Single-pulse angle measurement method, control module and radar equipment

Abstract

The invention provides a monopulse angle measurement method, a control module and radar equipment, and relates to the technical field of radar measurement, and the method comprises the steps: obtaining target echo signals of a plurality of periods sequentially received by a receiving module in the radar equipment; respectively constructing a sum beam accumulation matrix and a difference beam accumulation matrix according to the sum beam echoes and the difference beam echoes of the plurality of periods; performing target detection on the sum beam accumulation matrix to obtain a plurality of alternative points and energy weights of the plurality of alternative points; according to the energy weights of the plurality of alternative points, performing weighted sum operation on the values of the plurality of alternative points in the sum beam accumulation matrix to obtain a weighted sum signal; according to the energy weights of the plurality of alternative points, performing weighted sum operation on the values of the plurality of alternative points in the difference beam accumulation matrix to obtain weighted difference signals; and determining a target angle according to the weighted sum signal and the weighted difference signal. The method can ensure that the obtained target angle is more accurate.

Description

Technical Field

[0001] The present application relates to the field of radar measurement technology, and in particular to a single pulse angle measurement method, a control module and a radar device. Background Art

[0002] In the field of radar technology, improving the tracking and recognition capabilities of radar systems is crucial to accurately measuring the angular position of targets. Radar systems generally use single-pulse technology to achieve accurate measurement of azimuth and elevation angles. Single-pulse technology can determine the angular position of a target within a single pulse period by comparing the echo signals of multiple beams.

[0003] Currently, tracking radar uses the deviation angle between the target in the beam and the antenna main axis to generate an error signal called angular error, and then continuously adjusts the beam pointing through the angular error to obtain the target angle.

[0004] However, in complex and changeable external environments, such as multipath effects and electromagnetic interference, the measurement accuracy of existing technologies will be affected, causing the performance of the radar system to deteriorate and the measurement angle error to fluctuate greatly, resulting in inaccurate target angles. Summary of the invention

[0005] The purpose of this application is to provide a single pulse angle measurement method, a control module and a radar device to address the deficiencies in the above-mentioned prior art. This application ensures that the target angle obtained is more accurate.

[0006] To achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows: In a first aspect, an embodiment of the present application provides a single pulse angle measurement method, the method comprising: Acquire target echo signals of multiple cycles sequentially received by a receiving module in a radar device, wherein the target echo signal of each cycle is an echo signal returned by a signal sent by a sending module in the radar device in a corresponding cycle; the target echo signal of each cycle includes: a sum beam echo and a difference beam echo; Constructing a sum beam accumulation matrix and a difference beam accumulation matrix respectively according to the sum beam echoes and difference beam echoes of the plurality of periods; Performing target detection on the sum beam accumulation matrix to obtain multiple candidate points and energy weights of the multiple candidate points; According to the energy weights of the multiple candidate points, performing a weighted sum operation on the values ​​of the multiple candidate points in the sum beam accumulation matrix to obtain a weighted sum signal; According to the energy weights of the multiple candidate points, performing a weighted sum operation on the values ​​of the multiple candidate points in the difference beam accumulation matrix to obtain a weighted difference signal; The target angle is determined according to the weighted sum signal and the weighted difference signal.

[0007] Optionally, constructing a sum beam accumulation matrix and a difference beam accumulation matrix respectively according to the sum beam echoes and the difference beam echoes of the multiple periods includes: Point sampling is performed respectively according to the sum beam echoes and the difference beam echoes of the plurality of periods to obtain a sum two-dimensional matrix and a difference two-dimensional matrix; The sum two-dimensional matrix and the difference two-dimensional matrix are coherently integrated in the slow time dimension to obtain the sum beam accumulation matrix and the difference beam accumulation matrix.

[0008] Optionally, performing target detection on the sum beam accumulation matrix to obtain multiple candidate points and energy weights of the multiple candidate points includes: Performing target detection on the sum beam accumulation matrix, and obtaining the plurality of candidate points according to the size of the preset target area, wherein the plurality of candidate points at least include: a target point with the largest energy value; The energy weights of the multiple candidate points are determined according to the relative energy relationship between the multiple candidate points and the target point with the maximum energy value.

[0009] Optionally, performing target detection on the sum beam accumulation matrix and obtaining the multiple candidate points according to a size of a preset target area includes: Determining the target point according to the sum beam accumulation matrix; According to the target point and the size of the preset target area, a target area is determined, and a plurality of candidate points in the target area are determined, wherein the plurality of candidate points at least include: the target point.

[0010] Optionally, the difference beam echo includes: an azimuth difference beam echo and an elevation difference beam echo, and the difference beam accumulation matrix includes: an azimuth difference beam accumulation matrix and an elevation difference beam accumulation matrix; The step of performing a weighted sum operation on the values ​​of the multiple candidate points in the difference beam accumulation matrix according to the energy weights of the multiple candidate points to obtain a weighted difference signal comprises: According to the energy weights of the multiple candidate points, weighted sum operation is performed on the values ​​of the multiple candidate points in the azimuth difference beam accumulation matrix to obtain an azimuth weighted difference signal; According to the energy weights of the multiple candidate points, weighted sum operations are performed on the values ​​of the multiple candidate points in the pitch difference beam accumulation matrix to obtain a pitch weighted difference signal; the weighted difference signal includes: the azimuth weighted difference signal and the pitch weighted difference signal.

[0011] Optionally, determining the target angle according to the weighted sum signal and the weighted difference signal includes: Calculating a target angle error according to the weighted sum signal and the weighted difference signal; The target angle is calculated according to the target angle error and the pointing angle of the preset transmit beam.

[0012] Optionally, the weighted difference signal includes: an azimuth weighted difference signal and / or an elevation weighted difference signal, and the target angle error includes: an azimuth angle error and / or an elevation angle error; The step of calculating the target angle error according to the weighted sum signal and the weighted difference signal comprises: The azimuth angle error and / or the pitch angle error are calculated respectively according to the weighted sum signal, the azimuth weighted difference signal and / or the pitch weighted difference signal.

[0013] Optionally, the target angle includes: a target azimuth angle and / or a target elevation angle; The calculating the target angle according to the target angle error and the pointing angle of the preset transmit beam includes: Calculating the slope of the azimuth angle detection curve according to the azimuth angle error, the preset target azimuth angle and the pointing azimuth angle of the preset transmission beam; Calculating the target azimuth according to the azimuth error, the pointing azimuth angle of the preset transmit beam, and the slope of the azimuth angle discrimination curve; And / or, calculating the slope of the pitch angle detection curve according to the pitch angle error, the preset target pitch angle and the pointing pitch angle of the preset transmit beam; The target pitch angle is calculated according to the pitch angle error, the pointing pitch angle of the preset transmitting beam and the slope of the pitch angle detection curve.

[0014] In a second aspect, another embodiment of the present application provides a single pulse angle measurement device, the device comprising: An acquisition module is used to acquire target echo signals of multiple periods sequentially received by a receiving module in a radar device, wherein the target echo signal of each period is an echo signal returned by a signal sent by a sending module in the radar device in a corresponding period; the target echo signal of each period includes: a sum beam echo and a difference beam echo; A construction module, used to construct a sum beam accumulation matrix and a difference beam accumulation matrix respectively according to the sum beam echoes and difference beam echoes of the plurality of periods; A detection module, used for performing target detection on the sum beam accumulation matrix to obtain multiple candidate points and energy weights of the multiple candidate points; A first operation module, configured to perform a weighted sum operation on the values ​​of the plurality of candidate points in the sum beam accumulation matrix according to the energy weights of the plurality of candidate points, so as to obtain a weighted sum signal; A second operation module, configured to perform a weighted sum operation on the values ​​of the plurality of candidate points in the difference beam accumulation matrix according to the energy weights of the plurality of candidate points, so as to obtain a weighted difference signal; A determination module is used to determine a target angle according to the weighted sum signal and the weighted difference signal.

[0015] In the third aspect, another embodiment of the present application provides a control module, which includes: a processor, a storage medium and a bus, wherein the storage medium stores machine-readable instructions executable by the processor, and when the control module is running, the processor executes the machine-readable instructions to perform the single-pulse angle measurement method as described in any of the first aspects above.

[0016] In a fourth aspect, another embodiment of the present application provides a storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the single-pulse angle measurement method as described in any one of the above-mentioned first aspects are executed.

[0017] In the fifth aspect, another embodiment of the present application provides a radar device, which includes: a transmitting module, a receiving module and a control module, and the control module is respectively connected to the transmitting module and the receiving module; the control module is used to execute any single-pulse angle measurement method described in the first aspect above.

[0018] The beneficial effects of this application are: The present application provides a single pulse angle measurement method, a control module and a radar device, by acquiring a plurality of periodic target echo signals sequentially received by a receiving module in the radar device, and constructing a sum beam accumulation matrix and a difference beam accumulation matrix according to the sum beam echo and the difference beam echo in the target echo signal. Target detection is performed on the sum beam accumulation matrix to obtain a plurality of candidate points and the energy weights of the candidate points. According to the energy weights of the plurality of candidate points, a weighted sum operation is performed on the values ​​of the plurality of candidate points in the sum beam accumulation matrix to obtain a weighted sum signal. According to the energy weights of the plurality of candidate points, a weighted sum operation is performed on the values ​​of the plurality of candidate points in the difference beam accumulation matrix to obtain a weighted difference signal. The target angle is determined according to the weighted sum signal and the weighted difference signal. In the present application, a corresponding accumulation matrix is ​​constructed according to the target echo beam, and a plurality of candidate points are determined from the accumulation matrix, thereby improving the detection probability of the target echo beam as a whole, and the energy weights of the plurality of candidate points are determined according to the plurality of candidate points to reduce the error, so as to ensure that the obtained weighted sum signal and the weighted difference signal have a small error, thereby making the obtained target angle more accurate. A corresponding accumulation matrix is ​​constructed according to the target echo beam, and multiple candidate points are determined from the accumulation matrix. The weights of the multiple candidate points are determined according to the multiple candidate points, so that the obtained weighted sum signal and weighted difference signal have a smaller error than the unweighted signal of the target point, thereby ensuring that the obtained target angle is more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 A schematic diagram of a flow chart of a single pulse angle measurement method provided in an embodiment of the present application; Figure 2 A schematic diagram of a flow chart for determining an accumulation matrix in a single pulse angle measurement method provided in an embodiment of the present application; Figure 3 A schematic diagram of a process for determining energy weights of multiple candidate points in a single pulse angle measurement method provided in an embodiment of the present application; Figure 4 A schematic diagram of a process for determining multiple candidate points in a single pulse angle measurement method provided in an embodiment of the present application; Figure 5 A schematic diagram of a target point and alternative points in a preset target area provided in an embodiment of the present application; Figure 6A schematic diagram of a flow chart for determining a weighted difference signal in a single pulse angle measurement method provided for the implementation of the present application; Figure 7 A schematic diagram of a process for determining a target angle in a single pulse angle measurement method provided in an embodiment of the present application; Figure 8 A schematic diagram of a process for determining a target angle in another single-pulse angle measurement method provided in an embodiment of the present application; Fig. 9 A schematic diagram of a process for determining a target angle in another single-pulse angle measurement method provided in an embodiment of the present application; Fig.10 A schematic diagram of the structure of a single pulse angle measurement device provided in an embodiment of the present application; Fig.11 A schematic diagram of the structure of a computer device provided in an embodiment of the present application; Fig.12 A schematic diagram of the structure of a control module provided in an embodiment of the present application. DETAILED DESCRIPTION

[0021] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of explanation and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn in real proportion. The flowchart used in this application shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can be implemented out of sequence, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art can add one or more other operations to the flowchart under the guidance of the content of the present application, or remove one or more operations from the flowchart.

[0022] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0023] It should be noted that the term "comprising" will be used in the embodiments of the present application to indicate the existence of the features declared thereafter, but does not exclude the addition of other features.

[0024] In order to clearly describe a single pulse angle measurement method provided in an embodiment of the present application, the single pulse angle measurement method provided in an embodiment of the present application is described below in conjunction with multiple drawings. Figure 1 A flow chart of a single pulse angle measurement method provided in an embodiment of the present application is shown in FIG. Figure 1 As shown, the method includes: Step 101: Acquire target echo signals of multiple periods sequentially received by a receiving module in a radar device.

[0025] The target echo signal of each cycle is the echo signal returned by the single pulse signal sent by the sending module in the radar device in the corresponding cycle; the target echo signal of each cycle includes: a sum beam echo and a difference beam echo.

[0026] Optionally, the transmitting module in the radar device transmits a signal of multiple cycles. When the transmitted signal encounters a target, a corresponding echo signal is returned, and the receiving module in the radar device sequentially receives the target echo signals of multiple cycles. The specific number of cycles is determined according to actual conditions, and the embodiment of the present application does not limit this.

[0027] Step 102: construct a sum beam accumulation matrix and a difference beam accumulation matrix respectively according to sum beam echoes and difference beam echoes of multiple periods.

[0028] The sum beam accumulation matrix includes energy values ​​of a target at a certain distance and speed at multiple points in the sum beam on the sum path, and the difference beam accumulation matrix includes energy values ​​of a target at a certain distance and speed at multiple points in the difference beam on the difference path.

[0029] Optionally, according to the sum beam echoes of multiple cycles, it is determined that the sum beam echo signal of each cycle constitutes a sum beam echo pulse group, and the sum beam echo pulse group is coherently accumulated in the slow time dimension to obtain a sum beam accumulation matrix. The construction method of the difference beam accumulation matrix is ​​the same as the construction method of the sum beam accumulation matrix, and the construction method of the difference beam accumulation matrix is ​​not repeated.

[0030] Step 103: Perform target detection on the sum beam accumulation matrix to obtain multiple candidate points and energy weights of the multiple candidate points.

[0031] The target detection is to detect the sum beam accumulation matrix by using a unit average constant false alarm detection method or the like. The energy weights of the multiple candidate points are the energy weight information of the multiple candidate points.

[0032] Optionally, target detection is performed on the sum beam accumulation matrix to obtain a target point, that is, a point with the maximum energy in the sum beam accumulation matrix, a preset target area is delineated according to the target point, multiple candidate points are determined from within the preset target area, and energy weights of the multiple candidate points are determined based on the multiple candidate points. The specific preset target area can be determined according to actual conditions, and the embodiments of the present application do not limit this.

[0033] Step 104: Perform a weighted sum operation on the values ​​of the multiple candidate points in the sum beam accumulation matrix according to the energy weights of the multiple candidate points to obtain a weighted sum signal.

[0034] Optionally, based on the energy weight of each candidate point among the multiple candidate points and the energy weights of all candidate points in the sum beam accumulation matrix, the weighted energy value of each candidate point in the sum beam accumulation matrix is ​​calculated, and the weighted sum signal is obtained by summing the weighted energy value of each candidate point.

[0035] Step 105: Perform a weighted sum operation on the values ​​of the multiple candidate points in the difference beam accumulation matrix according to the energy weights of the multiple candidate points to obtain a weighted difference signal.

[0036] Optionally, based on the energy weight of each candidate point among the multiple candidate points and the energy weights of all candidate points in the sum and difference beam accumulation matrix, the weighted energy value of each candidate point in the difference beam accumulation matrix is ​​calculated, and the weighted sum signal is obtained by summing the weighted energy values ​​of each candidate point.

[0037] Step 106: Determine the target angle according to the weighted sum signal and the weighted difference signal.

[0038] The target angle is the angle of the target relative to the radar normal.

[0039] Optionally, an angular error is determined based on the weighted sum signal and the weighted difference signal, thereby determining the target angle based on the angular error.

[0040] The present application provides a single pulse angle measurement method, which obtains target echo signals of multiple cycles received by a receiving module in a radar device in sequence, and constructs a sum beam accumulation matrix and a difference beam accumulation matrix according to the sum beam echo and the difference beam echo in the target echo signal. Target detection is performed on the sum beam accumulation matrix to obtain multiple candidate points and energy weights of the candidate points. According to the energy weights of the multiple candidate points, the values ​​of the multiple candidate points in the sum beam accumulation matrix are weighted and calculated to obtain a weighted sum signal. According to the energy weights of the multiple candidate points, the values ​​of the multiple candidate points in the difference beam accumulation matrix are weighted and calculated to obtain a weighted difference signal. The target angle is determined according to the weighted sum signal and the weighted difference signal. In the present application, a corresponding accumulation matrix is ​​constructed according to the target echo beam, and multiple candidate points are determined from the accumulation matrix, thereby improving the detection probability of the target echo beam as a whole, and the energy weights of the multiple candidate points are determined according to the multiple candidate points to reduce the error, so as to ensure that the obtained weighted sum signal and weighted difference signal have small errors, so that the obtained target angle is more accurate. A corresponding accumulation matrix is ​​constructed according to the target echo beam, and multiple candidate points are determined from the accumulation matrix. The weights of the multiple candidate points are determined according to the multiple candidate points, so that the obtained weighted sum signal and weighted difference signal have a smaller error than the unweighted signal of the target point, thereby ensuring that the obtained target angle is more accurate.

[0041] Based on the above embodiments, the present application also provides a process for determining an accumulation matrix in a single pulse angle measurement method. Figure 2 A schematic diagram of a flow chart for determining an accumulation matrix in a single pulse angle measurement method provided in an embodiment of the present application, such as Figure 2 As shown, in the above step 102, a sum beam accumulation matrix and a difference beam accumulation matrix are respectively constructed according to the sum beam echoes and the difference beam echoes of multiple periods, including: Step 201 : performing point sampling according to sum beam echoes and difference beam echoes of multiple periods to obtain a sum two-dimensional matrix and a difference two-dimensional matrix.

[0042] Point sampling refers to the step of selecting a series of sampling points at equal time intervals from the echo signal.

[0043] Optionally, the number of sampling points of point sampling is the number of columns of the sum two-dimensional matrix, the period of the sum beam is the number of rows of the sum two-dimensional matrix, and point sampling is performed on sum echo signals of multiple periods to obtain multiple sampling points, thereby obtaining the sum two-dimensional matrix.

[0044] Optionally, the number of sampling points of point sampling is the number of columns of the difference two-dimensional matrix, and the period of the beam is the number of rows of the difference two-dimensional matrix. Point sampling is performed on difference echo signals of multiple periods to obtain multiple sampling points, thereby obtaining a difference two-dimensional matrix.

[0045] Step 202: perform coherent accumulation on the sum two-dimensional matrix and the difference two-dimensional matrix in the slow time dimension to obtain a sum beam accumulation matrix and a difference beam accumulation matrix.

[0046] The rows of the two-dimensional matrix are called fast time dimensions, which refer to the fast-changing dimensions of the echo signal on the time axis and change within the pulse repetition interval. The columns of the two-dimensional matrix are called slow time dimensions, which refer to the slow-changing dimensions of the echo signal on the time axis and change between the pulse repetition intervals. Coherent accumulation is used to improve the signal-to-noise ratio of the target in the two-dimensional matrix.

[0047] Optionally, Fourier transform is performed on the signal in the sum two-dimensional matrix along the slow time dimension for each column in the sum two-dimensional matrix to obtain a sum beam accumulation matrix; Fourier transform is performed on the signal in the difference two-dimensional matrix along the slow time dimension for each column in the difference two-dimensional matrix to obtain a difference beam accumulation matrix.

[0048] In the embodiment of the present application, point sampling is performed according to the sum beam echo and the difference beam echo of multiple cycles, and a sum two-dimensional matrix and a difference two-dimensional matrix are obtained. The sum two-dimensional matrix and the difference two-dimensional matrix are coherently accumulated in the slow time dimension to obtain a sum beam accumulation matrix and a difference beam accumulation matrix. This improves the signal-to-noise ratio in the accumulation matrix, better suppresses incoherent clutter and interference signals, and ensures the accuracy of subsequent detection.

[0049] Based on the above embodiments, the present application also provides a process for determining energy weights of multiple candidate points in a single pulse angle measurement method. Figure 3 A schematic diagram of a flow chart of determining energy weights of multiple candidate points in a single pulse angle measurement method provided in an embodiment of the present application, such as Figure 3 As shown, in the above step 103, target detection is performed on the sum beam accumulation matrix to obtain multiple candidate points and energy weights of the multiple candidate points, including: Step 301: Target detection is performed on the sum beam accumulation matrix, and multiple candidate points are obtained according to the size of a preset target area.

[0050] The multiple candidate points at least include: a target point with the maximum energy in the target area. The preset target area can be in any shape, such as a square, a cross, a circle or an irregular shape, which is not limited in the embodiment of the present application.

[0051] Optionally, target detection is performed on the sum beam accumulation matrix to determine the target point with the maximum energy, and other points in the preset target area are determined as candidate points according to the size of the preset target area and the point with the maximum energy value.

[0052] Step 302: Determine the energy weights of the multiple candidate points according to the relative energy relationship between the multiple candidate points and the target point with the largest energy value.

[0053] Optionally, the energy weights of the plurality of candidate points are determined by a preset energy weight calculation formula according to a relative relationship between the energies of the plurality of candidate points and a target point with a maximum energy value.

[0054] For example, the preset energy weight calculation formula may be formula (1). Formula (1) is used to determine the energy weights of the multiple candidate points according to the relative energy relationship between the multiple candidate points and the target point with the largest energy value. .

[0055] (1) Among them, the coordinates of the target point with the largest energy value are ( ), is the horizontal coordinate of the target point with the largest energy value, is the vertical coordinate of the target point with the largest energy value, and the coordinate of the candidate point is ( ), is the horizontal coordinate of the candidate point, is the vertical coordinate of the candidate point, is the horizontal distance between the candidate point and the target point in the target area, is the vertical distance between the candidate point and the target point in the target area, For the position in ( )’s energy weights for the candidate points, () is the sum beam accumulation matrix, To obtain the modulus function.

[0056] In the embodiment of the present application, according to the size of the preset target area, the target detection is performed on the sum beam accumulation matrix to obtain multiple candidate points, and the multiple candidate points at least include: the target point with the largest energy value; according to the relative energy relationship between the multiple candidate points and the target point with the largest energy value, the energy weights of the multiple candidate points are determined. By considering multiple candidate points, rather than just the point with the maximum energy value, the present application can reduce the randomness of angle measurement caused by only considering the maximum scattering point of the target, and make the angle measurement stable.

[0057] Based on the above embodiments, the present application also provides a process for determining multiple candidate points in a single pulse angle measurement method. Figure 4 A schematic diagram of a process for determining multiple candidate points in a single pulse angle measurement method provided in an embodiment of the present application, such as Figure 4 As shown, in the above step 301, target detection is performed on the sum beam accumulation matrix, and multiple candidate points are obtained according to the size of the preset target area, including: Step 401: Determine the target point according to the sum beam accumulation matrix.

[0058] Optionally, target detection is performed on the sum beam accumulation matrix to obtain a point with maximum energy as the target point.

[0059] Step 402: determine the target area according to the target point and the size of the preset target area, and determine a plurality of candidate points in the target area.

[0060] The multiple candidate points include at least: a target point.

[0061] Optionally, the target area is determined according to the target point and the size of the preset target area, and the candidate point centered on the target point is determined by using preset formulas (2)-(3).

[0062]

[0063]

[0064] Among them, when the preset target area is a square area, the coordinates of the target point are ( ), is the horizontal coordinate of the target point, is the vertical coordinate of the target point, and the coordinates of the candidate points in the preset target area are marked as ( ), is the horizontal coordinate of the candidate point, is the vertical coordinate of the candidate point, is the horizontal distance between the candidate point and the target point in the target area, is the vertical distance between the candidate point and the target point in the target area, where , this application only takes 2 as an example, and the specific size of the preset target area is determined according to actual conditions. () represents the function of finding the imaginary part, represents the real part function, To find the symbolic function.

[0065] For example, Figure 5 A schematic diagram of a target point and alternative points in a preset target area provided in an embodiment of the present application, such as Figure 5 As shown, the preset target area is an area with a length and width of five cells, and the target point is the center point in the preset target area, that is, Figure 5 The dark filled cells in , the candidate points are multiple grid filling points around the target point, that is Figure 5 Fills adjacent cells to the left and above the cell with a medium-dark color.

[0066] In the embodiment of the present application, the target point is determined according to the sum beam accumulation matrix, and the candidate point centered on the target point is determined according to the size of the target point and the preset target area. The present application can measure the target angle more accurately, thereby improving the angular tracking capability of the system.

[0067] On the basis of the above embodiment, the difference beam echo includes: an azimuth difference beam echo and an elevation difference beam echo, and the difference beam accumulation matrix includes: an azimuth difference beam accumulation matrix and an elevation difference beam accumulation matrix; therefore, the present application also provides a process for determining a weighted difference signal in a single pulse angle measurement method, Figure 6 A schematic diagram of a flow chart of determining a weighted difference signal in a single pulse angle measurement method provided for the implementation of the present application is as follows: Figure 6 As shown, in the above step 105, according to the energy weights of the multiple candidate points, the values ​​of the multiple candidate points in the difference beam accumulation matrix are weighted and calculated to obtain a weighted difference signal, including: Step 601: Perform a weighted sum operation on the values ​​of multiple candidate points in the azimuth difference beam accumulation matrix according to the energy weights of multiple candidate points to obtain an azimuth weighted difference signal.

[0068] Optionally, according to the energy weights of the multiple candidate points and the values ​​of the multiple candidate points in the azimuth difference beam accumulation matrix, a weighted sum operation is performed on the multiple candidate points in the azimuth difference beam accumulation matrix by the following formula (4) to obtain an azimuth weighted difference signal: .

[0069] (4) The coordinates of the candidate points are , is the horizontal coordinate of the candidate point, is the vertical coordinate of the candidate point, is the horizontal distance between the candidate point and the target point in the target area, is the vertical distance between the candidate point and the target point in the target area, a() is the azimuth difference beam accumulation matrix, For the position in ( )’s energy weights for the candidate points, () is the weighted sum operation of multiple candidate points in the azimuth difference beam accumulation matrix, is the azimuth weighted difference signal.

[0070] Step 602: Perform a weighted sum operation on the values ​​of the multiple candidate points in the pitch difference beam accumulation matrix according to the energy weights of the multiple candidate points to obtain a pitch weighted difference signal.

[0071] The weighted difference signal includes an azimuth weighted difference signal and an elevation weighted difference signal.

[0072] Optionally, according to the energy weights of the multiple candidate points and the values ​​of the multiple candidate points in the pitch difference beam accumulation matrix, a weighted sum operation is performed on the multiple candidate points in the pitch difference beam accumulation matrix by formula (5) to obtain a pitch weighted difference signal .

[0073] (5) The coordinates of the candidate points are , is the horizontal coordinate of the candidate point, is the vertical coordinate of the candidate point, is the horizontal distance between the candidate point and the target point in the target area, is the vertical distance between the candidate point and the target point in the target area, is the elevation difference beam accumulation matrix, For the position in ( )’s energy weights for the candidate points, Perform weighted sum operations on multiple candidate points in the azimuth and beam accumulation matrices, is the pitch weighted difference signal.

[0074] In an embodiment of the present application, a weighted sum operation is performed on the values ​​of multiple candidate points in the azimuth difference beam accumulation matrix according to the energy weights of the multiple candidate points to obtain an azimuth weighted difference signal, and a weighted sum operation is performed on the values ​​of multiple candidate points in the elevation difference beam accumulation matrix according to the energy weights of the multiple candidate points to obtain an elevation weighted difference signal. The present application can enhance the stability of angle measurement by weighting multiple candidate points.

[0075] Based on the above embodiments, the present application provides a process for determining a target angle in a single pulse angle measurement method. Figure 7 A schematic diagram of a process for determining a target angle in a single pulse angle measurement method provided in an embodiment of the present application, such as Figure 7 As shown, as in the above step 106, determining the target angle according to the weighted sum signal and the weighted difference signal includes: Step 701: Calculate the target angle error according to the weighted sum signal and the weighted difference signal.

[0076] Optionally, according to the energy weights of the multiple candidate points and the values ​​of the multiple candidate points in the sum beam accumulation matrix, a weighted sum operation is performed on the multiple candidate points in the sum beam accumulation matrix through formula (6) to obtain a weighted sum signal .

[0077] (6) The coordinates of the candidate points are , is the horizontal coordinate of the candidate point, is the vertical coordinate of the candidate point, is the horizontal distance between the candidate point and the target point in the target area, is the vertical distance between the candidate point and the target point in the target area, is the sum beam accumulation matrix, Location in ( )’s energy weights for the candidate points, is the weighted sum signal.

[0078] Optionally, according to the energy weights of the multiple candidate points and the values ​​of the multiple candidate points in the difference beam accumulation matrix, a weighted sum operation is performed on the multiple candidate points in the difference beam accumulation matrix through formula (7) to obtain a weighted difference signal .

[0079] (7) The coordinates of the candidate points are , is the horizontal coordinate of the candidate point, is the vertical coordinate of the candidate point, is the horizontal distance between the candidate point and the target point in the target area, is the vertical distance between the candidate point and the target point in the target area, is the sum-difference bundle accumulation matrix, For the position in ( )’s energy weights for the candidate points, is the weighted difference signal.

[0080] Optionally, the weighted difference signal is calculated by formula (8) and the weighted sum signal , the target angle error is calculated .

[0081] (8) in, is the weighted difference signal, is the weighted sum signal, is the target angle error.

[0082] Step 702: Calculate the target angle according to the target angle error and the preset pointing angle of the transmit beam.

[0083] Optionally, the directional angle of the preset transmitting beam of the target is calculated according to the target angle error, the slope of the angle discrimination curve and the directional angle of the preset transmitting beam, so as to obtain the target angle.

[0084] In the embodiment of the present application, the target angle error is calculated according to the weighted sum signal and the weighted difference signal, and the target angle is calculated according to the target angle error and the pointing angle of the preset transmission beam. The present application can more accurately determine the target angle error, thereby calculating the target angle, and ensuring the accuracy of the obtained target angle.

[0085] On the basis of the above embodiment, the weighted difference signal includes: an azimuth weighted difference signal and / or an elevation weighted difference signal, and the target angle error includes: an azimuth angle error and / or an elevation angle error. To this end, the present application also provides a process for calculating the angle error in a single pulse angle measurement method, and in the above step 701, the target angle error is calculated according to the weighted sum signal and the weighted difference signal, including: The azimuth angle error and / or the pitch angle error are calculated respectively according to the weighted sum signal, the azimuth weighted difference signal and / or the pitch weighted difference signal.

[0086] Optionally, the azimuth error is determined by formula (9) based on the weighted sum signal and the azimuth weighted difference signal: .

[0087] (9) in, is the azimuth error, is the azimuth weighted difference signal, is the weighted sum signal.

[0088] Optionally, the pitch angle error is determined by formula (10) based on the weighted sum signal and the pitch weighted difference signal: .

[0089] (10) in, is the pitch angle error, is the pitch weighted difference signal, is the weighted sum signal.

[0090] In an embodiment of the present application, the azimuth error and / or the pitch error are calculated respectively according to the weighted sum signal, the azimuth weighted difference signal and / or the pitch weighted difference signal. The present application can independently evaluate the angular deviation of the target relative to the transmit beam in the horizontal plane and the vertical plane by determining the azimuth error and / or the pitch error, thereby determining the target angle.

[0091] On the basis of the above embodiment, the target angle includes: target azimuth; for this purpose, the present application provides a process for determining the target angle in a single pulse angle measurement method, Figure 8 A schematic diagram of a flow chart of determining a target angle in another single pulse angle measurement method provided in an embodiment of the present application, such as Figure 8 As shown, the above steps calculate the target angle according to the target angle error and the pointing angle of the preset transmission beam, including: Step 801: Calculate the slope of the azimuth angle detection curve according to the azimuth angle error, the preset target azimuth angle, and the preset pointing azimuth angle of the transmitting beam.

[0092] Among them, the pointing azimuth angle of the preset transmission beam can be 0 degree. Generally, more than two target angles are preset. The pointing azimuth angle of the preset transmission beam has two corresponding target azimuth angles and azimuth angle errors.

[0093] Optionally, multiple azimuth errors, preset target azimuth angles, and preset pointing azimuth angles of the transmitting beam are fitted to obtain the slope of the azimuth angle discrimination curve.

[0094] Step 802: Calculate the target azimuth according to the azimuth error, the azimuth angle of the preset transmission beam and the slope of the azimuth angle detection curve.

[0095] Optionally, the target azimuth is calculated according to the azimuth error, the azimuth angle of the preset transmission beam and the slope of the azimuth angle detection curve by using formula (11).

[0096] (11) in, is the azimuth angle of the preset transmit beam direction, is the azimuth error, is the slope of the azimuth angle detection curve, is the complex number result obtained by calculation. The larger number between the real part and the imaginary part of is taken as the target azimuth.

[0097] On the basis of the above embodiment, the target angle includes: a target pitch angle; for this purpose, the present application provides another process for determining the target angle in a single pulse angle measurement method, Fig. 9 A schematic diagram of a flow chart of determining a target angle in another single pulse angle measurement method provided in an embodiment of the present application, such as Fig. 9 As shown, the above steps calculate the target angle according to the target angle error and the pointing angle of the preset single pulse signal, including: Step 901: Calculate the slope of the pitch angle detection curve according to the pitch angle error, the preset target pitch angle, and the preset pointing pitch angle of the transmitting beam.

[0098] Among them, the pointing pitch angle of the preset transmitting beam can be 0 degree. Generally, more than two target angles are preset. The pointing pitch angle of the preset transmitting beam has two corresponding target pitch angles and pitch angle errors.

[0099] Optionally, multiple pitch angle errors, preset target pitch angles, and preset pointing pitch angles of the transmitting beam are fitted to obtain a slope of a pitch angle detection curve.

[0100] Step 902: Calculate the target pitch angle according to the pitch angle error, the pitch angle of the preset transmit beam direction, and the slope of the pitch angle detection curve.

[0101] Optionally, the target pitch angle is calculated according to the pitch angle error, the pitch angle of the preset transmitting beam pointing and the slope of the pitch angle detection curve by formula (12).

[0102] (12) in, is the elevation angle of the preset transmit beam direction, is the pitch angle error, is the slope of the pitch angle detection curve, is the complex number result obtained by calculation. The larger number between the real part and the imaginary part of is taken as the target pitch angle.

[0103] In the embodiment of the present application, the slope of the angle detection curve is calculated according to the angle error, the target angle and the preset transmission beam pointing angle, and the target angle is calculated according to the angle error, the preset transmission beam pointing angle and the slope of the angle detection curve. The target angle calculated by the present application is more accurate.

[0104] Based on the same inventive concept, a single pulse angle measurement device corresponding to the single pulse angle measurement method is also provided in the embodiment of the present application. Since the principle of solving the problem by the device in the embodiment of the present application is similar to the above-mentioned single pulse angle measurement method in the embodiment of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0105] Fig.10 A schematic diagram of the structure of a single pulse angle measurement device provided in an embodiment of the present application is shown in FIG. Fig.10 As shown, the device includes: an acquisition module 1001, which is used to acquire a plurality of periodic target echo signals sequentially received by a receiving module in a radar device, wherein the target echo signal of each period is an echo signal returned by a signal sent by a sending module in the radar device in a corresponding period; the target echo signal of each period includes: a sum beam echo and a difference beam echo; A construction module 1002 is used to construct a sum beam accumulation matrix and a difference beam accumulation matrix according to the sum beam echoes and the difference beam echoes of multiple periods respectively; A detection module 1003 is used to perform target detection on the sum beam accumulation matrix to obtain multiple candidate points and energy weights of the multiple candidate points; A first operation module 1004 is used to perform a weighted sum operation on the values ​​of the multiple candidate points in the sum beam accumulation matrix according to the energy weights of the multiple candidate points to obtain a weighted sum signal; The second operation module 1005 is used to perform a weighted sum operation on the values ​​of the multiple candidate points in the difference beam accumulation matrix according to the energy weights of the multiple candidate points to obtain a weighted difference signal; The determination module 1006 is used to determine the target angle according to the weighted sum signal and the weighted difference signal.

[0106] In a possible implementation, the construction module 1002 is specifically used to: perform point sampling according to the sum beam echo and the difference beam echo of multiple periods, respectively, to obtain a sum two-dimensional matrix and a difference two-dimensional matrix; The sum two-dimensional matrix and the difference two-dimensional matrix are coherently integrated in the slow time dimension to obtain a sum beam accumulation matrix and a difference beam accumulation matrix.

[0107] In a possible implementation, the detection module 1003 is specifically used to: perform target detection on the sum beam accumulation matrix, and obtain multiple candidate points according to the size of the preset target area, wherein the multiple candidate points at least include: a target point with the largest energy value; The energy weights of the multiple candidate points are determined according to the relative relationship between the energies of the multiple candidate points and the target point with the largest energy value.

[0108] In a possible implementation, the detection module 1003 is specifically configured to: determine a target point according to the sum beam accumulation matrix; According to the target point and the size of the preset target area, a target area centered on the target point is determined, and candidate points are determined in the target area, wherein the multiple candidate points at least include the target point.

[0109] In a possible implementation manner, the difference beam echo includes: an azimuth difference beam echo and an elevation difference beam echo, and the difference beam accumulation matrix includes: an azimuth difference beam accumulation matrix and an elevation difference beam accumulation matrix; The first operation module 1004 is specifically used to: perform a weighted sum operation on the values ​​of multiple candidate points in the azimuth difference beam accumulation matrix according to the energy weights of the multiple candidate points to obtain an azimuth weighted difference signal; According to the energy weights of the multiple candidate points, the values ​​of the multiple candidate points in the pitch difference beam accumulation matrix are weighted and calculated to obtain a pitch weighted difference signal; the weighted difference signal includes: an azimuth weighted difference signal and an elevation weighted difference signal.

[0110] In a possible implementation manner, the determination module 1006 is specifically configured to: calculate a target angle error according to the weighted sum signal and the weighted difference signal; The target angle is calculated based on the target angle error and the pointing angle of the preset transmit beam.

[0111] In one possible implementation, the weighted difference signal includes: an azimuth weighted difference signal and / or an elevation weighted difference signal, and the target angle error includes: an azimuth angle error and / or an elevation angle error; the determination module 1006 is specifically used to: calculate the azimuth angle error and / or the elevation angle error respectively according to the weighted sum signal, the azimuth weighted difference signal and / or the elevation weighted difference signal.

[0112] In a possible implementation manner, the target angle includes: a target azimuth angle and / or a target elevation angle; the determination module 1006 is specifically configured to: Calculate the slope of the azimuth angle detection curve according to the azimuth angle error, the preset target azimuth angle and the pointing azimuth angle of the preset transmitting beam; Calculate the target azimuth according to the azimuth error, the pointing azimuth angle of the preset transmitting beam and the slope of the azimuth angle detection curve; And / or, calculating the slope of the pitch angle detection curve according to the pitch angle error, the preset target pitch angle and the preset pointing pitch angle of the transmitting beam; The target pitch angle is calculated based on the pitch angle error, the pitch angle of the preset transmitting beam and the slope of the pitch angle detection curve.

[0113] For descriptions of the processing flow of each module in the device and the interaction flow between each module, reference may be made to the relevant descriptions in the above method embodiment, which will not be described in detail here.

[0114] The embodiment of the present application also provides a control module, Fig.11 A schematic diagram of a control module provided in an embodiment of the present application is shown in FIG. Fig.11 As shown, the control module 1100 includes: a processor 1101, a memory 1102, and optionally, a bus 1103. The memory 1102 stores machine-readable instructions executable by the processor 1101. When the control module 1100 is running, the processor 1101 communicates with the memory 1102 via the bus 1103. When the machine-readable instructions are executed by the processor 1101, the steps of the above-mentioned single pulse angle measurement method are performed.

[0115] The present application also provides a radar device, Fig.12 A schematic diagram of the structure of a radar device provided in an embodiment of the present application is shown in FIG. Fig.12 As shown, the radar device 1200 includes: a transmitting module 1201, a receiving module 1202 and a control module 1100, and the control module 1100 is connected to the transmitting module 1201 and the receiving module 1202 respectively; the control module 1100 is used to execute the steps of the above-mentioned single pulse angle measurement method.

[0116] An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned single-pulse angle measurement method are executed.

[0117] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the system and device described above can refer to the corresponding process in the method embodiment, and will not be repeated in this application. In the several embodiments provided in this application, it should be understood that the disclosed system, device and method can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0118] In addition, each functional unit in each embodiment of the present application can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. If the function 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 part of the technical solution that contributes to the prior art or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions for 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, Read-Only Memory), random access memory (RAM, RandomAccess Memory), disk or optical disk and other media that can store program code.

[0119] The above are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be covered by the protection scope of the present application.

Claims

1. A single pulse angle measurement method, characterized in that: The method comprises: Acquire target echo signals of multiple cycles sequentially received by a receiving module in a radar device, wherein the target echo signal of each cycle is an echo signal returned by a signal sent by a sending module in the radar device in a corresponding cycle; the target echo signal of each cycle includes: a sum beam echo and a difference beam echo; Constructing a sum beam accumulation matrix and a difference beam accumulation matrix respectively according to the sum beam echoes and difference beam echoes of the plurality of periods; Performing target detection on the sum beam accumulation matrix to obtain multiple candidate points and energy weights of the multiple candidate points; According to the energy weights of the multiple candidate points, performing a weighted sum operation on the values ​​of the multiple candidate points in the sum beam accumulation matrix to obtain a weighted sum signal; According to the energy weights of the multiple candidate points, performing a weighted sum operation on the values ​​of the multiple candidate points in the difference beam accumulation matrix to obtain a weighted difference signal; The target angle is determined according to the weighted sum signal and the weighted difference signal.

2. The single pulse angle measurement method according to claim 1, characterized in that: The constructing a sum beam accumulation matrix and a difference beam accumulation matrix respectively according to the sum beam echoes and the difference beam echoes of the multiple periods comprises: Point sampling is performed respectively according to the sum beam echoes and the difference beam echoes of the plurality of periods to obtain a sum two-dimensional matrix and a difference two-dimensional matrix; The sum two-dimensional matrix and the difference two-dimensional matrix are coherently integrated in the slow time dimension to obtain the sum beam accumulation matrix and the difference beam accumulation matrix.

3. The single pulse angle measurement method according to claim 1, characterized in that: The performing target detection on the sum beam accumulation matrix to obtain a plurality of candidate points and energy weights of the plurality of candidate points includes: Performing target detection on the sum beam accumulation matrix, and obtaining the plurality of candidate points according to the size of the preset target area, wherein the plurality of candidate points at least include: a target point with the largest energy value; The energy weights of the multiple candidate points are determined according to the relative energy relationship between the multiple candidate points and the target point with the maximum energy value.

4. The single pulse angle measurement method according to claim 3, characterized in that: The target detection is performed on the sum beam accumulation matrix, and the multiple candidate points are obtained according to the size of the preset target area, including: Determining the target point according to the sum beam accumulation matrix; According to the target point and the size of the preset target area, a target area is determined, and a plurality of candidate points in the target area are determined, wherein the plurality of candidate points at least include: the target point.

5. The single pulse angle measurement method according to claim 1, characterized in that: The difference beam echo includes: an azimuth difference beam echo and an elevation difference beam echo, and the difference beam accumulation matrix includes: an azimuth difference beam accumulation matrix and an elevation difference beam accumulation matrix; The step of performing a weighted sum operation on the values ​​of the multiple candidate points in the difference beam accumulation matrix according to the energy weights of the multiple candidate points to obtain a weighted difference signal comprises: According to the energy weights of the multiple candidate points, weighted sum operation is performed on the values ​​of the multiple candidate points in the azimuth difference beam accumulation matrix to obtain an azimuth weighted difference signal; According to the energy weights of the multiple candidate points, weighted sum operations are performed on the values ​​of the multiple candidate points in the pitch difference beam accumulation matrix to obtain a pitch weighted difference signal; the weighted difference signal includes: the azimuth weighted difference signal and the pitch weighted difference signal.

6. The single pulse angle measurement method according to claim 1, characterized in that: Determining the target angle according to the weighted sum signal and the weighted difference signal comprises: Calculating a target angle error according to the weighted sum signal and the weighted difference signal; The target angle is calculated according to the target angle error and the pointing angle of the preset transmit beam.

7. The single pulse angle measurement method according to claim 6, characterized in that: The weighted difference signal includes: an azimuth weighted difference signal and / or an elevation weighted difference signal, and the target angle error includes: an azimuth angle error and / or an elevation angle error; The step of calculating the target angle error according to the weighted sum signal and the weighted difference signal comprises: The azimuth angle error and / or the pitch angle error are calculated respectively according to the weighted sum signal, the azimuth weighted difference signal and / or the pitch weighted difference signal.

8. The single pulse angle measurement method according to claim 7, characterized in that: The target angle includes: a target azimuth angle and / or a target elevation angle; The calculating the target angle according to the target angle error and the pointing angle of the preset transmit beam includes: Calculating the slope of the azimuth angle detection curve according to the azimuth angle error, the preset target azimuth angle and the pointing azimuth angle of the preset transmission beam; Calculating the target azimuth according to the azimuth error, the pointing azimuth angle of the preset transmit beam, and the slope of the azimuth angle discrimination curve; And / or, calculating the slope of the pitch angle detection curve according to the pitch angle error, the preset target pitch angle and the pointing pitch angle of the preset transmit beam; The target pitch angle is calculated according to the pitch angle error, the pointing pitch angle of the preset transmitting beam and the slope of the pitch angle detection curve.

9. A control module, characterized in that: The control module includes: a processor, a storage medium and a bus, wherein the storage medium stores machine-readable instructions executable by the processor. When the control module is running, the processor executes the machine-readable instructions to perform the single-pulse angle measurement method described in any one of claims 1-8.

10. A radar device, characterized in that: The radar device comprises: a transmitting module, a receiving module and a control module, wherein the control module is connected to the transmitting module and the receiving module respectively; The control module is used to execute the single pulse angle measurement method described in any one of claims 1-8.

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