. A radar device, characterized in that: The radar device comprises a data processing device, which executes the single-channel airborne weather radar pitch pointing angle adjustment method according to any one of claims 1 to 7.

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