Beam compensation method during travel of vehicle-mounted radar

Abstract

The invention provides a vehicle-mounted radar advancing beam compensation method, which comprises the following steps that: a vehicle body coordinate system XYZ and an array beam coordinate system X1Y1Z1 are established, a pitching deviation angle psi, a rolling deviation angle theta and an antenna azimuth angle beta of a vehicle body are obtained, and an XoY plane of the vehicle body coordinate system and an X1oY1 plane of the array beam coordinate system are the same plane; and translating the angle information under the array beam coordinate system into the vehicle body coordinate system, and obtaining the pitching beam pitching offset compensation angle and the actual array beam azimuth angle of each quadrant of the XoY plane.

Description

Technical Field

[0001] The invention relates to a radar target tracking method, in particular to a moving beam compensation method for a vehicle-mounted radar. Background Art

[0002] For vehicle-mounted search radars that use machine scanning, when the antenna performs a 360° azimuth scan, if the vehicle is in a leveled state, the search beam pitch start position rotates in the entire horizontal plane to cover the entire low-altitude area; if the vehicle is in a tilted state, the search beam pitch start position rotates in an inclined plane, and the angle between the beam pitch start position and the earth's horizontal plane changes with the change of the antenna code disk azimuth. When the search antenna rotates to a certain azimuth, if the search transmit beam is tilted upward, then when the antenna rotates to the back of the current azimuth, the search transmit beam will tilt downward, which will not only cause changes in the radar elevation angle coverage of the airspace, resulting in missed target detection, but will also cause deviations in the target's elevation angle measurement value. Summary of the invention

[0003] The present invention provides a vehicle-mounted radar moving beam compensation method, comprising:

[0004] Step S100, establishing a vehicle body coordinate system XYZ and an array beam coordinate system X1Y1Z1, obtaining a pitch offset angle ψ, a roll offset angle θ, and an antenna azimuth angle β of the vehicle body, wherein the XoY plane of the vehicle body coordinate system and the X1oY1 plane of the array beam coordinate system are the same plane;

[0005] Step S200: The angle information in the array beam coordinate system is translated into the vehicle body coordinate system to obtain the pitch beam pitch offset compensation angle and the actual array beam azimuth angle in each quadrant of the XoY plane.

[0006] Furthermore, the pitch beam pitch offset compensation angle ψ1 and the actual front beam azimuth angle β1 in the first quadrant of the XoY plane are

[0007]

[0008] Furthermore, the third quadrant array elevation beam compensation angle ψ3 and the actual array beam azimuth angle β3 in the XoY plane are

[0009]

[0010] Furthermore, the fourth quadrant array elevation beam compensation angle ψ3 and the actual array beam azimuth angle β3 in the XoY plane are

[0011]

[0012] Furthermore, the second quadrant array elevation beam compensation angle ψ2 and the actual array beam azimuth angle β2 in the XoY plane are obtained.

[0013]

[0014] The beam compensation method of the present invention is based on a four-sided array of a vehicle-mounted radar, wherein the array faces are respectively located at the four corners of a vehicle body and form an angle of 45° with the moving direction of the vehicle body. The vehicle body information such as the pitch deviation angle and the roll deviation angle generated when the vehicle body is moving is collected through the inertial navigation carried by the vehicle body, and the compensation value of the pitch deviation angle of the array face pitch beam is output, so as to correct the pitch angle when the radar transmits and receives the beam, and better solve the error of the beam pitch angle caused by the tilt of the vehicle body and the like during the movement of the vehicle-mounted radar, and is a relatively effective method.

[0015] The present invention will be further described below in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 Schematic diagram of two coordinate systems of the present invention.

[0017] Figure 2 It is a schematic diagram of the first quadrant of XOY of the present invention.

[0018] Figure 3 It is a schematic diagram of the fourth quadrant of XOY of the present invention.

[0019] Figure 4 The figure is a comparison chart between the calculated beam compensation value and the standard value at different pitch offset angles and roll offset angles. DETAILED DESCRIPTION

[0020] A moving beam compensation method for a vehicle-mounted radar, comprising:

[0021] Step S100, as Figure 1 Establish the vehicle body coordinate system XYZ and the array beam coordinate system X1Y1Z1, obtain the vehicle body pitch offset angle ψ, roll offset angle θ, and antenna azimuth angle β, where the XoY plane of the vehicle body coordinate system and the X1oY1 plane of the array beam coordinate system are the same plane;

[0022] Step S200, combining Figure 2 , translate the angle information in the array beam coordinate system to the vehicle coordinate system, and obtain the pitch beam pitch offset compensation angle ψ1 and the actual array beam azimuth angle β1 in the first quadrant of the XoY plane

[0023]

[0024] Where ψ1 is the pitch beam pitch offset compensation angle;

[0025] Step S300, obtaining the third quadrant array elevation beam compensation angle ψ3 and the actual array beam azimuth angle β3 in the XoY plane

[0026]

[0027] Step S400, combining Figure 3 , obtain the pitch beam compensation angle ψ3 and the actual beam azimuth angle β3 of the fourth quadrant of the XoY plane; for the fourth quadrant, the pitch angle of the vehicle body is equivalent to the roll angle in the array coordinate system, and the roll angle of the vehicle body is equivalent to the pitch angle in the array coordinate system

[0028]

[0029] Step S500, obtaining the second quadrant array elevation beam compensation angle ψ2 and the actual array beam azimuth angle β2 in the XoY plane

[0030]

[0031] In summary, the pitch beam compensation angle of each quadrant of the XoY plane is

[0032]

[0033] The actual front beam azimuth is

[0034]

[0035] Example

[0036] Assuming that the pitch offset angle ψ and the roll offset angle θ range from 0 to 20°, taking the first quadrant array as an example, through simulation experiments, we can get the following: Figure 4 The experimental results shown are:

[0037] Through the above simulation experimental results, it can be concluded that the beam compensation angle obtained by the beam compensation method is completely consistent with the actual angle to be compensated, which can effectively improve the beam angle error problem generated by the vehicle-mounted radar while moving.

Claims

1. A method for beam compensation of a vehicle-mounted radar while on the move, characterized in that: include Step S100, establishing a vehicle body coordinate system XYZ and an array beam coordinate system X1Y1Z1, obtaining a pitch offset angle ψ, a roll offset angle θ, and an antenna azimuth angle β of the vehicle body, wherein the XoY plane of the vehicle body coordinate system and the X1oY1 plane of the array beam coordinate system are the same plane; Step S200: The angle information in the array beam coordinate system is translated into the vehicle body coordinate system to obtain the pitch beam pitch offset compensation angle and the actual array beam azimuth angle in each quadrant of the XoY plane.

2. The method according to claim 1, characterized in that The pitch beam pitch offset compensation angle ψ1 and the actual front beam azimuth angle β1 in the first quadrant of the XoY plane 3. The method according to claim 2, characterized in that The third quadrant array elevation beam compensation angle ψ3 and the actual array beam azimuth angle β3 in the XoY plane 4. The method according to claim 1, characterized in that: The fourth quadrant array elevation beam compensation angle ψ3 and the actual array beam azimuth angle β3 in the XoY plane 5. The method according to claim 4, characterized in that Obtain the second quadrant array elevation beam compensation angle ψ2 and the actual array beam azimuth angle β2 in the XoY plane

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