A monopulse angle measurement method, a control module, and a radar device

Abstract

The present application provides a monopulse angle measurement method, a control module, and a radar device, which relate to the technical field of radar measurement. Among them, the method includes: acquiring target echo signals of multiple periods sequentially received by a receiving module in the radar device; respectively constructing a sum beam accumulation matrix and a difference beam accumulation matrix according to the sum beam echo and the difference beam echo of multiple periods; performing target detection on the sum beam accumulation matrix to obtain multiple candidate points and 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 according to the energy weights of the multiple candidate points to obtain a weighted sum signal; 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; determining the target angle according to the weighted sum signal and the weighted difference signal. The present application can ensure that the obtained target angle is more accurate.

Description

Technical Field

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

[0002] In the field of radar technology, improving the tracking and identification capabilities of a radar system is crucial for accurately measuring the angular position of a target. The radar system generally uses monopulse technology to achieve accurate measurement of the azimuth angle and elevation angle. The monopulse technology can determine the angular position of a target within a single pulse period by comparing the echo signals of multiple beams.

[0003] Currently, a tracking radar uses the deflection angle between the target and the antenna main axis within the beam 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 a complex and changing external environment, such as multipath effects and electromagnetic interference, the measurement accuracy of the existing technology will be affected, resulting in a decline in the performance of the radar system, large fluctuations in the measured angular error, and thus inaccurate target angles obtained. Summary of the Invention

[0005] The purpose of this application is to provide a monopulse angle measurement method, a control module, and a radar device for the deficiencies in the above-mentioned existing technology, and this application ensures that the obtained target angle is more accurate.

[0006] To achieve the above purpose, the technical solutions adopted in the embodiments of this application are as follows:

[0007] In a first aspect, an embodiment of this application provides a monopulse angle measurement method, and the method includes:

[0008] Obtain target echo signals of multiple periods sequentially received by a receiving module in a radar device, where the target echo signal of each period is the echo signal returned by the signal sent by the transmitting module in the radar device in the corresponding period; the target echo signal of each period includes: sum beam echo and difference beam echo;

[0009] 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 multiple periods;

[0010] Perform target detection on the sum beam accumulation matrix to obtain multiple candidate points and the energy weights of the multiple candidate points;

[0011] According to the energy weights of the multiple candidate points, perform a weighted sum operation on the values of the multiple candidate points in the sum beam accumulation matrix to obtain a weighted sum signal;

[0012] Perform a weighted sum operation on the values of the multiple alternative points in the difference beam accumulation matrix according to the energy weights of the multiple alternative points to obtain a weighted difference signal;

[0013] Determine the target angle according to the weighted sum signal and the weighted difference signal.

[0014] Optionally, the 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 multiple periods respectively includes:

[0015] Perform point sampling on the sum beam echoes and the difference beam echoes of the multiple periods respectively to obtain a sum two-dimensional matrix and a difference two-dimensional matrix;

[0016] Perform coherent accumulation on the sum two-dimensional matrix and the difference two-dimensional matrix in the slow time dimension respectively to obtain the sum beam accumulation matrix and the difference beam accumulation matrix.

[0017] Optionally, the performing target detection on the sum beam accumulation matrix to obtain multiple alternative points and the energy weights of the multiple alternative points includes:

[0018] Perform target detection on the sum beam accumulation matrix, and obtain the multiple alternative points according to the size of a preset target region, where the multiple alternative points at least include: the target point with the largest energy value;

[0019] Determine the energy weights of the multiple alternative points according to the relative energy relationship between the multiple alternative points and the target point with the largest energy value.

[0020] Optionally, the performing target detection on the sum beam accumulation matrix and obtaining the multiple alternative points according to the size of a preset target region includes:

[0021] Determine the target point according to the sum beam accumulation matrix;

[0022] Determine a target region according to the target point and the size of the preset target region, and determine multiple alternative points within the target region, where the multiple alternative points at least include: the target point.

[0023] 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;

[0024] The performing a weighted sum operation on the values of the multiple alternative points in the difference beam accumulation matrix according to the energy weights of the multiple alternative points to obtain a weighted difference signal includes:

[0025] Performing a weighted sum operation on the values of the multiple alternative points in the azimuth difference beam accumulation matrix according to the energy weights of the multiple alternative points to obtain an azimuth weighted difference signal;

[0026] Performing a weighted sum operation on the values of the multiple alternative points in the elevation difference beam accumulation matrix according to the energy weights of the multiple alternative points to obtain an elevation weighted difference signal; The weighted difference signal includes: the azimuth weighted difference signal and the elevation weighted difference signal.

[0027] Optionally, the determining the target angle according to the weighted sum signal and the weighted difference signal includes:

[0028] Calculating a target angle error according to the weighted sum signal and the weighted difference signal;

[0029] Calculating the target angle according to the target angle error and the pointing angle of the preset transmit beam.

[0030] 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;

[0031] The calculating the target angle error according to the weighted sum signal and the weighted difference signal includes:

[0032] Calculating 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.

[0033] Optionally, the target angle includes: a target azimuth angle and / or a target elevation angle;

[0034] The calculating the target angle according to the target angle error and the pointing angle of the preset transmit beam includes:

[0035] Calculating the slope of the azimuth angle discrimination curve according to the azimuth angle error, the preset target azimuth angle and the pointing azimuth angle of the preset transmit beam;

[0036] Calculating the target azimuth angle according to the azimuth angle error, the pointing azimuth angle of the preset transmit beam and the slope of the azimuth angle discrimination curve;

[0037] And / or, calculating the slope of the elevation angle discrimination curve according to the elevation angle error, the preset target elevation angle and the pointing elevation angle of the preset transmit beam;

[0038] Calculating the target elevation angle according to the elevation angle error, the pointing elevation angle of the preset transmit beam and the slope of the elevation angle discrimination curve.

[0039] Second aspect, another embodiment of the present application provides a monopulse angle measurement device, which includes:

[0040] An acquisition module, configured to acquire target echo signals of multiple periods sequentially received by a receiving module in a radar device, where the target echo signal of each period is an echo signal returned by a signal sent by a transmitting module in the radar device during the corresponding period; the target echo signal of each period includes: a sum beam echo and a difference beam echo;

[0041] A construction module, configured to respectively construct a sum beam accumulation matrix and a difference beam accumulation matrix according to the sum beam echoes and difference beam echoes of the multiple periods;

[0042] A detection module, configured to perform target detection on the sum beam accumulation matrix to obtain multiple candidate points and energy weights of the multiple candidate points;

[0043] A first operation module, configured 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;

[0044] A second operation module, configured 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;

[0045] A determination module, configured to determine a target angle according to the weighted sum signal and the weighted difference signal.

[0046] Third aspect, another embodiment of the present application provides a control module, which includes: a processor, a storage medium, and a bus. The storage medium stores machine-readable instructions executable by the processor. When the control module runs, the processor executes the machine-readable instructions to execute the monopulse angle measurement method according to any one of the above first aspects.

[0047] Fourth aspect, another embodiment of the present application provides a storage medium, on which a computer program is stored. When the computer program is run by a processor, it executes the steps of the monopulse angle measurement method according to any one of the above first aspects.

[0048] Fifth aspect, another embodiment of the present application provides a radar device, which includes: a transmitting module, a receiving module, and a control module. The control module is respectively connected to the transmitting module and the receiving module; the control module is configured to execute the monopulse angle measurement method according to any one of the above first aspects.

[0049] The beneficial effects of the present application are:

[0050] The present application provides a monopulse angle measurement method, a control module, and a radar device. By acquiring target echo signals of multiple periods sequentially received by a receiving module in the radar device, a sum beam accumulation matrix and a difference beam accumulation matrix are respectively constructed based on the sum beam echo and the difference beam echo in the target echo signals. Target detection is performed on the sum beam accumulation matrix to obtain multiple candidate points and the energy weights of the candidate points. 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 sum beam accumulation matrix to obtain a weighted sum 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 difference beam accumulation matrix to obtain a weighted difference signal. The target angle is determined based on the weighted sum signal and the weighted difference signal. In the present application, corresponding accumulation matrices are constructed according to the target echo beams, and multiple candidate points are determined from the accumulation matrices, thereby improving the detection probability of the overall target echo beams. Determining the energy weights of multiple candidate points according to multiple candidate points reduces errors, ensuring that the obtained weighted sum signal and weighted difference signal have small errors, so that the obtained target angle is more accurate. Corresponding accumulation matrices are constructed according to the target echo beams, multiple candidate points are determined from the accumulation matrices, and the weights of multiple candidate points are determined according to multiple candidate points, so that the obtained weighted sum signal and weighted difference signal have smaller errors compared with the unweighted signals of the target points, ensuring that the obtained target angle is more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] To more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0052] Figure 1 It is a schematic flowchart of a monopulse angle measurement method provided by an embodiment of the present application;

[0053] Figure 2 It is a schematic flowchart of determining an accumulation matrix in a monopulse angle measurement method provided by an embodiment of the present application;

[0054] Figure 3 It is a schematic flowchart of determining the energy weights of multiple candidate points in a monopulse angle measurement method provided by an embodiment of the present application;

[0055] Figure 4 It is a schematic flowchart of determining multiple candidate points in a monopulse angle measurement method provided by an embodiment of the present application;

[0056] Figure 5 It is a schematic diagram of target points and candidate points within a preset target area provided by an embodiment of the present application;

[0057] Figure 6 Schematic flow chart for determining the weighted difference signal in a monopulse angle measurement method provided for the implementation of this application;

[0058] Figure 7 Schematic flow chart for determining the target angle in a monopulse angle measurement method provided for an embodiment of this application;

[0059] Figure 8 Schematic flow chart for determining the target angle in another monopulse angle measurement method provided for an embodiment of this application;

[0060] Figure 9 Schematic flow chart for determining the target angle in yet another monopulse angle measurement method provided for an embodiment of this application;

[0061] Figure 10 Schematic structural diagram of a monopulse angle measurement device provided for an embodiment of this application;

[0062] Figure 11 Schematic structural diagram of a computer device provided for an embodiment of this application;

[0063] Figure 12 Schematic structural diagram of a control module provided for an embodiment of this application. Detailed implementation manners

[0064] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of this application. It should be understood that the accompanying drawings in this application are only for the purposes of illustration and description, and are not used to limit the protection scope of this application. Additionally, it should be understood that the schematic drawings are not drawn to actual scale. The flowcharts used in this application illustrate the operations implemented according to some embodiments of this application. It should be understood that the operations in the flowcharts may not be implemented in sequence, and steps without logical context relationships may be reversed in order or implemented simultaneously. In addition, those skilled in the art can add one or more other operations to the flowchart or remove one or more operations from the flowchart under the guidance of the content of this application.

[0065] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application generally described and illustrated in the drawings herein can be arranged and designed in various different 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 claimed present application, but merely represents the selected embodiments of the present application. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without creative efforts fall within the scope of protection of the present application.

[0066] It should be noted that the term "including" will be used in the embodiments of the present application to indicate the existence of the features stated thereafter, but does not exclude the addition of other features.

[0067] To clearly describe a monopulse angle measurement method provided by the embodiments of the present application, the monopulse angle measurement method provided by the embodiments of the present application will be described below in conjunction with multiple drawings. Figure 1 It is a schematic flowchart of a monopulse angle measurement method provided by the embodiments of the present application, as Figure 1 shown, the method includes:

[0068] Step 101, obtain target echo signals of multiple cycles sequentially received by a receiving module in a radar device.

[0069] Among them, the target echo signal of each cycle is the echo signal returned by the monopulse signal sent by the transmitting module in the radar device within the corresponding cycle; the target echo signal of each cycle includes: sum beam echo and difference beam echo.

[0070] Optionally, the transmitting module in the radar device transmits signals of multiple cycles. When the transmitted signal encounters a target, a corresponding echo signal will be 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 the actual situation, and the embodiments of the present application do not limit this.

[0071] Step 102, respectively construct a sum beam accumulation matrix and a difference beam accumulation matrix according to the sum beam echoes and difference beam echoes of multiple cycles.

[0072] Among them, the sum beam accumulation matrix includes the energy values of multiple points in the sum beam for a target at a certain determined distance and determined speed on the sum path, and the difference beam accumulation matrix includes the energy values of multiple points in the difference beam for a target at a certain determined distance and determined speed on the difference path.

[0073] Optionally, according to the sum beam echoes of multiple periods, the sum beam echo signals of each period are determined to form a sum beam echo pulse group, and coherent accumulation is performed on the sum beam echo pulse group 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 that of the sum beam accumulation matrix, and the construction method of the difference beam accumulation matrix will not be elaborated here.

[0074] Step 103: Perform target detection on the sum beam accumulation matrix to obtain multiple candidate points and the energy weight values of the multiple candidate points.

[0075] Among them, target detection is to detect the sum beam accumulation matrix by methods such as the cell-averaging constant false alarm detection method. The energy weight values of the multiple candidate points are the energy weight value information of the multiple candidate points.

[0076] Optionally, perform target detection on the sum beam accumulation matrix to obtain the target point, that is, the point with the maximum energy in the sum beam accumulation matrix. A preset target area is delimited according to the target point, multiple candidate points are determined from the preset target area, and the energy weight values of the multiple candidate points are determined according to the multiple candidate points. The specific preset target area can be determined according to the actual situation, and the embodiments of the present application do not limit this.

[0077] 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 weight values of the multiple candidate points to obtain a weighted sum signal.

[0078] Optionally, according to the energy weight value of each candidate point among the multiple candidate points and the energy weight values of all candidate points in the sum beam accumulation matrix, calculate the weighted energy value of each candidate point in the sum beam accumulation matrix, and sum the weighted energy values of each candidate point to obtain the weighted sum signal.

[0079] 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 weight values of the multiple candidate points to obtain a weighted difference signal.

[0080] Optionally, according to the energy weight value of each candidate point among the multiple candidate points and the energy weight values of all candidate points in the sum and difference beam accumulation matrix, calculate the weighted energy value of each candidate point in the difference beam accumulation matrix, and sum the weighted energy values of each candidate point to obtain the weighted sum signal.

[0081] Step 106: Determine the target angle according to the weighted sum signal and the weighted difference signal.

[0082] Among them, the target angle is the angle of the target relative to the radar normal.

[0083] Optionally, determine the angular error according to the weighted sum signal and the weighted difference signal, and thus determine the target angle according to the angular error.

[0084] The present application provides a monopulse angle measurement method. By acquiring target echo signals of multiple periods sequentially received by a receiving module in a radar device, a sum beam accumulation matrix and a difference beam accumulation matrix are respectively constructed based on the sum beam echo and the difference beam echo in the target echo signals. Target detection is performed on the sum beam accumulation matrix to obtain multiple candidate points and the energy weights of the candidate points. 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 sum beam accumulation matrix to obtain a weighted sum 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 difference beam accumulation matrix to obtain a weighted difference signal. The target angle is determined based on the weighted sum signal and the weighted difference signal. In the present application, corresponding accumulation matrices are constructed according to the target echo beams, and multiple candidate points are determined from the accumulation matrices, thereby improving the detection probability of the overall target echo beams. Determining the energy weights of multiple candidate points according to multiple candidate points reduces errors, ensuring that the obtained weighted sum signal and weighted difference signal have small errors, and thus making the obtained target angle more accurate. Corresponding accumulation matrices are constructed according to the target echo beams, and multiple candidate points are determined from the accumulation matrices. Weights of multiple candidate points are determined according to multiple candidate points, making the obtained weighted sum signal and weighted difference signal have smaller errors compared with the unweighted signals of the target points, and ensuring that the obtained target angle is more accurate.

[0085] Based on the above embodiments, the present application further provides a process for determining an accumulation matrix in a monopulse angle measurement method. Figure 2 It is a schematic flowchart of a process for determining an accumulation matrix in a monopulse angle measurement method provided by an embodiment of the present application. As Figure 2 shown, in the above step 102, constructing a sum beam accumulation matrix and a difference beam accumulation matrix respectively based on the sum beam echoes and difference beam echoes of multiple periods includes:

[0086] Step 201: Perform point sampling on the sum beam echoes and difference beam echoes of multiple periods respectively to obtain a sum two-dimensional matrix and a difference two-dimensional matrix.

[0087] Among them, point sampling refers to the step of selecting a series of sampling points from the echo signal at equal time intervals.

[0088] Optionally, the number of sampling points for point sampling is the number of columns of the sum two-dimensional matrix, and the period of the sum beam is the number of rows of the sum two-dimensional matrix. Point sampling is performed on the sum echo signals of multiple periods to obtain multiple sampling points, thereby obtaining the sum two-dimensional matrix.

[0089] Optionally, the number of sampling points for point sampling is the number of columns of the difference two-dimensional matrix, and the period of the sum beam is the number of rows of the difference two-dimensional matrix. Point sampling is performed on the difference echo signals of multiple periods to obtain multiple sampling points, thereby obtaining the difference two-dimensional matrix.

[0090] Step 202: Perform coherent integration on the sum two-dimensional matrix and the difference two-dimensional matrix along the slow time dimension respectively to obtain a sum beam integration matrix and a difference beam integration matrix.

[0091] Among them, the rows of the two-dimensional matrix are called the fast time dimension. The fast time dimension refers to the dimension in which the echo signal changes rapidly on the time axis and changes within the pulse repetition interval. The columns of the two-dimensional matrix are called the slow time dimension. The slow time dimension refers to the dimension in which the echo signal changes slowly on the time axis and changes between pulse repetition intervals. Coherent integration is used to improve the signal-to-noise ratio of the target in the two-dimensional matrix.

[0092] Optionally, perform Fourier transform on the signals in each column of the sum two-dimensional matrix along the slow time dimension to obtain a sum beam integration matrix; perform Fourier transform on the signals in each column of the difference two-dimensional matrix along the slow time dimension to obtain a difference beam integration matrix.

[0093] In the embodiments of the present application, according to the sum beam echoes and difference beam echoes of multiple periods, point sampling is performed respectively to obtain a sum two-dimensional matrix and a difference two-dimensional matrix, and coherent integration is performed on the sum two-dimensional matrix and the difference two-dimensional matrix along the slow time dimension respectively to obtain a sum beam integration matrix and a difference beam integration matrix. This improves the signal-to-noise ratio in the integration matrix, better suppresses incoherent clutter and interference signals, and ensures the accuracy of subsequent detection.

[0094] On the basis of the above embodiments, the present application also provides a process for determining the energy weights of multiple candidate points in a monopulse angle measurement method. Figure 3 It is a schematic flow chart of a process for determining the energy weights of multiple candidate points in a monopulse angle measurement method provided by the embodiments of the present application. As Figure 3 shown, in the above step 103, target detection is performed on the sum beam integration matrix to obtain multiple candidate points and the energy weights of the multiple candidate points, including:

[0095] Step 301: Perform target detection on the sum beam integration matrix and obtain multiple candidate points according to the size of the preset target area.

[0096] Among them, the multiple candidate points at least include: the target point with the maximum energy in the target area. The preset target area can be of any shape, such as square, cross, circle or irregular shape, and the embodiments of the present application do not limit this.

[0097] Optionally, perform target detection on the sum beam integration matrix, determine the target point with the maximum energy, and determine other points within the preset target area as candidate points according to the size of the preset target area and the point with the maximum energy value.

[0098] 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 maximum energy value.

[0099] Optionally, according to a preset energy weight calculation formula, the energy weights of multiple alternative points are determined based on the relative energy relationship between the multiple alternative points and the target point with the maximum energy value.

[0100] Exemplarily, the preset energy weight calculation formula may be Formula (1). According to Formula (1), the energy weights of multiple alternative points are determined based on the relative energy relationship between the multiple alternative points and the target point with the maximum energy value. .

[0101] (1)

[0102] Wherein, the coordinates of the target point with the maximum energy value are ( ), is the horizontal coordinate of the target point with the maximum energy value, is the vertical coordinate of the target point with the maximum energy value, and the coordinates of the alternative point are denoted as ( ), is the horizontal coordinate of the alternative point, is the vertical coordinate of the alternative point, is the horizontal distance between the alternative point in the target area and the target point, is the vertical distance between the alternative point in the target area and the target point, is the energy weight of the alternative point at ( ), () is the sum beam accumulation matrix, is the modulus function.

[0103] In the embodiment of the present application, according to the size of the preset target area, target detection is performed on the sum beam accumulation matrix to obtain multiple alternative points, and at least the following are included in the multiple alternative points: the target point with the maximum energy value; according to the relative energy relationship between the multiple alternative points and the target point with the maximum energy value, the energy weights of the multiple alternative points are determined. By considering multiple alternative points instead of just the point with the maximum energy value, the present application can reduce the angular measurement randomness caused by only considering the maximum scattering point of the target and make the angular measurement stable.

[0104] Based on the above embodiment, the present application further provides a process for determining multiple alternative points in a monopulse angle measurement method. Figure 4 is a schematic flowchart of a process for determining multiple alternative points in a monopulse angle measurement method provided by an embodiment of the present application. As Figure 4 shown, as in step 301 above, target detection is performed on the sum beam accumulation matrix, and according to the size of the preset target area, multiple alternative points are obtained, including:

[0105] Step 401: Determine the target point according to the sum beam accumulation matrix.

[0106] Optionally, target detection is performed on the sum beam accumulation matrix, and the point with the maximum energy value is obtained as the target point.

[0107] Step 402: Determine the target area according to the target point and the size of the preset target area, and determine multiple alternative points within the target area.

[0108] The multiple alternative points at least include: the target point.

[0109] Optionally, according to the target point and the size of the preset target area, determine the target area, and determine the alternative points centered on the target point through the preset formulas (2)-(3).

[0110]

[0111]

[0112] Wherein, when the preset target area is a square area, the coordinates of the target point are ( ), is the coordinate of the target point in the horizontal direction, is the coordinate of the target point in the vertical direction, and the coordinates of the alternative points within the preset target area are denoted as ( ), is the coordinate of the alternative point in the horizontal direction, is the coordinate of the alternative point in the vertical direction, is the horizontal distance between the alternative point within the target area and the target point, is the vertical distance between the alternative point within the target area and the target point, wherein, , in this application, only 2 is taken as an example, and the specific size of the preset target area is determined according to the actual situation. () represents the imaginary part function, represents the real part function, is the sign function.

[0113] Exemplarily, Figure 5 is a schematic diagram of the target point and alternative points within a preset target area provided by an embodiment of this application. As Figure 5 shown, the preset target area is an area with a length and width of five cells each, and the target point is the center point within the preset target area, that is, Figure 5 the dark filled cell in, and the alternative points are the multiple grid-filled points around the target point, that is, Figure 5 the adjacent cells on the left and above the dark filled cell in.

[0114] In the embodiments of the present application, according to the sum beam accumulation matrix, a target point is determined, and according to the target point and the size of a preset target area, alternative points centered on the target point are determined. The present application can measure the target angle more accurately, thereby improving the angle tracking ability of the system.

[0115] Based on the above embodiments, 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 monopulse angle measurement method. Figure 6 A schematic flow chart for determining a weighted difference signal in a monopulse angle measurement method provided by the embodiments of the present application is as Figure 6 shown. As in step 105 above, according to the energy weights of multiple alternative points, weighted sum operations are performed on the values of multiple alternative points in the difference beam accumulation matrix to obtain a weighted difference signal, including:

[0116] Step 601: According to the energy weights of multiple alternative points, perform weighted sum operations on the values of multiple alternative points in the azimuth difference beam accumulation matrix to obtain an azimuth weighted difference signal.

[0117] Optionally, according to the energy weights of multiple alternative points and the values of multiple alternative points in the azimuth difference beam accumulation matrix, weighted sum operations are performed on multiple alternative points in the azimuth difference beam accumulation matrix through the following formula (4) to obtain an azimuth weighted difference signal .

[0118] (4)

[0119] Where the coordinates of the alternative point are , is the coordinate of the alternative point in the horizontal direction, is the coordinate of the alternative point in the vertical direction, is the horizontal distance between the alternative point in the target area and the target point, is the vertical distance between the alternative point in the target area and the target point, a() is the azimuth difference beam accumulation matrix, is the energy weight of the alternative point at the position ( ), () is the weighted sum operation of multiple alternative points in the azimuth difference beam accumulation matrix, is the azimuth weighted difference signal.

[0120] Step 602: According to the energy weights of multiple alternative points, perform weighted sum operations on the values of multiple alternative points in the elevation difference beam accumulation matrix to obtain an elevation weighted difference signal.

[0121] Among them, the weighted difference signal includes: an azimuth weighted difference signal and an elevation weighted difference signal.

[0122] Optionally, according to the energy weights of multiple alternative points and the values of multiple alternative points in the elevation difference beam accumulation matrix, perform a weighted sum operation on the multiple alternative points in the elevation difference beam accumulation matrix through formula (5) to obtain the elevation weighted difference signal .

[0123] (5)

[0124] Among them, the coordinates of the alternative point are , is the coordinate of the alternative point in the horizontal direction, is the coordinate of the alternative point in the vertical direction, is the horizontal distance between the alternative point in the target area and the target point, is the vertical distance between the alternative point in the target area and the target point, is the elevation difference beam accumulation matrix, is the energy weight of the alternative point at position ( ), is the weighted sum operation on multiple alternative points in the azimuth sum beam accumulation matrix, is the elevation weighted difference signal.

[0125] In the embodiment of the present application, according to the energy weights of multiple alternative points, perform a weighted sum operation on the values of multiple alternative points in the azimuth difference beam accumulation matrix to obtain the azimuth weighted difference signal, and according to the energy weights of multiple alternative points, perform a weighted sum operation on the values of multiple alternative points in the elevation difference beam accumulation matrix to obtain the elevation weighted difference signal. By performing weighted processing on multiple alternative points, the present application can enhance the stability of angle measurement.

[0126] On the basis of the above embodiment, the present application provides a process for determining the target angle in a monopulse angle measurement method, Figure 7 which is a schematic diagram of the process for determining the target angle in a monopulse angle measurement method provided by the embodiment of the present application. As Figure 7 shown, as in step 106 above, determining the target angle according to the weighted sum signal and the weighted difference signal includes:

[0127] Step 701, calculate the target angle error according to the weighted sum signal and the weighted difference signal.

[0128] Optionally, according to the energy weights of multiple alternative points and the values of multiple alternative points in the sum beam accumulation matrix, perform a weighted sum operation on the multiple alternative points in the sum beam accumulation matrix through formula (6) to obtain the weighted sum signal .

[0129] (6)

[0130] Among them, the coordinates of the alternative point are , is the horizontal coordinate of the alternative point, is the vertical coordinate of the alternative point, is the horizontal distance between the alternative point in the target area and the target point, is the vertical distance between the alternative point in the target area and the target point, is the sum beam accumulation matrix, The energy weight of the alternative point at the position ([[]]END]] ), is the weighted sum signal.

[0131] Optionally, according to the energy weights of multiple alternative points and the values of multiple alternative points in the difference beam accumulation matrix, perform a weighted sum operation on multiple alternative points in the difference beam accumulation matrix through formula (7) to obtain a weighted difference signal .

[0132] (7)

[0133] Among them, the coordinates of the alternative point are , is the horizontal coordinate of the alternative point, is the vertical coordinate of the alternative point, is the horizontal distance between the alternative point in the target area and the target point, is the vertical distance between the alternative point in the target area and the target point, is the sum-difference beam accumulation matrix, is the energy weight of the alternative point at the position ([[]]END]] ), is the weighted difference signal.

[0134] Optionally, according to the weighted difference signal and the weighted sum signal , calculate the target angle error .

[0135] (8)

[0136] Among them, is the weighted difference signal, is the weighted sum signal, is the target angle error.

[0137] Step 702: Calculate the target angle according to the target angle error and the pointing angle of the preset transmission beam.

[0138] Optionally, according to the target angle error, the slope of the angle discrimination curve, and the pointing angle of the preset transmit beam, calculate the pointing angle of the target preset transmit beam, so as to obtain the target angle.

[0139] In the embodiment of the present application, according to the weighted sum signal and the weighted difference signal, calculate the target angle error, and according to the target angle error and the pointing angle of the preset transmit beam, calculate the target angle. The present application can accurately determine the target angle error, thereby calculating the target angle and ensuring the accuracy of the obtained target angle.

[0140] On the basis of the above embodiment, the weighted difference signal includes: azimuth weighted difference signal and / or elevation weighted difference signal, and the target angle error includes: azimuth angle error and / or elevation angle error. Therefore, the present application also provides a process for calculating the angle error in a monopulse angle measurement method. Calculating the target angle error according to the weighted sum signal and the weighted difference signal in step 701 above includes:

[0141] Calculate the azimuth angle error and / or elevation angle error respectively according to the weighted sum signal, the azimuth weighted difference signal, and / or the elevation weighted difference signal.

[0142] Optionally, according to the weighted sum signal and the azimuth weighted difference signal, determine the azimuth angle error through formula (9) .

[0143] (9)

[0144] Wherein, is the azimuth angle error, is the azimuth weighted difference signal, is the weighted sum signal.

[0145] Optionally, according to the weighted sum signal and the elevation weighted difference signal, determine the elevation angle error through formula (10) .

[0146] (10)

[0147] Wherein, is the elevation angle error, is the elevation weighted difference signal, is the weighted sum signal.

[0148] In the embodiment of the present application, calculate the azimuth angle error and / or elevation angle error respectively according to the weighted sum signal, the azimuth weighted difference signal, and / or the elevation weighted difference signal. The present application can independently evaluate the angular deviation of the target relative to the transmit beam in the horizontal and vertical planes by determining the azimuth angle error and / or elevation angle error, thereby determining the target angle.

[0149] Based on the above embodiments, the target angle includes: the target azimuth angle; for this purpose, the present application provides a process for determining the target angle in a monopulse angle measurement method. Figure 8 It is a schematic diagram of the process for determining the target angle in another monopulse angle measurement method provided by an embodiment of the present application. As Figure 8 shown, as in the above steps, according to the target angle error and the pointing angle of the preset transmit beam, calculating the target angle includes:

[0150] Step 801: Calculate the slope of the azimuth discrimination angle curve according to the azimuth angle error, the preset target azimuth angle, and the pointing azimuth angle of the preset transmit beam.

[0151] Among them, the pointing azimuth angle of the preset transmit beam can be 0 degrees. Generally, more than two target angles are preset for the pointing azimuth angle of the transmit beam, and there are also two corresponding target azimuth angles and azimuth angle errors.

[0152] Optionally, perform fitting on multiple azimuth angle errors, preset target azimuth angles, and pointing azimuth angles of the preset transmit beam to obtain the slope of the azimuth discrimination angle curve.

[0153] Step 802: Calculate the target azimuth angle according to the azimuth angle error, the pointing azimuth angle of the preset transmit beam, and the slope of the azimuth discrimination angle curve.

[0154] Optionally, calculate the target azimuth angle according to the azimuth angle error, the pointing azimuth angle of the preset transmit beam, and the slope of the azimuth discrimination angle curve through formula (11).

[0155] (11)

[0156] Among them, is the pointing azimuth angle of the preset transmit beam, is the azimuth angle error, is the slope of the azimuth discrimination angle curve, is the calculated complex result. Take the larger number of the real part and the imaginary part of as the target azimuth angle.

[0157] Based on the above embodiments, the target angle includes: the target elevation angle; for this purpose, the present application provides another process for determining the target angle in a monopulse angle measurement method. Figure 9 It is a schematic diagram of the process for determining the target angle in yet another monopulse angle measurement method provided by an embodiment of the present application. As Figure 9 shown, as in the above steps, according to the target angle error and the pointing angle of the preset monopulse signal, calculating the target angle includes:

[0158] Step 901: Calculate the slope of the pitch discrimination angle curve based on the pitch angle error, the preset target pitch angle, and the pitch angle of the preset transmission beam.

[0159] Among them, the pitch angle of the preset transmission beam can be 0 degrees. Generally, more than two target angles are preset for the pitch angle of the preset transmission beam, and there are also two corresponding target pitch angles and pitch angle errors.

[0160] Optionally, fit multiple pitch angle errors, preset target pitch angles, and pitch angles of the preset transmission beam to obtain the slope of the pitch discrimination angle curve.

[0161] Step 902: Calculate the target pitch angle based on the pitch angle error, the pitch angle of the preset transmission beam, and the slope of the pitch discrimination angle curve.

[0162] Optionally, calculate the target pitch angle according to the pitch angle error, the pitch angle of the preset transmission beam, and the slope of the pitch discrimination angle curve through formula (12).

[0163] (12)

[0164] Among them, is the pitch angle of the preset transmission beam, is the pitch angle error, is the slope of the pitch discrimination angle curve, is the calculated complex result. Take the larger number of the real part and the imaginary part as the target pitch angle.

[0165] In the embodiments of the present application, according to the angle error, the target angle, and the preset transmission beam pointing angle, calculate the slope of the discrimination angle curve, and according to the angle error, the preset transmission beam pointing angle, and the slope of the discrimination angle curve, calculate the target angle. The target angle calculated by the present application is more accurate.

[0166] Based on the same inventive concept, the embodiments of the present application also provide a monopulse angle measurement device corresponding to the monopulse angle measurement method. Since the principle of solving problems by the device in the embodiments of the present application is similar to the above-mentioned monopulse angle measurement method in the embodiments of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be elaborated.

[0167] Figure 10 is a schematic structural diagram of a monopulse angle measurement device provided by the embodiments of the present application, as Figure 10As shown in the figure, the device includes: an acquisition module 1001, configured to acquire target echo signals of multiple cycles sequentially received by a receiving module in a radar device, where the target echo signal of each cycle is an echo signal returned by a signal transmitted by a transmitting module in the corresponding cycle in the radar device; the target echo signal of each cycle includes: a sum beam echo and a difference beam echo;

[0168] a construction module 1002, configured to respectively construct a sum beam accumulation matrix and a difference beam accumulation matrix according to the sum beam echoes and difference beam echoes of multiple cycles;

[0169] a detection module 1003, configured to perform target detection on the sum beam accumulation matrix to obtain multiple candidate points and the energy weights of the multiple candidate points;

[0170] a first operation module 1004, configured to perform a weighted sum operation on the values of 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;

[0171] a second operation module 1005, configured to perform a weighted sum operation on the values of 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;

[0172] a determination module 1006, configured to determine a target angle according to the weighted sum signal and the weighted difference signal.

[0173] In a possible implementation manner, the construction module 1002 is specifically configured to: respectively perform point sampling according to the sum beam echoes and difference beam echoes of multiple cycles to obtain a sum two-dimensional matrix and a difference two-dimensional matrix;

[0174] respectively 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.

[0175] In a possible implementation manner, the detection module 1003 is specifically configured to: perform target detection on the sum beam accumulation matrix, and obtain multiple candidate points according to the size of a preset target area, where at least one of the multiple candidate points includes: a target point with the largest energy value;

[0176] 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.

[0177] In a possible implementation manner, the detection module 1003 is specifically configured to: determine a target point according to the sum beam accumulation matrix;

[0178] determine a target area centered on the target point according to the target point and the size of the preset target area, and determine candidate points in the target area, where at least one of the multiple candidate points includes the target point.

[0179] In a possible implementation, 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;

[0180] The first operation module 1004 is specifically configured 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;

[0181] Perform a weighted sum operation 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 weighted difference signal includes an azimuth weighted difference signal and an elevation weighted difference signal.

[0182] In a possible implementation, the determination module 1006 is specifically configured to: calculate a target angle error according to the weighted sum signal and the weighted difference signal;

[0183] Calculate a target angle according to the target angle error and the pointing angle of the preset transmit beam.

[0184] In a 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 configured 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.

[0185] In a possible implementation, the target angle includes a target azimuth angle and / or a target elevation angle; the determination module 1006 is specifically configured to:

[0186] Calculate the slope of the azimuth angle discrimination curve according to the azimuth angle error, the preset target azimuth angle, and the pointing azimuth angle of the preset transmit beam;

[0187] Calculate the target azimuth angle according to the azimuth angle error, the pointing azimuth angle of the preset transmit beam, and the slope of the azimuth angle discrimination curve;

[0188] And / or, calculate the slope of the elevation angle discrimination curve according to the elevation angle error, the preset target elevation angle, and the pointing elevation angle of the preset transmit beam;

[0189] Calculate the target elevation angle according to the elevation angle error, the pointing elevation angle of the preset transmit beam, and the slope of the elevation angle discrimination curve.

[0190] The description of the processing flow of each module in the device and the interaction flow between the modules can refer to the relevant descriptions in the above method embodiments and will not be elaborated here.

[0191] The embodiment of the present application further provides a control module,Figure 11 A structural schematic diagram of a control module provided by an embodiment of the present application is shown as Figure 11 shown. The control module 1100 includes: a processor 1101, a memory 1102. Optionally, a bus 1103 may also be included. The memory 1102 stores machine-readable instructions executable by the processor 1101. When the control module 1100 runs, the processor 1101 communicates with the memory 1102 through the bus 1103. When the machine-readable instructions are executed by the processor 1101, the steps of the above single-pulse angle measurement method are executed.

[0192] An embodiment of the present application also provides a radar device. Figure 12 A structural schematic diagram of a radar device provided by an embodiment of the present application is shown as Figure 12 shown. The radar device 1200 includes: a transmitting module 1201, a receiving module 1202, and a control module 1100. The control module 1100 is respectively connected to the transmitting module 1201 and the receiving module 1202; the control module 1100 is used to execute the steps of the above single-pulse angle measurement method.

[0193] An embodiment of the present application also provides a computer-readable storage medium. A computer program is stored on the computer-readable storage medium. When the computer program is run by a processor, the steps of the above single-pulse angle measurement method are executed.

[0194] Those skilled in the art can clearly understand that for the convenience and conciseness of description, the specific working processes of the above-described systems and devices can refer to the corresponding processes in the method embodiments, which will not be elaborated in the present application. In several embodiments provided by the present application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. The device embodiments described above are only illustrative. For example, the division of the modules is only a logical function division. In actual implementation, there may be other division methods. For another 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 displayed or discussed couplings or direct couplings or communication connections to each other can be through some communication interfaces. The indirect couplings or communication connections of the devices or modules can be in electrical, mechanical, or other forms.

[0195] In addition, each functional unit in various embodiments of the present application may be integrated into one processing unit, may exist physically alone for each unit, or two or more units may 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 may be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of the technical solution, may be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: various media such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disc that can store program codes.

[0196] The above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed in the present application can easily think of changes or substitutions, which should all be covered within 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.

Images