Moving target tracking error measurement method, system and device and storage medium

Abstract

The invention discloses a moving target tracking error measurement method, system and device and a storage medium, and the method comprises the steps: employing a main antenna beam maximum value to align a moving target as a reference direction, and receiving a radio frequency signal of the moving target through employing a main antenna and at least two preset tracking antennas; the method comprises the following steps: receiving a radio-frequency signal, amplifying, converting, filtering and sampling the received radio-frequency signal to obtain a baseband signal, calculating a complex phase difference between a main antenna baseband signal and a tracking antenna baseband signal to obtain a complex phase difference signal, carrying out noise reduction processing on the complex phase difference signal, and estimating an angular deviation between a radio-frequency signal receiving angle and a reference direction. And an auxiliary signal for directional tracking does not need to be adopted, and accurate tracking and measurement of the moving target can be realized only through normal communication.

Description

[0001] Technology Neighborhood

[0002] The present invention relates to the field of wireless tracking technology, and in particular to a method, system, device and storage medium for measuring a moving target tracking error. Background Art

[0003] At present, when wireless communication is performed between at least two relatively moving devices, sometimes at least one of them needs to use a directional antenna. One end of the device using the directional antenna is called the local end, and the other end is called the opposite end. There is a defect in directional antenna communication that needs to be overcome, that is, the local end needs to know the direction of the communication opposite end device. If the opposite end moves during the communication process, it is also necessary to track the direction change of the opposite end so that the opposite end signal is always within the angle range with the maximum antenna gain. This requires the local end to install the directional antenna on a turntable, so that the direction of the antenna beam can be rotated horizontally and changed in pitch, so that the maximum direction of the antenna beam always points to the target. This requires the local end to be able to check the direction change of the opposite end in real time and control the turntable to track the direction change of the opposite end. Summary of the invention

[0004] The purpose of the present invention is to address the technical problems existing in the background technology and to propose a moving target tracking error measurement method, system, device and storage medium.

[0005] In order to achieve the above technical objectives, the technical solution adopted by the present invention is as follows:

[0006] A first implementation of the first aspect of the present invention provides a method for measuring a moving target tracking error, which includes:

[0007] S101, directing the maximum beam value of the main antenna toward the moving target as a reference direction;

[0008] S102, using a main antenna and at least two preset tracking antennas to respectively receive radio frequency signals emitted by a moving target;

[0009] S103, respectively amplifying, frequency converting, filtering and sampling the radio frequency signals received by the main antenna and the at least two tracking antennas to obtain a first baseband signal and at least two second baseband signals;

[0010] S104, calculating the complex phase differences between the first baseband signal and at least two second baseband signals based on a preset first algorithm, to obtain at least two complex phase difference signals;

[0011] S105 , based on a preset second algorithm, respectively perform noise reduction on at least two complex phase difference signals, and calculate an angle deviation estimation signal between a receiving angle of the radio frequency signal and a reference direction.

[0012] Optionally, in a second implementation of the first aspect of the present invention, after step S102, the method further includes:

[0013] S1021. Calculate a first phase difference between at least two tracking antennas and a second phase difference between the tracking antenna and the main antenna according to radio frequency signals received by at least two tracking antennas.

[0014] Optionally, in a third implementation manner of the first aspect of the present invention, a calculation formula for the first phase difference and the second phase difference is:

[0015] P = 2πDf / c;

[0016]

[0017] Where P is the first phase difference, D is the parallel distance between the RF signals received by the two tracking antennas, f is the frequency of the RF signal, and c is the speed of light. is the angle between the incident direction of the RF signal and the reference direction, is the second phase difference.

[0018] Optionally, in a fourth implementation of the first aspect of the present invention, S104 includes:

[0019] S1041. According to the second phase difference, represent at least two second baseband signals in complex form, and calculate at least two complex phase difference signals based on a preset horizontal angle deviation detection algorithm.

[0020] Optionally, in a fifth implementation of the first aspect of the present invention, a calculation formula of the horizontal angle deviation detection algorithm is:

[0021]

[0022] T1 = A1*exp(j*2πft);

[0023]

[0024] D 10 =T 1 / T0;

[0025] D 20 =T2 / T0;

[0026] Wherein, T0 is the first baseband signal, is the phase difference between the RF signals received by the main antenna and one of its tracking antennas, T1 and T2 are two second baseband signals, A1 and A2 are the amplitudes of the RF signals, j is the complex number sqrt(-1), D 10 The complex phase difference signal between the tracking antenna and the main antenna, D 20It is the complex phase difference signal between the second tracking antenna and the main antenna.

[0027] Optionally, in a sixth implementation of the first aspect of the present invention, S105 includes:

[0028] S1051, based on a preset accumulation and smoothing algorithm, respectively accumulate and smooth at least two complex phase difference signals to obtain at least two optimized complex phase difference signals;

[0029] S1052. Perform complex division calculation on at least two optimized complex phase difference signals to obtain a signal-to-noise ratio, and calculate a phase angle or an imaginary part of the signal-to-noise ratio based on a preset complex function, and use the phase angle or the imaginary part as an angle deviation estimation signal.

[0030] A first implementation of the second aspect of the present invention provides a moving target tracking error measurement system, comprising:

[0031] A reference module, used to direct the maximum beam value of the main antenna toward the moving target as a reference direction;

[0032] A receiving module, used to respectively receive radio frequency signals sent by a moving target using a main antenna and at least two preset tracking antennas;

[0033] An optimization module, used to amplify, frequency-convert, filter and sample the radio frequency signals received by the main antenna and the at least two tracking antennas to obtain a first baseband signal and at least two second baseband signals;

[0034] A calculation module, configured to calculate, based on a preset first algorithm, complex phase differences between the first baseband signal and at least two second baseband signals, respectively, to obtain at least two complex phase difference signals;

[0035] The estimation module is used to perform noise reduction on at least two complex phase difference signals respectively based on a preset second algorithm, and calculate an angle deviation estimation signal between a receiving angle of the radio frequency signal and a reference direction.

[0036] A first implementation of the third aspect of the present invention provides a mobile target tracking error measurement device, the mobile target tracking error measurement device comprising: a memory and at least one processor, the memory storing instructions, the memory and the at least one processor being interconnected via a line;

[0037] The at least one processor calls the instructions in the memory so that the mobile target tracking error measurement device executes the mobile target tracking error measurement method as described in any one of the first aspects of the present invention.

[0038] A first implementation method of the fourth aspect of the present invention provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements the mobile target tracking error measurement method as described in any one of the first aspects of the present invention.

[0039] Compared with the prior art, the present invention has the following beneficial technical effects: the maximum value of the main antenna beam is used to align with the mobile target as a reference direction, the main antenna and at least two preset tracking antennas are used to receive the radio frequency signal of the mobile target, and the received radio frequency signal is amplified, frequency-converted, filtered and sampled to obtain a baseband signal, the complex phase difference between the main antenna baseband signal and the tracking antenna baseband signal is calculated to obtain a complex phase difference signal, the complex phase difference signals are subjected to noise reduction processing, and the angle deviation between the radio frequency signal reception angle and the reference direction is estimated, and accurate tracking and measurement of the mobile target can be achieved only through normal communication without using an auxiliary signal for directional tracking. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 A schematic diagram of a first embodiment of a method for measuring a moving target tracking error in an embodiment of the present invention;

[0041] Figure 2 Schematic diagram of a second embodiment of a method for measuring a moving target tracking error in an embodiment of the present invention;

[0042] Figure 3 Schematic diagram of a fourth embodiment of a method for measuring a moving target tracking error according to an embodiment of the present invention;

[0043] Figure 4 Schematic diagram of a sixth embodiment of a method for measuring a moving target tracking error according to an embodiment of the present invention;

[0044] Figure 5 A schematic diagram of an embodiment of a mobile target tracking error measurement system in an embodiment of the present invention;

[0045] Figure 6 A schematic diagram of an embodiment of a mobile target tracking error measurement device in an embodiment of the present invention;

[0046] Figure 7 It is a structural schematic diagram of an antenna to which a method for measuring a mobile target tracking error in an embodiment of the present invention is applied;

[0047] Figure 8 Schematic diagram of the phase difference between two tracking antennas in an embodiment of the present invention. DETAILED DESCRIPTION

[0048] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0049] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", and the like may explicitly or implicitly include one or more features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0050] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or a specific connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0051] For ease of understanding, the specific process of the embodiment of the present invention is described below. Figure 1-Figure 6 In an embodiment of the present invention, a method for measuring a moving target tracking error is used to detect a road. The method for measuring a moving target tracking error includes:

[0052] S101, directing the maximum beam value of the main antenna toward the moving target as a reference direction;

[0053] In this embodiment, the mobile target tracking error measurement method of the present invention is applied to a set of antenna structures, which include a main antenna, at least two tracking antennas, a deflection platform, a processing chip, a local oscillator, a radio frequency chip and a control motor. In this embodiment, four tracking antennas are used as an example, so the main antenna and the four tracking antennas are respectively installed on the deflection platform, wherein the main antenna is placed at the center of the deflection platform, and the four tracking antennas are respectively placed at the four diagonals of the main antenna, and the four tracking antennas are respectively electrically connected to the processing chip, the processing chip is used to process the tracking signal / radio frequency signal received by the tracking antenna and process it into data that can be processed by the control motor, the radio frequency chip is electrically connected to the main antenna, and is used to receive the signal received by the main antenna and send a signal to the main antenna, the local oscillator is respectively electrically connected to the radio frequency chip and the processing chip, wherein the main antenna can use a reflecting surface or an array surface, the size of the four tracking antennas is smaller than that of the main antenna, and is arranged according to the position, as shown in the attached Figure 7 As shown, the tracking antennas at positions 1 and 2, and the tracking antennas at positions 3 and 4 are installed at the same height, but the tracking antennas at positions 1 and 3 and at positions 2 and 4 are installed at different heights, with a certain height difference.

[0054] The reference direction uses the direction of the antenna beam maximum value pointing to the moving target to ensure that the phase difference of the signal received by each tracking antenna is 0 (the path deviation and phase deviation inherent in each tracking signal processing channel need to be corrected or compensated). It should be noted that if the signal receiving direction of the moving target deviates from the maximum beam direction of the main antenna in the horizontal azimuth, there will be a phase difference in the signals received between tracking antennas 1 and 2, and tracking antennas 3 and 4. Within a certain deviation angle range, the greater the deviation angle, the greater the phase difference. Similarly, if the signal receiving direction of the moving target deviates from the maximum beam direction of the main antenna in the vertical elevation angle, there will be a phase difference in the signals received between antennas 1 and 3, and antennas 2 and 4. Within a certain deviation angle range, the greater the deviation angle, the greater the phase difference.

[0055] S102, using a main antenna and at least two preset tracking antennas to respectively receive radio frequency signals emitted by a moving target;

[0056] Furthermore, S102 may further specifically execute:

[0057] S1021. Calculate a first phase difference between at least two tracking antennas and a second phase difference between the tracking antenna and the main antenna according to radio frequency signals received by at least two tracking antennas.

[0058] The calculation formulas of the first phase difference and the second phase difference are:

[0059] P = 2πDf / c;

[0060]

[0061] Where P is the first phase difference, D is the parallel distance between the RF signals received by the two tracking antennas, f is the frequency of the RF signal, and c is the speed of light. is the angle between the incident direction of the RF signal and the reference direction, is the second phase difference.

[0062] In this embodiment, the calculated P and By controlling these two values ​​to approach 0, the antenna structure can always point to the moving target. However, there is a certain amount of noise in this process, which will affect the final calculated P and This will bring about certain errors, so noise reduction work needs to be added to ensure that the antenna structure can accurately point to the moving target.

[0063] S103, respectively amplifying, frequency converting, filtering and sampling the radio frequency signals received by the main antenna and the at least two tracking antennas to obtain a first baseband signal and at least two second baseband signals;

[0064] S104, calculating the complex phase differences between the first baseband signal and at least two second baseband signals based on a preset first algorithm, to obtain at least two complex phase difference signals;

[0065] In this embodiment, .

[0066] Furthermore, S104 may further specifically execute:

[0067] S1041. According to the second phase difference, represent at least two second baseband signals in complex form, and calculate at least two complex phase difference signals based on a preset horizontal angle deviation detection algorithm.

[0068] In this embodiment, .

[0069] The calculation formula of the horizontal angle deviation detection algorithm is:

[0070]

[0071] T1 = A1*exp(j*2πft);

[0072]

[0073] D 10 =T 1 / T0;

[0074] D 20 =T2 / T0;

[0075] Wherein, T0 is the first baseband signal, is the phase difference between the RF signals received by the main antenna and one of its tracking antennas, T1 and T2 are two second baseband signals, A1 and A2 are the amplitudes of the RF signals, j is the complex number sqrt(-1), which is specifically the square root of -1 of the complex number, D 10 The complex phase difference signal between the tracking antenna and the main antenna, D 20 It is the complex phase difference signal between the second tracking antenna and the main antenna.

[0076] The above calculation formula is only based on two tracking antennas as an example. In this embodiment, it includes but is not limited to using two tracking antennas, such as T1 to T n , is selected according to the actual antenna structure, where D 12 =T1 / T2,D 12 is the complex phase difference signal between the two tracking antennas, but this is when the noise is not considered. 12 The phase angle or imaginary part is calculated as the angle data of the deflection platform. However, in order to reduce noise and improve accuracy, the complex phase difference between the main antenna and the two tracking antennas is calculated to reduce the impact of noise, and D 10 and D 20 Compared to D 12 , its instantaneous error is much lower;

[0077] Among them, D 10 and D 20 The expanded formula is:

[0078]

[0079] A0 is higher than or equal to the amplitude threshold AMP_THR;

[0080] =0; A0 is lower than the amplitude threshold AMP_THR;

[0081]

[0082] A0 is higher than or equal to the amplitude threshold AMP_THR

[0083] =0; A0 is lower than the amplitude threshold AMP_THR

[0084] When A0 is lower than the amplitude threshold (the other end does not transmit, or the envelope of the transmitted signal passes through the vicinity of the 0 point), in order to reduce the impact of noise, D 10 and D 20 Set to 0.

[0085] S105 , based on a preset second algorithm, respectively perform noise reduction on at least two complex phase difference signals, and calculate an angle deviation estimation signal between a receiving angle of the radio frequency signal and a reference direction.

[0086] Furthermore, S105 may also specifically execute:

[0087] S1051, based on a preset accumulation and smoothing algorithm, respectively accumulate and smooth at least two complex phase difference signals to obtain at least two optimized complex phase difference signals;

[0088] S1052. Perform complex division calculation on at least two optimized complex phase difference signals to obtain a signal-to-noise ratio, and calculate a phase angle or an imaginary part of the signal-to-noise ratio based on a preset complex function, and use the phase angle or the imaginary part as an angle deviation estimation signal.

[0089] In this embodiment, the accumulation smoothing algorithm includes but is not limited to group accumulation, sliding accumulation and first-order filtering. Here, the above three algorithms are taken as examples:

[0090] Group accumulation (output accumulation result once every N samples):

[0091]

[0092]

[0093] Sliding accumulation (output once per sample):

[0094]

[0095] First-order filtering (output once per sample):

[0096] CD 10 (n) = CD 10 (n-1)+(D 10 (n-1)-CD 10 (n-1)) / N;

[0097] CD 20 (n) = CD 20 (n-1)+(D 20 (n-1)-CD 20 (n-1)) / N;

[0098] CD 10 D 10 The cumulative result of , m is the sequence number, k is a constant.

[0099] The optimized complex phase difference signal CD obtained by selecting any of the above algorithms 10 and CD 20 , calculated by complex division, the signal-to-noise ratio HD12 , the specific formula is:

[0100]

[0101] The signal-to-noise ratio HD 12 Compared to D 10 and D 20 The signal-to-noise ratio is much higher, so the signal-to-noise ratio HD 12 The phase angle or imaginary part is calculated and used as an angle deviation estimation signal, which effectively improves the accuracy of tracking moving targets.

[0102] Since complex division operations are required many times, accurate complex division operations consume large resources and have poor real-time performance. In the application scenario of this embodiment, complex multiplication and real multiplication can also be used to perform complex division operations. Take T1 / T0 operation as an example:

[0103] Assume that the main signal is T0 = T0_I + j * T0_Q, and the baseband signal of tracking antenna 1 is T1 = T1_I + j * T1_Q. The I*I+Q*Q module is used to calculate the main signal amplitude T0_AMP = T0_I * T0_I + T0_Q * T0_Q, multiply this value by the amplitude coefficient C0, and then compare it with the threshold T0_THR. The comparison result is then smoothed and accumulated, and the amplitude coefficient C0 is adjusted to keep T0_AMP*C0 around T0_THR. At this time:

[0104] T0_THR = T0_AMP*C0;

[0105] C0=T0_THR / T0_AMP;

[0106] C0 is equivalent to the reciprocal of the cumulative average value of T0_AMP=T0_I*T0_I+T0_Q*T0_Q.

[0107] Assume that the amplitude coefficient CS is 1, T = C0 to obtain the complex number Y1:

[0108] Y1=Y1_I+j*Y1_Q=T*X1=C0*X1_I+j*C0*X1_Q=C0*T1*conj(T0)

[0109] =T0_THR*T1*conj(T0) / T0_AMP

[0110] =T0_THR*T1*conj(T0) / (T0_I*T0_I+T0_Q*T0_Q)

[0111] =T0_THR*T1* / T0

[0112] The division operation of T1 / T0 is completed. However, during the operation, if T0_AMP is detected to be lower than the threshold, such as the other end is not transmitting, or the transmitted signal envelope is close to 0, these times belong to low signal-to-noise ratio time, the signal is too small, and the noise is too large. The accumulation smoothers of C0 and C1 need to stop accumulating during this period of time and remain unchanged to eliminate the interference of low signal-to-noise ratio signals on the accumulation results. At the same time, during the low signal-to-noise ratio time, X1=X1_I+j*X1_Q and X2=X2_I+j*X2_Q need to be cleared to 0 to avoid adverse effects on the deviation estimation.

[0113] The calculation method of T2 / T0 is the same as T1 / T0. 12 =CD 10 / CD 20 Complex division is also needed. The amplitude coefficient CS of the T2 branch needs to be combined and multiplied with the amplitude coefficient CS and C0 to obtain the amplitude coefficient T, and the output of the complex multiplier is uniformly multiplied by real numbers.

[0114] The same is true for vertical tracking. When calculating the azimuth and elevation deviations uniformly, the four tracking antennas can share one C0 calculation for the main antenna, and for CS calculation, since the baseband signals of the four tracking antennas are all calibrated in phase and amplitude, the amplitude of the received signal is consistent, so the baseband signal amplitude of one of the four antennas can be selected to calculate CS, or the amplitude of each baseband signal can be averaged to obtain CS.

[0115] If only horizontal azimuth angle deviation detection is performed, only two tracking antennas (1 and 2, or 3 and 4) need to be retained. Similarly, if only elevation angle deviation detection is performed, only two tracking antennas (1 and 3, or 2 and 4) need to be retained. Theoretically, only three tracking antennas are needed to provide detection of antenna pointing deviation in both azimuth and elevation dimensions. Tracking antennas 1 and 2 provide azimuth angle deviation estimation HD 12 , tracking antennas 1 and 3 provide elevation difference estimates HD 13 Using four tracking antennas can provide a certain degree of redundancy, which can produce two azimuth errors (HD 12 , HD 34 ) and two elevation errors (HD 13 , HD 24 ), averaging can improve detection accuracy, or when one fails the other can be used.

[0116] The RF and baseband processing of the main antenna and the four tracking antennas need to use the same receiving local oscillator or reference to ensure that the phase difference between these local oscillators is stable. The whole device needs to have a phase, delay and amplitude calibration mechanism to ensure that when the incident signal direction deviates from the main beam direction When it is 0, each antenna undergoes RF and digital processing. Before the above complex processing, the phase difference HD of T0, T1~T4 is 12 , HD 34 , HD 13 , HD 24 is 0 and has equal amplitude.

[0117] Specifically, the maximum value of the main antenna beam is used to align with the mobile target as a reference direction, the main antenna and at least two preset tracking antennas are used to receive the radio frequency signal of the mobile target, and the received radio frequency signal is amplified, frequency-converted, filtered and sampled to obtain a baseband signal, and the complex phase difference between the main antenna baseband signal and the tracking antenna baseband signal is calculated to obtain a complex phase difference signal, these complex phase difference signals are subjected to noise reduction processing, and the angle deviation between the radio frequency signal reception angle and the reference direction is estimated. There is no need to use auxiliary signals for directional tracking, and accurate tracking and measurement of the mobile target can be achieved only through normal communication.

[0118] The above describes the mobile target tracking error measurement method in the embodiment of the present invention. The following describes the mobile target tracking error measurement system in the embodiment of the present invention. Figure 5 , the mobile target tracking error measurement system comprises:

[0119] A reference module 201, used to point the maximum beam value of the main antenna to the mobile target as a reference direction;

[0120] The receiving module 202 is used to use the main antenna and at least two preset tracking antennas to receive the radio frequency signals sent by the mobile target respectively;

[0121] The optimization module 203 is used to amplify, frequency-convert, filter and sample the radio frequency signals received by the main antenna and the at least two tracking antennas to obtain a first baseband signal and at least two second baseband signals;

[0122] A calculation module 204 is used to calculate the complex phase difference between the first baseband signal and at least two second baseband signals based on a preset first algorithm to obtain at least two complex phase difference signals;

[0123] The estimation module 205 is used to perform noise reduction on at least two complex phase difference signals respectively based on a preset second algorithm, and calculate an angle deviation estimation signal between a receiving angle of the radio frequency signal and a reference direction.

[0124] Specifically, the maximum value of the main antenna beam is used to align with the mobile target as a reference direction, and the main antenna and at least two preset tracking antennas are used to receive the radio frequency signal of the mobile target, and the received radio frequency signal is amplified, frequency-converted, filtered and sampled to obtain a baseband signal, and the complex phase difference between the main antenna baseband signal and the tracking antenna baseband signal is calculated to obtain a complex phase difference signal, and these complex phase difference signals are subjected to noise reduction processing, and the angle deviation between the radio frequency signal reception angle and the reference direction is estimated. There is no need to use auxiliary signals for directional tracking, and accurate tracking of the mobile target can be achieved only through normal communication.

[0125] The receiving module 202 may also be specifically used for:

[0126] According to the radio frequency signals received by the at least two tracking antennas, a first phase difference between the at least two tracking antennas and a second phase difference between the tracking antenna and the main antenna are calculated.

[0127] The calculation formulas of the first phase difference and the second phase difference are:

[0128] P = 2πDf / c;

[0129]

[0130] Where P is the first phase difference, D is the parallel distance between the RF signals received by the two tracking antennas, f is the frequency of the RF signal, and c is the speed of light. is the angle between the incident direction of the RF signal and the reference direction, is the second phase difference.

[0131] The calculation module 204 may also be specifically used for:

[0132] According to the second phase difference, at least two second baseband signals are represented in complex form, and based on a preset horizontal angle deviation detection algorithm, at least two complex phase difference signals are calculated.

[0133] The calculation formula of the horizontal angle deviation detection algorithm is:

[0134]

[0135] T1 = A1*exp(j*2πft);

[0136]

[0137] D 10 =T 1 / T0;

[0138] D 20 =T2 / T0;

[0139] Wherein, T0 is the first baseband signal, is the phase difference between the RF signals received by the main antenna and one of its tracking antennas, T1 and T2 are two second baseband signals, A1 and A2 are the amplitudes of the RF signals, j is the complex number sqrt(-1), D 10 The complex phase difference signal between the tracking antenna and the main antenna, D 20 It is the complex phase difference signal between the second tracking antenna and the main antenna.

[0140] The estimation module 205 may also be specifically used for:

[0141] Based on a preset accumulation and smoothing algorithm, at least two complex phase difference signals are accumulated and smoothed respectively to obtain at least two optimized complex phase difference signals;

[0142] Complex division is performed on at least two optimized complex phase difference signals to obtain a signal-to-noise ratio, and a phase angle or an imaginary part of the signal-to-noise ratio is calculated based on a preset complex function, and the phase angle or the imaginary part is used as an angle deviation estimation signal.

[0143] above Figure 5 The mobile target tracking error measurement system in the embodiment of the present invention is described in detail from the perspective of modular functional entities. The mobile target tracking error measurement device in the embodiment of the present invention is described in detail from the perspective of hardware processing.

[0144] Figure 6 is a schematic diagram of the structure of a mobile target tracking error measurement device provided by an embodiment of the present invention. The mobile target tracking error measurement device 300 may have relatively large differences due to different configurations or performances, and may include one or more processors (central processing units, CPU) 310 (for example, one or more processors) and a memory 320, and one or more storage media 330 (for example, one or more mass storage devices) storing application programs 333 or data 332. Among them, the memory 320 and the storage medium 330 can be short-term storage or permanent storage. The program stored in the storage medium 330 may include one or more modules (not shown in the figure), and each module may include a series of instruction operations in the mobile target tracking error measurement device 300. Furthermore, the processor 310 can be configured to communicate with the storage medium 330 to execute a series of instruction operations in the storage medium 330 on the mobile target tracking error measurement device 300.

[0145] The moving target tracking error measurement device 300 may further include one or more power supplies 340, one or more wired or wireless network interfaces 350, one or more input and output interfaces 360, and / or one or more operating systems 331, such as Windows Serve, Mac OS X, Unix, Linux, FreeBSD, etc. It will be appreciated by those skilled in the art that Figure 6 The structure of the mobile target tracking error measurement device shown does not constitute a limitation on the communication protocol device based on LAN screen projection, and may include more or fewer components than shown in the figure, or a combination of certain components, or a different arrangement of components.

[0146] The present invention also provides a computer-readable storage medium, which may be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium. Instructions are stored in the computer-readable storage medium. When the instructions are executed on a computer, the computer executes the steps of the mobile target tracking error measurement method.

[0147] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk and other media that can store program codes.

[0148] The above is a mobile target tracking error measurement method or multiple implementation methods provided in combination with specific content, and it is not considered that the specific implementation of the present invention is limited to these descriptions. Any method, structure, etc. similar to or identical to the present invention, or a number of technical deductions or replacements based on the concept of the present invention, should be regarded as the protection scope of the present invention.

Claims

1. A method for measuring a moving target tracking error, characterized in that: include: S101, directing the maximum beam value of the main antenna toward the moving target as a reference direction; S102, using the main antenna and at least two preset tracking antennas to respectively receive radio frequency signals emitted by the mobile target; S103, respectively amplifying, frequency converting, filtering and sampling the radio frequency signals received by the main antenna and the at least two tracking antennas to obtain a first baseband signal and at least two second baseband signals; S104, calculating, based on a preset first algorithm, complex phase differences between the first baseband signal and at least two of the second baseband signals, to obtain at least two complex phase difference signals; S105: Based on a preset second algorithm, perform noise reduction on at least two of the complex phase difference signals respectively, and calculate an angle deviation estimation signal between a receiving angle of the radio frequency signal and the reference direction.

2. A mobile target tracking error measurement method according to claim 1, characterized in that: After the step S102, the method further includes: S1021. Calculate a first phase difference between at least two tracking antennas and a second phase difference between the tracking antenna and the main antenna based on the radio frequency signals received by the at least two tracking antennas.

3. A method for measuring a moving target tracking error according to claim 2, characterized in that: The calculation formulas of the first phase difference and the second phase difference are: P = 2πDf / c; D = Lsin(φ); sin(φ)=Pc / (2πfL); Wherein, P is the first phase difference, D is the parallel distance between the RF signals received by the two tracking antennas, f is the frequency of the RF signal, c is the speed of light, φ is the angle between the incident direction of the RF signal and the reference direction, and sin(φ) is the second phase difference.

4. A method for measuring a moving target tracking error according to claim 3, characterized in that: The S104 includes: S1041. According to the second phase difference, represent at least two of the second baseband signals in complex form, and calculate at least two complex phase difference signals based on a preset horizontal angle deviation detection algorithm.

5. A method for measuring a moving target tracking error according to claim 4, characterized in that: The calculation formula of the horizontal angle deviation detection algorithm is: T0=A0*exp(j*2πft+j*φ0); T1 = A1*exp(j*2πft); T2=A2*exp(j*2πft+j*2πfL / c*sin(φ)); D 10 =T 1 / T0; D 20 =T2 / T0; Wherein, T0 is the first baseband signal, φ0 is the phase difference between the main antenna and the RF signal received by the tracking antenna, T1 and T2 are two second baseband signals, A1 and A2 are the amplitudes of the RF signal, j is the complex number sqrt(-1), D 10 The complex phase difference signal between the tracking antenna and the main antenna, the D 20 The complex phase difference signal between the second tracking antenna and the main antenna.

6. A method for measuring a moving target tracking error according to claim 5, characterized in that: The S105 includes: S1051, based on a preset accumulation and smoothing algorithm, respectively accumulate and smooth the at least two complex phase difference signals to obtain at least two optimized complex phase difference signals; S1052. Perform complex division calculation on at least two of the optimized complex phase difference signals to obtain a signal-to-noise ratio, and calculate a phase angle or an imaginary part of the signal-to-noise ratio based on a preset complex function, and use the phase angle or the imaginary part as an angle deviation estimation signal.

7. A moving target tracking error measurement system, characterized in that: include: A reference module, used for directing the beam maximum of the main antenna to the moving target as a reference direction; A receiving module, used to use the main antenna and at least two preset tracking antennas to respectively receive the radio frequency signals sent by the mobile target; An optimization module, used to amplify, frequency-convert, filter and sample the radio frequency signals received by the main antenna and the at least two tracking antennas to obtain a first baseband signal and at least two second baseband signals; A calculation module, configured to calculate, based on a preset first algorithm, complex phase differences between the first baseband signal and at least two of the second baseband signals, respectively, to obtain at least two complex phase difference signals; The estimation module is used to perform noise reduction on at least two of the complex phase difference signals based on a preset second algorithm, and calculate an angle deviation estimation signal between the receiving angle of the radio frequency signal and the reference direction.

8. A mobile target tracking error measurement device, characterized in that: The mobile target tracking error measurement device comprises: a memory and at least one processor, the memory stores instructions, and the memory and the at least one processor are interconnected via a line; The at least one processor calls the instructions in the memory to enable the moving target tracking error measurement device to execute the moving target tracking error measurement method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the mobile target tracking error measurement method according to any one of claims 1 to 6 is implemented.

Images