Low-operation-complexity three-dimensional correction method and device

Abstract

The invention discloses a low-computation-complexity three-dimensional correction method and device, and the method comprises the steps: obtaining a correction value corresponding to each incident angle according to a calibration phase difference and an ideal phase difference of each angle, carrying out the normalization of an extracted actual phase difference of an incoming wave, and carrying out the calculation of the phase difference cost, and obtaining the actual phase difference cost of the incoming wave; performing normalization and phase difference cost calculation on the calibration phase difference of each angle to obtain the calibration phase difference cost of each angle, and selecting a correction value corresponding to the incident angle at the moment based on a principle that the calibration phase difference cost is close to the actual phase difference cost of the incoming wave; and correcting the actual incoming wave and finding the direction by the interferometer to obtain incident signal direction estimation. According to the method, the optimal correction direction is quickly locked through offline preprocessing and online quick matching, a correction value is used for correcting a signal, and corrected data is used for interferometer direction finding, so that the optimal direction finding performance is obtained, low complexity and high precision of three-dimensional correction are realized, and the real-time performance and environmental adaptability of an interferometer system are improved.

Description

Technical Field

[0001] The present application relates to the technical field of radio direction finding, and in particular to a three-dimensional correction method and device with low computational complexity. Background Art

[0002] The interferometer system is a high-precision direction-finding device widely used in the fields of radio direction-finding, radar, radio astronomy, etc. Its basic principle is to receive the same signal through multiple antennas and use the phase difference of the signal reaching different antennas to determine the direction of the signal. However, in practical applications, due to the non-ideality of the antenna, including inconsistencies in the design, processing and installation process, the antenna responds differently to waves from different directions. This inconsistency will introduce phase deviation, which will seriously affect the direction-finding accuracy and stability of the interferometer system. Antenna inconsistency will cause the system to have different gain and phase responses to waves from different directions, which will in turn cause deviations in the direction-finding results. Experiments have shown that this deviation cannot be ignored in practical applications, especially in high-precision direction-finding scenarios, where the error caused by antenna inconsistency will significantly reduce the direction-finding performance of the system. Therefore, how to effectively reduce the impact of antenna inconsistency on direction-finding performance has become a key issue in improving the stability and accuracy of direction-finding in the interferometer system.

[0003] Traditional correction methods usually use correction values ​​in the normal direction to correct and direction-find the signal. However, this method ignores the difference in the response of the antenna in different directions, resulting in large direction-finding errors. A patented high-precision external correction method that can be used for interferometer systems pre-establishes a correction table for each horizontal azimuth, and then corrects the incoming wave azimuth by azimuth. Specifically, the system first compares each corrected direction-finding value with the correction azimuth value, thereby selecting an optimal azimuth as the optimal correction azimuth, and uses the correction value of the azimuth to correct the signal before performing interferometer direction-finding. This method avoids the direction-finding error caused by using only the correction value in the normal direction, and significantly improves the direction-finding accuracy. However, the disadvantage of this method is that it has a large amount of calculations, especially when a large number of azimuths and elevation angles need to be processed. The correction process will consume more computing resources, which may affect the real-time performance of the system. Therefore, how to reduce the computational complexity while ensuring the correction accuracy is still a problem that needs further research in this field.

[0004] Therefore, in practical applications, the interferometer system faces the problem of direction-finding error caused by antenna inconsistency. Traditional correction methods are difficult to meet the needs of high-precision direction-finding. The direction-finding accuracy is effectively improved through azimuth correction and optimal correction azimuth selection, but the problem of large computational complexity still needs further optimization. Summary of the invention

[0005] The purpose of this application is to provide a three-dimensional correction method and device with low computational complexity in order to overcome the existing technical defects. Through the combination of offline preprocessing and online fast matching, the best correction direction can be quickly locked, and then the correction value of the direction is used to correct the signal. The corrected data is used for interferometer direction finding, thereby obtaining the optimal direction finding performance, achieving low complexity and high precision of three-dimensional correction, and significantly improving the real-time performance and environmental adaptability of the interferometer system.

[0006] The purpose of this application is achieved through the following technical solutions:

[0007] In a first aspect, the present application proposes a three-dimensional correction method with low computational complexity, the method comprising:

[0008] The correction value corresponding to each incident angle is obtained according to the calibrated phase difference and the ideal phase difference at each angle;

[0009] The extracted actual phase difference of the incoming wave is normalized and the phase difference cost is calculated to obtain the actual phase difference cost of the incoming wave;

[0010] The calibrated phase difference is normalized and the phase difference cost is calculated to obtain the calibrated phase difference cost;

[0011] Based on the selection of the minimum cost of the calibrated phase difference and the actual phase difference of the incoming wave, the correction value corresponding to the incident angle when the cost is close is selected to correct the actual incoming wave and the interferometer direction measurement is used to obtain the final estimation of the direction of the incident signal.

[0012] In a possible implementation, the step of obtaining the correction value corresponding to each incident angle according to the calibrated phase difference and the ideal phase difference includes:

[0013] Calculate the calibrated phase difference of each array element relative to the first array element under darkroom radiation conditions;

[0014] Calculate the ideal phase difference of each array element relative to the first array element according to the array element spacing and each incident angle;

[0015] The calibration phase difference is subtracted from the ideal phase difference to obtain the correction value corresponding to each incident angle.

[0016] In a possible implementation, the steps of normalizing the extracted actual phase difference of the incoming wave and calculating the phase difference cost include:

[0017] Normalizing the extracted actual phase difference of the incoming wave to obtain a normalized actual phase difference of the incoming wave;

[0018] The cost function is used to calculate the phase difference cost of the normalized actual phase difference of the incoming wave to obtain the actual phase difference cost of the incoming wave.

[0019] In a possible implementation, the steps of normalizing the calibrated phase difference and calculating the phase difference cost include:

[0020] Normalizing the calibration phase difference to obtain a normalized calibration phase difference;

[0021] The cost function is used to calculate the phase difference cost for the normalized calibrated phase difference.

[0022] In a possible implementation manner, the phase difference cost calculation includes square sum cost calculation, absolute value sum cost calculation, exponential sum cost calculation, and multiple power sum cost calculation.

[0023] In a possible implementation, based on the principle that the calibration phase difference cost is close to the actual phase difference cost of the incoming wave, the steps of selecting the correction value corresponding to the incident angle at this time to correct the actual incoming wave and obtaining the direction estimation of the incident signal by interferometer direction finding include:

[0024] Sorting the calibrated phase difference costs to obtain sorted calibrated phase difference costs;

[0025] Based on the sorted calibrated phase difference cost, the actual phase difference cost of the incoming wave is binary searched in the table to obtain the incident angle corresponding to the best angle;

[0026] The correction value corresponding to the incident angle is selected to correct the actual incoming wave and the interferometer direction measurement is used to obtain the estimated direction of the incident signal.

[0027] In a second aspect, the present application proposes a three-dimensional correction device with low computational complexity, the device comprising:

[0028] A correction value generation module is used to obtain the correction value corresponding to each incident angle according to the calibrated phase difference and the ideal phase difference at each angle;

[0029] A phase difference cost calculation module is used to normalize the extracted actual phase difference of the incoming wave and calculate the phase difference cost to obtain the actual phase difference cost of the incoming wave;

[0030] The phase difference cost calculation module is also used to normalize the calibrated phase difference at each angle and calculate the phase difference cost to obtain the calibrated phase difference cost;

[0031] The direction finding module is used to select the correction value corresponding to the incident angle at this time to correct the actual incoming wave based on the principle that the calibrated phase difference cost and the actual phase difference cost of the incoming wave are close to each other, and to obtain the estimated direction of the incident signal through interferometer direction finding.

[0032] In a possible implementation manner, the correction value generating module is specifically used to:

[0033] Calculate the calibrated phase difference of each array element relative to the first array element under darkroom radiation conditions;

[0034] Calculate the ideal phase difference of each array element relative to the first array element according to the array element spacing and the incident angle;

[0035] The correction value corresponding to the incident angle is obtained by subtracting the ideal phase difference from the calibrated phase difference.

[0036] In a possible implementation manner, the phase difference cost calculation module is used to:

[0037] Normalizing the extracted actual phase difference of the incoming wave to obtain a normalized actual phase difference of the incoming wave;

[0038] The cost function is used to calculate the phase difference cost of the normalized actual phase difference of the incoming wave to obtain the actual phase difference cost of the incoming wave.

[0039] In a possible implementation manner, the phase difference cost calculation module is used to:

[0040] Normalizing the calibration phase difference to obtain a normalized calibration phase difference;

[0041] The cost function is used to calculate the phase difference cost of the normalized calibrated phase difference at each angle to obtain the calibrated phase difference cost.

[0042] The above-mentioned main scheme of the present application and its further options can be freely combined to form multiple schemes, all of which are schemes that can be adopted and claimed for protection in the present application; and in the present application, (non-conflicting options) options and other options can also be freely combined. After understanding the scheme of the present application, those skilled in the art can understand that there are multiple combinations based on the prior art and common knowledge, all of which are technical schemes to be protected by the present application, and they are not exhaustively listed here.

[0043] The present application discloses a three-dimensional correction method and device with low computational complexity. First, the correction value corresponding to each incident angle is obtained according to the calibrated phase difference and ideal phase difference of each angle. Secondly, the actual phase difference of the extracted incoming wave is normalized and the phase difference cost is calculated to obtain the actual phase difference cost of the incoming wave. Then, the calibrated phase difference of each angle is normalized and the phase difference cost is calculated to obtain the calibrated phase difference cost. Finally, based on the principle that the calibrated phase difference cost is closest to the actual phase difference cost of the incoming wave, the correction value corresponding to the incident angle at this time is selected to correct the actual incoming wave and the interferometer direction is obtained to estimate the direction of the incident signal. By combining offline preprocessing with online fast matching, the best correction direction can be quickly locked, and then the correction value of the direction is used to correct the signal, and the corrected data is used for interferometer direction finding, so as to obtain the optimal direction finding performance, realize the low complexity and high precision of three-dimensional correction, and improve the real-time performance and environmental adaptability of the interferometer system. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] 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.

[0045] Figure 1 A schematic flow chart of a three-dimensional correction method with low computational complexity proposed in an embodiment of the present application is shown.

[0046] Figure 2 The figure shows the direction finding diagram of the n-element interferometer system proposed in the embodiment of the present application. DETAILED DESCRIPTION

[0047] The following describes the embodiments of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0048] Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making any creative work shall fall within the scope of protection of this application.

[0049] In the prior art, the traditional interferometer correction method often uses the normal direction phase value to correct each frequency; the corrected phase difference is used for interferometer direction finding, which is called one-dimensional frequency correction. A high-precision external correction method that can be used for the interferometer system is to investigate each horizontal direction, select the optimal direction as the correction direction, and correct and find the direction of the incoming wave. Since the horizontal direction is introduced as a variable into the correction process, it is considered to be a two-dimensional correction, also known as an omnidirectional external correction algorithm. Extending the two-dimensional correction to the pitch direction is called three-dimensional correction. Taking into account the influence of different pitch directions on the phase value is more in line with the actual situation than simply correcting the horizontal direction, and can ensure a higher direction finding accuracy. However, it also brings about a sharp increase in the amount of data and calculation in the phase matching link. Taking the pitch range of +-30° and 1 degree interval as an example, the amount of calculation is 60 times that of the two-dimensional correction, which greatly affects the real-time performance of the calculation and is in urgent need of improvement and improvement.

[0050] Therefore, in order to solve the problem of low-complexity and high-precision external correction of the interferometer system, the embodiment of the present application proposes a low-computational complexity three-dimensional correction method and device. Through the combination of offline preprocessing and online fast matching, the best correction direction can be quickly locked, and then the correction value of the direction is used to correct the signal. The corrected data is used for interferometer direction finding, thereby obtaining the optimal direction finding performance, achieving low complexity and high precision of three-dimensional correction, and improving the real-time performance and environmental adaptability of the interferometer system, which is described in detail below.

[0051] Please refer to Figure 1 , Figure 1 A schematic flow chart of a low computational complexity three-dimensional correction method proposed in an embodiment of the present application is shown, and the method is applied to an n-element interferometer system. Figure 2 The direction finding diagram of the n-element interferometer system proposed in the embodiment of the present application is shown. It is assumed that the intervals between two adjacent baselines in the n-element interferometer system are L1, L2, L3...L(n-1) in sequence, and the phase difference between each array element and the first array element is

[0052] The present invention provides a three-dimensional correction method with low computational complexity, comprising the following steps:

[0053] Step S1, obtaining a correction value corresponding to the incident angle according to the calibrated phase difference and the ideal phase difference.

[0054] By subtracting the theoretically calculated ideal phase difference from the measured actual calibrated phase difference, the correction value corresponding to the incident angle caused by antenna inconsistency can be obtained.

[0055] The steps of step S1 include:

[0056] Calculate the calibrated phase difference of each array element relative to the first array element under darkroom radiation conditions;

[0057] Calculate the ideal phase difference of each array element relative to the first array element according to the array element spacing and the incident angle;

[0058] The correction value corresponding to the incident angle is obtained by subtracting the ideal phase difference from the calibrated phase difference.

[0059] In a controlled environment (such as a darkroom), ensure that there is no external interference signal, transmit an electromagnetic wave with known characteristics, and receive the signal. For each incoming wave direction with a horizontal azimuth of i and an elevation angle of j, record or measure the actual phase difference of all array elements relative to the first array element, θ(i,j)={θ(i,j)1,θ(i,j)2,…θ(i,j)(n-1)}, which needs to cover all horizontal and elevation angle ranges of interest, usually at intervals of 5°, depending on the phase stability and accuracy requirements, and can obtain the actual phase difference between each array element under each possible incoming wave direction (defined by the horizontal azimuth (i) and the elevation angle (j)).

[0060] Given the geometry of the interferometer system (the distance between the array elements) and the direction of the incoming wave (horizontal azimuth angle i and pitch angle j), use the formula in electromagnetic wave propagation theory. For multi-dimensional situations, it is also necessary to consider the components in different dimensions and calculate the ideal phase difference of each array element relative to the first array element. Based on the physical theoretical model, the phase relationship between the array elements in the same incoming wave direction is predicted under ideal conditions (assuming that the antennas are completely consistent and without any errors).

[0061] For each incoming wave direction (i, j), the actual phase difference measured previously is subtracted from the ideal phase difference calculated theoretically to obtain the inherent deviation Δ(i, j) caused by antenna inconsistency. These deviation values ​​are the required correction values, which are used to correct the actually received data to eliminate the influence of antenna inconsistency on the direction finding results.

[0062] The sub-steps of step S1 can be completed in advance on a personal computer to generate a database containing all possible incoming wave directions and their corresponding correction values. This preprocessing process does not consume embedded software and hardware resources and only needs to be performed once during initial setup or system update. In real-time operation, it is only necessary to search for the correction value close to the current incoming wave direction from this database, thereby achieving fast and efficient correction.

[0063] Step S2: normalize the extracted actual phase difference of the incoming wave and calculate the phase difference cost to obtain the actual phase difference cost of the incoming wave.

[0064] The extracted actual phase difference of the incoming wave is normalized so that each phase has the same weight, and the normalized phase difference is obtained; then the normalized phase difference is calculated using a selected cost function (such as the sum of squares), and finally the quantized actual phase difference cost of the incoming wave is obtained, ensuring fairness and accuracy in evaluating the phase difference.

[0065] The steps of step S2 include:

[0066] Normalizing the extracted actual phase difference of the incoming wave to obtain a normalized actual phase difference of the incoming wave;

[0067] The cost function is used to calculate the phase difference cost of the normalized actual phase difference of the incoming wave to obtain the actual phase difference cost of the incoming wave.

[0068] The extracted actual phase difference of the incoming wave Fact = {F1, F2, ..., F(n-1)} is normalized to obtain the normalized phase difference The purpose of normalization is to ensure that each phase difference value has the same weight in subsequent calculations. It is worth noting that all methods that make the weights of each phase in Fact_normalization the same belong to this category. Then, the normalized phase difference is calculated using the selected cost function to obtain the actual phase difference cost Cost_Input = sum(Fact_normalization.^2).

[0069] Step S3: normalize the calibrated phase difference and calculate the phase difference cost to obtain the calibrated phase difference cost.

[0070] The calibration phase difference is normalized so that each phase has the same weight, and then the normalized calibration phase difference is calculated using a selected cost function (such as the sum of squares) to finally obtain the calibration phase difference cost.

[0071] The steps of step S3 include:

[0072] Normalizing the calibration phase difference to obtain a normalized calibration phase difference;

[0073] The cost function is used to calculate the phase difference cost of the normalized calibration phase difference to obtain the calibration phase difference cost.

[0074] In order to best match the actual phase difference of the incoming wave in the calibrated phase difference and significantly reduce the amount of calculation, the calibrated phase difference needs to be normalized so that each phase has the same weight to obtain the normalized calibrated phase difference; then the normalized calibrated phase difference is calculated using the selected cost function (such as the sum of squares), and finally the calibrated phase difference cost Cost_ToBe_Compared(i, j) is obtained, which ensures fairness and accuracy in evaluating the calibrated phase difference and facilitates subsequent matching and calculation.

[0075] Phase difference cost calculation includes square sum cost calculation, absolute value sum cost calculation, exponential sum cost calculation and multiple power sum cost calculation.

[0076] Cost_Input = sum(Fact_normalization.^2) is the selected square sum cost calculation, and other cost calculation functions can also be selected, such as absolute value and cost calculation (Cost_Input = sum(|Fact_normalization|)), exponential and cost calculation (Cost_Input = sum(exp(Fact_normalization))), multiple power sum cost calculation (Cost_Input = sum(Fact_normalization).^3) and so on. All cost functions used for phase difference cost calculation are classified into this category, and this application does not limit the type of cost calculation.

[0077] Step S4: based on the principle that the calibrated phase difference cost and the actual phase difference cost of the incoming wave are close, a correction value corresponding to the incident angle is selected to correct the actual incoming wave and the interferometer direction measurement is used to obtain an estimated direction of the incident signal.

[0078] By sorting the calibrated phase difference costs and retaining the incident angle information, efficient search is ensured. Then, in the sorted table, the binary search method is used to find the value close to the actual phase difference cost of the incoming wave, and the corresponding correction value is selected to correct the actual incoming wave to compensate for the phase error. Finally, the corrected data is used for interferometer direction finding to obtain a high-precision estimate of the incident signal direction, ensuring computational efficiency and direction finding accuracy.

[0079] The steps of step S4 include:

[0080] Sorting the calibrated phase difference costs to obtain sorted calibrated phase difference costs;

[0081] Based on the sorted calibrated phase difference cost, the actual phase difference cost of the incoming wave is binary searched in the table to obtain the incident angle corresponding to the best angle;

[0082] The correction value corresponding to the incident angle is selected to correct the actual incoming wave and the interferometer direction measurement is used to obtain the estimated direction of the incident signal.

[0083] Sort all the calibrated phase difference costs Cost_ToBe_Compared(i,j) from small to large, and keep the incident angle (i,j) information corresponding to each cost during the sorting process. In the sorted calibrated phase difference cost table, use the binary search method to find the calibrated phase difference cost Cost_ToBe_Compared(i,j) that is close to the actual phase difference cost Cost_Input of the incoming wave. Since the table is ordered, the time complexity of the binary search is log(N), where N is the total number of incident angle (i,j) pairs. Table 1 shows the interferometer optimal correction direction lookup table:

[0084] Table 1

[0085] Serial number Angle of incidence direction (i, j) Cost_ToBe_Compared(i,j) 1 (1,4) 101 2 (4,7) 201 3 (8,9) 210 4 (1,10) 250 5 (3,25) 270 …… …… …… N (5,9) 800

[0086] It is worth noting that the correction of the actual incoming wave and the interferometer direction finding need to be completed on the embedded software or hardware platform, and the calculation amount of these two steps is very small and can be almost ignored. The calculation amount of binary search is log(N), while the interferometer operation only requires one regular operation. Taking the horizontal 5° and the pitch 1° interval as an example, in the horizontal ±60° and pitch ±30° direction finding area, N is about 1440. Therefore, the calculation amount of the whole process is only 10 to 11 comparison operations. Compared with the traditional traversal search and full phase matching, the calculation amount is significantly reduced, which can fully meet the needs of practical applications.

[0087] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0088] First, the method proposed in the embodiment of the present application enables each phase difference to have the same weight, which facilitates phase comparison and improves the accuracy and consistency of phase matching.

[0089] Second, a phase difference cost matching algorithm is used to transform the complex full phase matching into a simple lookup table operation, which greatly reduces the amount of calculation and significantly improves the running speed.

[0090] Third, the binary search method is used to efficiently search and match the phase difference cost, further reducing the amount of calculation. For example, in the horizontal ±60° and pitch ±30° direction finding area, when N is about 1440, the amount of calculation is only 10 to 11 comparison operations, which is significantly reduced compared with the traditional traversal search.

[0091] Fourth, the phase value of the best matching incident angle is used as the correction value, which eliminates the influence of antenna array element inconsistency on direction finding and ensures high-precision direction finding results.

[0092] Fifth, the traditional one-dimensional correction technology is expanded to three-dimensional correction (horizontal, pitch, frequency), which maximizes the accuracy of direction finding and improves the overall performance of the system.

[0093] In summary, this invention solves the problem of huge data calculation amount in three-dimensional correction through innovative means such as phase difference normalization, phase difference cost matching, binary search matching, etc., and realizes low computational complexity and high-precision direction finding.

[0094] A possible implementation of a low computational complexity three-dimensional correction device is provided below, which is used to execute the various execution steps and corresponding technical effects of the low computational complexity three-dimensional correction method shown in the above embodiment and possible implementation. The device includes:

[0095] A correction value generating module, used for obtaining a correction value corresponding to the incident angle according to the calibrated phase difference and the ideal phase difference;

[0096] A phase difference cost calculation module is used to normalize the extracted actual phase difference of the incoming wave and calculate the phase difference cost to obtain the actual phase difference cost of the incoming wave;

[0097] The phase difference cost calculation module is also used to normalize the calibrated phase difference and calculate the phase difference cost to obtain the calibrated phase difference cost;

[0098] The direction finding module is used to select the correction value corresponding to the incident angle to correct the actual incoming wave based on the calibrated phase difference cost and the actual phase difference cost of the incoming wave, and to obtain the estimated direction of the incident signal by interferometer direction finding.

[0099] In a possible embodiment, the correction value generating module is specifically used to:

[0100] Calculate the calibrated phase difference of each array element relative to the first array element under darkroom radiation conditions;

[0101] Calculate the ideal phase difference of each array element relative to the first array element according to the array element spacing and the incident angle;

[0102] The correction value corresponding to the incident angle is obtained by subtracting the ideal phase difference from the calibrated phase difference.

[0103] In a possible embodiment, the phase difference cost calculation module is used to:

[0104] Normalizing the extracted actual phase difference of the incoming wave to obtain a normalized actual phase difference of the incoming wave;

[0105] The cost function is used to calculate the phase difference cost of the normalized actual phase difference of the incoming wave to obtain the actual phase difference cost of the incoming wave.

[0106] In a possible embodiment, the phase difference cost calculation module is used to:

[0107] Normalizing the calibration phase difference to obtain a normalized calibration phase difference;

[0108] The cost function is used to calculate the phase difference cost of the normalized calibration phase difference to obtain the calibration phase difference cost.

[0109] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A three-dimensional correction method with low computational complexity, characterized in that: The method comprises: According to the calibrated phase difference and the ideal phase difference at each angle, the correction value corresponding to the incident angle at each angle is obtained; The extracted actual phase difference of the incoming wave is normalized and the phase difference cost is calculated to obtain the actual phase difference cost of the incoming wave; The calibrated phase difference is normalized and the phase difference cost is calculated to obtain the calibrated phase difference cost of each angle; Based on the principle that the calibrated phase difference cost is close to the actual phase difference cost of the incoming wave, the correction value corresponding to the incident angle at this time is selected to correct the actual incoming wave and the interferometer direction measurement is used to obtain the estimated direction of the incident signal.

2. The low computational complexity three-dimensional correction method according to claim 1, characterized in that: The step of obtaining a correction value corresponding to the incident angle according to the calibrated phase difference and the ideal phase difference comprises: Calculate the calibrated phase difference of each array element relative to the first array element at each incoming wave angle under darkroom radiation conditions; Calculate the ideal phase difference of each array element relative to the first array element according to the array element spacing and the incident angle; The correction value corresponding to the incident angle is obtained by subtracting the ideal phase difference from the calibrated phase difference.

3. The low computational complexity three-dimensional correction method according to claim 1, characterized in that: The steps of normalizing the extracted actual phase difference of the incoming wave and calculating the phase difference cost to obtain the actual phase difference cost of the incoming wave include: Normalizing the extracted actual phase difference of the incoming wave to obtain a normalized actual phase difference of the incoming wave; The cost function is used to calculate the phase difference cost of the normalized actual phase difference of the incoming wave to obtain the actual phase difference cost of the incoming wave.

4. The low computational complexity three-dimensional correction method according to claim 3, characterized in that: The steps of normalizing the calibrated phase difference and calculating the phase difference cost to obtain the calibrated phase difference cost include: Normalizing the calibrated phase difference at each angle to obtain a normalized calibrated phase difference; The cost function is used to calculate the phase difference cost of each angle calibration phase difference after normalization to obtain the phase difference cost of each angle calibration.

5. The low computational complexity three-dimensional correction method according to claim 4, characterized in that: Phase difference cost calculation includes square sum cost calculation, absolute value sum cost calculation, exponential sum cost calculation and multiple power sum cost calculation.

6. The low computational complexity three-dimensional correction method according to claim 1, characterized in that: Based on the closeness of the phase difference cost calibrated at each angle and the actual phase difference cost of the incoming wave, the steps of selecting the correction value corresponding to the incident angle at this time to correct the actual incoming wave and obtaining the direction estimation of the incident signal by interferometer direction finding include: Sorting the calibrated phase difference costs to obtain sorted calibrated phase difference costs; Based on the phase difference cost of each sorted angle, the actual phase difference cost of the incoming wave is binary searched in the table to obtain the incident angle corresponding to the best angle; The correction value corresponding to the incident angle is selected to correct the actual incoming wave and the interferometer direction measurement is used to obtain the estimated direction of the incident signal.

7. A three-dimensional correction device with low computational complexity, characterized in that: The device comprises: A correction value generating module, used for obtaining a correction value corresponding to the incident angle according to the calibrated phase difference and the ideal phase difference; A phase difference cost calculation module is used to normalize the extracted actual phase difference of the incoming wave and calculate the phase difference cost to obtain the actual phase difference cost of the incoming wave; The phase difference cost calculation module is also used to normalize the calibrated phase difference and calculate the phase difference cost to obtain the calibrated phase difference cost; The direction finding module is used to select the correction value corresponding to the incident angle to correct the actual incoming wave based on the calibrated phase difference cost and the actual phase difference cost of the incoming wave, and to obtain the estimated direction of the incident signal by interferometer direction finding.

8. The low computational complexity three-dimensional correction device according to claim 7, characterized in that: The correction value generation module is specifically used for: Calculate the calibrated phase difference of each array element relative to the first array element when the incoming wave is incident at various angles under darkroom radiation conditions; Calculate the ideal phase difference of each array element relative to the first array element according to the array element spacing and the incident angle; The correction value corresponding to the incident angle is obtained by subtracting the ideal phase difference from the calibrated phase difference.

9. The low computational complexity three-dimensional correction device according to claim 7, characterized in that: Phase difference cost calculation module, used for: Normalizing the extracted actual phase difference of the incoming wave to obtain a normalized actual phase difference of the incoming wave; The cost function is used to calculate the phase difference cost of the normalized actual phase difference of the incoming wave to obtain the actual phase difference cost of the incoming wave.

10. The low computational complexity three-dimensional correction device according to claim 9, characterized in that: Phase difference cost calculation module, used for: Normalizing the calibration phase difference to obtain a normalized calibration phase difference; The cost function is used to calculate the phase difference cost of the normalized calibrated phase difference at each angle to obtain the calibrated phase difference cost at each angle of incidence.

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