Spherical conformal array antenna fast beam forming method based on multi-surface splicing

Abstract

The invention discloses a spherical conformal array antenna fast beam forming method based on multi-surface splicing, which comprises the following steps: designing a circularly polarized antenna unit according to an actual demand, and extracting radiation information of the circularly polarized antenna unit; determining a specific form of a multi-surface spliced spherical conformal array according to an actual demand, and calculating array element position information; according to the center position of each plane of the spherical array, array element radiation information used by each plane of the multi-plane spliced spherical conformal array is calculated; determining different working array elements according to different beam directions; 5, calculating the compensation phase of the working array element according to different wave beam directions and the polarization condition of the array element; and performing beam forming according to the required scanning angle. According to the method, the problem that the beam pointing directions of array elements of the spherical conformal array are inconsistent is solved by utilizing a rotation matrix, and the problem that the polarization directions of the array elements of the spherical conformal array are inconsistent is solved by utilizing phase compensation. The method is of great significance to large-angle scanning and rapid beam forming of the spherical array.

Description

Technical Field

[0001] The present invention relates to the field of conformal antenna beamforming, and particularly to a fast beamforming method for a spherical conformal array antenna based on multi-faceted splicing. Background Art

[0002] With the rapid development of communication and radar technologies, the demand for high-performance antenna systems is increasing day by day. As a new type of antenna array, the spherical conformal array has a unique three-dimensional structure that can effectively adapt to the shapes of various platforms, such as airplanes, unmanned aerial vehicles, satellites, etc. This design not only improves the space utilization rate of the antenna but also enhances its radiation performance in complex environments. The spherical conformal array has many advantages compared with the planar array, however, its analysis and synthesis are much more complex than that of the planar array.

[0003] Generally, the beamforming of an array antenna is to obtain the required array pattern by calculating the excitation amplitude and excitation phase of each array element. Beamforming in linear arrays and planar arrays is relatively mature. It is often assumed that the polarization, pattern, impedance matching, and other characteristics of each element in the array are consistent. Based on the classical array factor theory, methods such as Taylor or Chebyshev distributions are often used to obtain low sidelobe characteristics, but this method cannot be directly applied to conformal arrays.

[0004] A conformal array antenna is affected by factors such as the shape of the carrier and mutual coupling, making it difficult to ensure that all array elements have the same pattern shape and maximum beam pointing direction in the observation direction. For example, the polarization directions of the elements in its spherical conformal are not completely consistent. When the element antenna is a linear polarization element, polarization cancellation is likely to occur; when the element antenna is a circular polarization element, the axial ratio deteriorates, the bandwidth becomes narrower, and higher cross-polarization is generated. Therefore, a solution to the problem of non-coplanar polarization needs to be studied for conformal arrays. In addition, in a conformal array, the beam pointing directions of each element are different, and it is difficult to separate the array factor and element factor in the expression, making the synthesis of the pattern particularly difficult. At present, the research on beamforming of conformal arrays is mainly based on structures such as cylindrical arrays and conical arrays. The main beamforming methods include: alternating projection algorithm, adaptive array synthesis method, least squares method, optimization algorithm, and convex optimization theory. Although these algorithms have solved the problem of beamforming of conformal arrays to a certain extent, there are still problems such as slow calculation speed. Therefore, there is an urgent need for a novel and efficient fast beamforming method for spherical conformal arrays to fully exert its potential in applications such as multi-target tracking, signal processing, and interference suppression, and to improve the beam control ability of the antenna array, so as to meet the anti-interference requirements of future high-performance communication and radar systems. Summary of the Invention

[0005] The object of the present invention is to provide a fast beamforming method for a spherical conformal array antenna based on multi-faceted splicing.

[0006] The technical solution for achieving the object of the present invention is as follows: A fast beamforming method for a spherical conformal array antenna based on multi-faceted splicing, and the steps are as follows:

[0007] The first step: Design a circularly polarized antenna element and extract radiation information;

[0008] The second step: Determine the specific form of the multi-faceted spliced spherical conformal array and calculate the position information of the array elements;

[0009] The third step: According to the central position of each surface of the spherical array, calculate the radiation information of the array elements used for each surface of the multi-faceted spliced spherical conformal array; The beam directions of the array elements on each plane of the multi-faceted spliced spherical conformal array are the same, and the polarization directions are the same. Each plane uses the radiation pattern information of the same array element; When calculating the far-field pattern, transform the electric field pattern vectors of the array elements on each surface in their respective local spherical coordinate systems to a unified global spherical coordinate system;

[0010] The fourth step: Determine different working array elements according to different beam directions;

[0011] The fifth step: Calculate the compensation phase of the working array elements according to different beam directions and the polarization conditions of the array elements;

[0012] The sixth step: Perform beam synthesis according to the required scan angle.

[0013] A computer device includes a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, the steps of the above method are implemented.

[0014] A computer-readable storage medium stores a computer program, and when the program is executed by a processor, the steps of the above method are implemented.

[0015] A computer program product includes a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0016] Compared with the prior art, the present invention has the following remarkable advantages: (1) By adopting the form of a multi-faceted spliced spherical conformal array, it can achieve 360° beam scanning in the azimuth plane and 90° beam scanning in the elevation plane while ensuring that the gain change is not so large; (2) The antenna locally shows the form of a plane and globally shows the form of a sphere, reducing the complexity of the spherical array structure design and assembly; (3) The beam directions and polarization directions of the array elements on each sub-array are consistent. Instead of rotating the array element pattern each time, the same array element pattern is used on each sub-array, greatly accelerating the beam synthesis speed of the multi-faceted spliced spherical conformal array. Description of the Drawings

[0017] Figure 1It is a schematic diagram of the circularly polarized antenna element adopted by the present invention.

[0018] Figure 2 It is the radiation information of the circularly polarized antenna element extracted by the present invention, the (a) real part and (b) imaginary part of the θ field pattern; The (c) real part and (d) imaginary part of the field pattern.

[0019] Figure 3 It is the specific form of the multi-faceted spliced spherical conformal array adopted by the present invention, as well as the element positions.

[0020] Figure 4 It is a schematic diagram of the excited elements when the beam direction of the multi-faceted spliced spherical conformal array adopted by the present invention is (0°, 0°).

[0021] Figure 5 It is the result comparison between the unified element pattern for each sub-array and the result of each element being individually rotated to the element direction when the beam direction of the multi-faceted spliced spherical conformal array adopted by the present invention is (0°, 0°).

[0022] Figure 6 It is the beam results at various angles in the two planes of phi = 0° and phi = 90° of the multi-faceted spliced spherical conformal array adopted by the present invention, achieving half-airspace beam scanning. Specific implementation manner

[0023] The present invention proposes a fast beamforming method for a spherical conformal array antenna based on multi-faceted splicing. The rotation matrix is used to solve the problem of inconsistent beam directions of the elements in the spherical conformal array, and phase compensation is used to solve the problem of inconsistent polarization directions of the elements in the spherical conformal array. Due to the occlusion problem, for a specified beam direction, not all elements participate in the work, but some work and some do not. This is mainly determined by the element positions and the beam direction. In the spherical conformal array, the beam direction and polarization direction of each element are inconsistent, but in the multi-faceted spliced spherical conformal array designed by the present invention, although it is inconsistent as a whole, the beam direction and polarization direction of the elements in each plane are consistent. When beamforming, the elements in the same plane can share a single pattern, which greatly saves the time used for beamforming. The multi-faceted spliced spherical conformal array has a local planar structure and an overall spherical form. While retaining the advantages of the spherical array, the planar phased array antenna technology is used to reduce the complexity of the spherical array structure design and assembly. This method is of great significance for large-angle scanning and fast beamforming of spherical arrays.

[0024] A fast beamforming method for a spherical conformal array antenna based on multi-faceted splicing, the specific steps are as follows:

[0025] First step: Design a circularly polarized antenna element according to actual requirements, and extract its radiation information;

[0026] Step 2: Determine the specific form of the spherical conformal array with multi - plane splicing and the positions of array elements according to actual requirements. The overall antenna consists of 6 pentagons, 10 hexagons and 5 trapezoids, with a total of 447 array elements.

[0027] Step 3: Calculate the array element information used for each plane of the spherical conformal array with multi - plane splicing according to the central position of each plane of the spherical array.

[0028] For the spherical conformal array with multi - plane splicing, since the beam pointing and polarization direction of the array elements on each plane are the same, the array elements on each plane can share the same direction pattern of an array element and do not need to be rotated for each array element, which greatly saves the calculation time. When calculating the far - field direction pattern, it is necessary to transform the direction pattern vectors of the array elements on each plane in their local spherical coordinate systems to a unified global spherical coordinate system. The specific process is as follows:

[0029]

[0030] Among them, and respectively represent the components of the electric - field direction pattern of the nth antenna element in the directions of the unit vectors and in the local spherical coordinate system; and represent the components in the directions of the unit vectors and in the local rectangular coordinate system; and represent the components in the directions of the unit vectors and in the global rectangular coordinate system; and represent the components under the unit vectors and in the global spherical coordinate system.

[0031] Step 4: Determine different working array elements according to different beam pointings.

[0032] For a specified beam pointing, not all array elements participate in the work, but some work and some do not. This is mainly determined by the beam pointing and the positions of the array elements. Let the beam - pointing direction be , the position vector of the ith array element be be the unit vector of the beam - pointing direction, θ i be the elevation angle of the ith array element in the global rectangular coordinate system, be the azimuth angle of the ith array element in the global rectangular coordinate system; δ is a switching function. If the antenna participates in the work, otherwise the antenna will not work. θ max is the angle that allows the array element to work.

[0033]

[0034] According to the above rules, those units that satisfy are the effective excitation units, and the region composed of the effective excitation units is the effective excitation region; δ is a switching function, and the array elements that meet the conditions will participate in the work, otherwise they will not;

[0035]

[0036] Step 5: Calculate the compensation phase of the working array elements according to different beam directions and the polarization conditions of the array elements;

[0037] Step 6: Perform beam synthesis. Vector superposition is carried out to obtain the far-field pattern of the entire array as:

[0038]

[0039] and represent the components in the directions of the unit vectors and in the global spherical coordinate system, ω i represents the complex excitation of the i-th array element, j 2 = -1, k represents the beam, represents the unit vector of the beam direction, r i represents the position vector of the array element.

[0040] The present invention will be described in detail below with reference to the accompanying drawings and embodiments.

[0041] Embodiment

[0042] A fast beamforming method for a spherical conformal array antenna based on multi-faceted splicing includes the following steps:

[0043] Step 1: Design a circularly polarized antenna element according to actual requirements, as Figure 1 shown. Its operating frequency is 2.45 GHz, and its radiation information is extracted, as Figure 2 shown;

[0044] Step 2: Determine the specific form of the multi-faceted spliced spherical conformal array and the positions of the array elements according to actual requirements, as Figure 3 shown. The overall antenna is composed of 6 pentagons, 10 hexagons and 5 trapezoids, and a total of 447 array elements are included;

[0045] Step 3: Calculate the array element information used for each face of the multi-faceted spliced spherical conformal array according to the central position of each face of the spherical array;

[0046] Element direction Figure 1Generally defined in the spherical coordinate system. Assume that the radiation pattern of element i in its local spherical coordinate system is where and are the elevation angle and azimuth angle of element i in the local coordinate system, respectively. To calculate the far-field radiation pattern, the electric field radiation pattern vectors of each element in its local spherical coordinate system need to be uniformly transformed to the global spherical coordinate system XYZ. This requires the following three steps:

[0047] Step 1: Convert the components of the element radiation pattern vector in the local spherical coordinate system to the components in the local rectangular coordinate system. The polarization component expressions of the vector field of element i are:

[0048]

[0049] where are the polarization components of the vector field of element i in the three directions of the local rectangular coordinate system ; and are the polarization components of the vector field of element i in and directions, respectively.

[0050] Step 2: Convert the components of the element radiation pattern vector in the local rectangular coordinate system to the components in the global rectangular coordinate system.

[0051] (X, Y, Z) represents the global rectangular coordinate system, represents the local rectangular coordinate system of the i-th element. Using the Euler rotation transformation matrix method, the global rectangular coordinate system (X, Y, Z) can be transformed into the local rectangular coordinate system The specific transformation process is three rotations. The first rotation is performed in the global coordinate system XYZ with the Z-axis as the rotation axis, rotating counterclockwise by an angle A, and the Euler rotation matrix is represented by E(Z, A); the second rotation is performed in the new coordinate system X′Y′Z′ with the Y′-axis as the rotation axis, rotating counterclockwise by an angle B, and the Euler rotation matrix is represented by E(Y', B); the third rotation is performed in the newly generated coordinate system X″Y″Z″ with the X″-axis as the rotation axis, rotating counterclockwise by an angle C, and the Euler rotation matrix is represented by E(X”, C). Among them, E(Z, A), E(Y', B), and E(X”, C) are respectively:

[0052]

[0053] The final rotation transformation matrix is represented as:

[0054] R(A, B, C) = E(X”, C)E(Y', B)E(Z, A) (5)

[0055] Converting the local coordinate system to the global coordinate system is the inverse process of the above process. Since each element of the spherical array with multi - face splicing has the same normal direction and the same polarization direction, and the rotation matrix used for each sub - array is the same, the expression of the pattern vector of each sub - array element in the global rectangular coordinate system is as follows:

[0056]

[0057] Step 3: Convert the components of the pattern in the global rectangular coordinate system to the components in the global spherical coordinate system, that is:

[0058]

[0059] Fourth step: Determine different working elements according to different beam pointing directions;

[0060] For a spherical conformal array with multi - face splicing, if the angle between the beam scanning direction and the position of a certain element exceeds a certain angle, the contribution of this element to the main beam will decrease or even have side effects, resulting in an increase in the sidelobe. Therefore, the elements with the angle between the beam scanning direction of the spherical array and the normal direction of each element less than or equal to θ active are excited, and vice versa. All the elements in the excited state form the effective excitation region of the spherical array. This effective excitation region will switch on the spherical array as the beam scanning direction changes. Let θ active be the maximum local scanning angle, and the value of θ active changes according to the gain requirement. The elements less than or equal to this scanning angle are excited, and the elements greater than this scanning angle are not excited. Let the beam scanning direction vector be and the position vector of the i - th element be where θ i is the elevation angle of the i - th element in the global rectangular coordinate system, and

[0061]

[0062]

[0063] According to the above rules, the elements that satisfy are the effective excitation elements, and the region composed of the effective excitation elements is the effective excitation region. δ is a switching function, and the elements that meet the conditions will participate in the work, otherwise they will not. Figure 4 The excited elements are marked when the beam pointing is (0°, 0°).

[0064]

[0065] Step 5: Calculate the compensation phase of the working array elements according to different beam directions and the polarization conditions of the array elements:

[0066] For the conformal spherical array with multi - surface splicing, although the polarization directions of the array elements on each sub - array are the same, the polarization directions of the array elements on each sub - array are different. The main beam cannot be formed at some angles. Assume that the center of the sub - array is P, denoted as P(x n , y n , z n ). Establish a local rectangular coordinate system passing through point P, and the corresponding coordinate axes are parallel to the coordinate axes of the global rectangular coordinate system of the spherical array. Its azimuth angle is the pitch angle is θ n .

[0067] Suppose the beam direction is direction, represents the unit vector of the beam direction. The two linear polarization vectors of the array elements of this sub - array in the global coordinate system xyz are and Denoted by as:

[0068]

[0069] Establish a beam - direction coordinate system x1y1z1 such that the y1 - axis coincides with . The transformation relationship between the coordinates (x' n , y' n , z' n ) of the center of this sub - array in the beam - direction coordinate system x1y1z1 and the coordinates (x n , y n , z n ) of the center of this sub - array in the global coordinate system xyz can be expressed as:

[0070]

[0071] where M is the Euler rotation transformation matrix:

[0072]

[0073] Calculate the pitch angle θ n ' and the azimuth angle of the center of the sub - array in the beam - direction coordinate system x1y1z1. and of the global coordinate system xyz are expressed as and

[0074]

[0075] In the formula is transpose. The two linear polarization vectors of the nth sub-array in the beam-pointing coordinate system x1y1z1 should be and

[0076]

[0077] After the feeding of the nth element is compensated for phase, it is equivalent to the rotation of the element. In the beam-pointing coordinate system x1y1z1, the two linear polarization unit direction vectors and rotate counterclockwise by τ n angle and and coincide. The solution of τ n is as follows:

[0078]

[0079] In the formula is and angle between, is and angle between. When the antenna element radiates a right-handed circularly polarized wave, the phase compensation angle of each element is τ n ; when the antenna element radiates a left-handed circularly polarized wave, the phase compensation angle of each element is -τ n .

[0080] Step 6: Perform beam synthesis:

[0081] The pattern of element i in the local coordinate system is uniformly transformed into the pattern in the global coordinate system Perform vector superposition to obtain the far-field pattern of the entire array as:

[0082]

[0083] and represent the components in the directions of the unit vectors and in the global spherical coordinate system, ω i represents the complex excitation of the ith element, j 2 =-1, k represents the beam, represents the unit vector of the beam pointing direction, r i represents the position vector of the element.

[0084] The main polarization component E of the far-field pattern of the circularly polarized antenna arrayco and the cross-polarization component E cr are respectively expressed as:

[0085]

[0086] wherein, E θ and respectively represent and vectors in the directions of.

[0087] Figure 5 is the comparison of the results of the element pattern adopted by each sub-array being unified and each element being individually rotated to the element direction when the beam direction of the multi-faceted spliced spherical conformal array adopted in the present invention is (0°, 0°). It can be seen that they are completely coincident from two to. Table 1 gives the time taken for beamforming of the element pattern obtained by individually rotating each element and the beamforming of the unified element pattern adopted by each sub-array at different scanning angles. It can be seen that the beamforming time is greatly reduced after the method is improved. Figure 6 The beam results at each angle in two planes of phi = 0° and phi = 90° are given, realizing half-space beam scanning.

[0088] Table 1 Comparison of beamforming times at different scanning angles

[0089]

[0090] The method of the present invention adopts the form of a multi-faceted spliced spherical conformal array, which can realize beam scanning of 360° in the azimuth plane and 90° in the elevation plane while ensuring that the gain change is not so large. The antenna locally appears in the form of a plane and globally appears in the form of a sphere, reducing the complexity of the spherical array structure design and assembly. The beam direction and polarization direction of the elements on each sub-array are consistent. Instead of rotating the element pattern every time, the same element pattern is adopted on each sub-array, greatly accelerating the speed of beam synthesis of the multi-faceted spliced spherical conformal array.

[0091] The above examples are only used to illustrate the basic principles and effects of the present invention, and are not intended to limit the boundaries of its actual application. On the premise of ensuring that the core concept and scope of application of the present invention are not deviated from, relevant professionals have the full right to make appropriate adjustments and innovative practices. Therefore, any equivalent modification or change under the guidance of the spirit and technical idea of the present invention belongs to the protection scope of the present invention.

Claims

1. A fast beamforming method for spherical conformal array antenna based on multi-surface splicing, characterized in that: Here are the steps: Step 1: Design the circularly polarized antenna unit and extract the radiation information; Step 2: Determine the specific form of the spherical conformal array of multi-faceted splicing and calculate the array element position information; Step 3: According to the center position of each face of the spherical array, calculate the radiation information of the array elements used on each face of the multi-faceted spherical conformal array; the beam pointing and polarization directions of the array elements on each plane of the multi-faceted spherical conformal array are the same, and each plane uses the radiation pattern information of the same array element; when calculating the far-field pattern, transform the electric field pattern vector of the array element on each face in its local spherical coordinate system to a unified global spherical coordinate system; Step 4: Determine different working array elements according to different beam directions; Step 5: Calculate the compensation phase of the working array element according to different beam pointing directions and polarization conditions of the array element; Step 6: Perform beam synthesis according to the required scanning angle.

2. The method for fast beamforming of spherical conformal array antenna based on multi-surface splicing according to claim 1, characterized in that: In the third step, assume that the direction diagram of array element i in its local spherical coordinate system is in and are the elevation angle and azimuth angle of array element i in the local coordinate system respectively; Calculating the far-field pattern requires placing each array element in its local spherical coordinate system The electric field pattern vector under The unified transformation to the global spherical coordinate system XYZ includes the following steps: Step 3-1: Convert the components of the element pattern vector in the local spherical coordinate system to the components in the local rectangular coordinate system; the vector field of element i The polarization component expression of is: In the formula, are the vector fields of array element i In the local rectangular coordinate system Polarization components in three directions; and are the vector fields of array element i exist and The polarization component in the direction; Step 3-2: Convert the component of the unit pattern vector in the local rectangular coordinate system into the component in the global rectangular coordinate system; (X,Y,Z) represents the global rectangular coordinate system, Represents the local rectangular coordinate system of the i-th array element; the global rectangular coordinate system (X, Y, Z) is transformed into the local rectangular coordinate system using the Euler rotation transformation matrix method The specific transformation process is three rotations; the first rotation is performed in the global coordinate system XYZ, with the Z axis as the rotation axis, counterclockwise rotation angle A, and the Euler rotation matrix is ​​represented by E(Z,A); the second rotation is performed in the new coordinate system X′Y′Z′, with the Y′ axis as the rotation axis, counterclockwise rotation angle B, and the Euler rotation matrix is ​​represented by E(Y',B); the third rotation is performed in the newly generated coordinate system X"Y"Z″, with the X″ axis as the rotation axis, counterclockwise rotation angle C, and the Euler rotation matrix is ​​represented by E(X”,C); where E(Z,A), E(Y',B), and E(X”,C) are respectively: The final rotation transformation matrix is ​​expressed as: R(A,B,C)=E(X”,C)E(Y’,B)E(Z,A)(5) The conversion from the local coordinate system to the global coordinate system is the inverse of the above process. Since the normals of each element of the multi-faceted spherical array are the same and the polarization direction is consistent, the rotation matrix used in each sub-array is the same. The expression of the element pattern vector of each sub-array in the global rectangular coordinate system is as follows: Step 3-3: Convert the components of the directional pattern in the global rectangular coordinate system to the components in the global spherical coordinate system, that is:

3. The method for fast beamforming of spherical conformal array antenna based on multi-surface splicing according to claim 2, characterized in that: The fourth step is to determine different working array elements according to different beam directions, specifically: The angle between the beam scanning direction of the spherical array and the normal direction of each array element is less than or equal to θ active The array elements in the excited state are excited, otherwise they are invalid. All the array elements in the excited state constitute the effective excitation area of ​​the spherical array; the effective excitation area will switch on the spherical array as the beam scanning direction changes; let θ active is the maximum local scanning angle, θ active The value of changes according to the gain requirement. The array elements with a scanning angle less than or equal to this angle are excited, and the array elements with a scanning angle greater than this angle are not excited. Suppose the beam scanning direction vector is The position vector of the i-th array element is Among them, θ i is the pitch angle of the ith array element in the global rectangular coordinate system, is the azimuth angle of the i-th array element in the global rectangular coordinate system; According to the above rules, The unit is the effective excitation unit, and the area composed of the effective excitation units is the effective excitation area; δ is the switching function, the array elements that meet the conditions will participate in the work, otherwise they will not participate in the work, θ max The angle at which the array element is allowed to work; 4. The method for fast beamforming of spherical conformal array antenna based on multi-surface splicing according to claim 3 is characterized in that: Step 5: Calculate the compensation phase of the working array element according to different beam pointing and polarization conditions of the array element, specifically: Assume the center of the sub-matrix is ​​P, denoted by P(x n ,y n ,z n ) ; A local rectangular coordinate system is established through point P, and the corresponding coordinate axes are parallel to the coordinate axes of the global rectangular coordinate system of the spherical array, and its azimuth is The pitch angle is θ n ; Set the beam direction direction, Represents the unit vector pointing to the beam. The two linear polarization vectors of the subarray element in the global coordinate system xyz are and use It is expressed as: Establish the beam pointing coordinate system x1y1z1 so that the y1 axis is aligned with coincides, the beam points to the center coordinate (x' n ,y' n ,z' n ) and the global coordinate system xyz. n ,y n ,z n ) is expressed as: Where M is the Euler rotation transformation matrix: Calculate the elevation angle θ of the subarray center in the beam pointing coordinate system x1y1z1 n ' and azimuth The global coordinate system xyz and In the beam pointing coordinate system x1y1z1, it is expressed as and In the formula for The two linear polarization vectors of the nth subarray in the beam pointing coordinate system x1y1z1 should be and After the phase compensation, the feeding of the nth array element is equivalent to the rotation of the array element. In the beam pointing coordinate system x1y1z1, the two linear polarization unit direction vectors and Rotate counterclockwise τ n Angle and and Coincidence, τ n The solution is as follows: In the formula for and The angle of for and When the antenna unit radiates right-hand circularly polarized waves, the phase compensation angle of each array element is τ n ; When the antenna unit radiates left-hand circularly polarized waves, the phase compensation angle of each array element is -τ n .

5. The method for fast beamforming of spherical conformal array antenna based on multi-surface splicing according to claim 4, characterized in that: The sixth step is to perform beam synthesis, which is as follows: Directional pattern of array element i in the local coordinate system Uniformly converted into a directional diagram in the global coordinate system The far-field pattern of the entire array obtained by vector superposition is: and Represents the unit vector in the global spherical coordinate system and Directional component, ω i represents the complex excitation of the ith array element, j 2 =-1, k represents beam, The unit vector that represents the beam direction, r i Represents the position vector of the array element; The main polarization component E of the far-field pattern of the circularly polarized antenna array co and the cross-polarization component E cr Respectively expressed as: Among them, E θ and Respectively and The direction vector.

6. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps of the method according to any one of claims 1 to 5 are implemented.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method described in any one of claims 1 to 5 are implemented.

8. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

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