Radar sum-difference angle measurement method and device under multi-main lobe interference

Abstract

The invention relates to the technical field of radars, in particular to a radar sum-difference angle measurement method and device under multi-main lobe interference, and the method comprises the steps: adding sum weight vectors or difference weight vectors of different directions to a radar receiving signal in a pitching direction and an azimuth direction, so as to obtain sum beam output and multi-path difference beam output; performing interference suppression processing on the sum beam output and the multi-path difference beam output to obtain a self-adaptive pitching sum beam, a self-adaptive pitching difference beam, a self-adaptive azimuth sum beam and a self-adaptive azimuth difference beam, and performing measurement according to the self-adaptive pitching sum beam and the self-adaptive pitching difference beam to obtain a target pitch angle; obtaining a target azimuth angle according to the self-adaptive azimuth sum beam and the self-adaptive azimuth difference beam measurement; according to the method, multiple paths of difference beams are constructed to increase the freedom degree of main lobe interference suppression, measurement of the azimuth angle and the pitch angle of the target is not affected while multiple main lobe interference suppression is carried out, and therefore multiple main lobe interference suppression is achieved, and high target angle measurement precision is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of radar, and particularly to a radar sum-difference angle measurement method and device under multi-main-lobe interference. Background Art

[0002] The suppression of radar main-lobe interference and the problem of target angle estimation have been one of the long-term problems plaguing the radar field. The main reason is that the main-lobe interference enters from the main lobe of the radar receiving beam, with large interference energy, strong spatial correlation between the target and the interference, weak feature distinguishability in the spatial domain, and the main-lobe shape of the beam will be affected after interference suppression, resulting in distortion or deviation, which in turn leads to loss of target signal-to-noise ratio and the inapplicability of related angle measurement techniques. Especially in the environment of multiple main-lobe interferences, the problems of radar interference suppression and target angle estimation are even more severe.

[0003] For the conventional sum-difference four-channel anti-main-lobe interference method, due to its limited degrees of freedom, in order to take into account the measurement of the target angle, there is only one degree of freedom for canceling the main-lobe interference, so it is impossible to cancel multiple main-lobe interferences.

[0004] In view of this, overcoming the defects of the existing technology is an urgent problem to be solved in this technical field. Summary of the Invention

[0005] The technical problem to be solved by the present invention is how to achieve radar angle measurement under multi-main-lobe interference.

[0006] The present invention adopts the following technical solutions:

[0007] In a first aspect, a radar sum-difference angle measurement method under multi-main-lobe interference is provided, including:

[0008] Adding sum weight vectors or difference weight vectors with different directions to the radar received signal in the elevation direction and the azimuth direction respectively to obtain a sum beam output and multiple difference beam outputs respectively;

[0009] Performing interference suppression processing on the sum beam output and the multiple difference beam outputs to obtain an adaptive elevation sum beam, an adaptive elevation difference beam, an adaptive azimuth sum beam, and an adaptive azimuth difference beam respectively;

[0010] Measuring the target elevation angle according to the adaptive elevation sum beam and the adaptive elevation difference beam, and measuring the target azimuth angle according to the adaptive azimuth sum beam and the adaptive azimuth difference beam.

[0011] Preferably, the method further includes:

[0012] Adding directions (θ b , φ b) sum weight vectors to obtain the sum beam Σ = Σ a1 Σ e1 , where Σ a1 represents the azimuth sum beam, and Σ e1 represents the elevation sum beam to obtain the sum beam output x Σ (k);

[0013] Add the difference weight vector with a pointing angle of θ b in the azimuth direction to the radar received signal, and add the sum weight vector with a pointing angle of φ b in the elevation direction to obtain the No. 1 azimuth difference beam where, Δ a1 represents the No. 1 azimuth difference beam to obtain the No. 1 azimuth difference beam output

[0014] Add the difference weight vector with a pointing angle of φ b in the elevation direction to the radar received signal, and add the sum weight vector with a pointing angle of θ b in the azimuth direction to obtain the No. 1 elevation difference beam where, Δ e1 represents the No. 1 elevation difference beam to obtain the No. 1 elevation difference beam output

[0015] Add the difference weight vector with a pointing angle of (θ b , φ b ) in both the azimuth and elevation directions to the radar received signal to obtain the No. 1 azimuth-elevation combined difference beam to obtain the No. 1 azimuth-elevation combined difference beam output

[0016] Add the difference weight vector with a pointing angle of θ b + θ b0 in the azimuth direction to the radar received signal, and add the sum weight vector with a pointing angle of φ b in the elevation direction to obtain the No. 2 azimuth difference beam where, θ b0 represents half of the beam width of the first null of the azimuth difference beam, and Δ a2 represents the No. 2 azimuth difference beam to obtain the No. 2 azimuth difference beam output

[0017] Add the difference weight vector with a pointing angle of (θ b + θ b0 , φ b ) in both the azimuth and elevation directions to the radar received signal to obtain the No. 2 azimuth-elevation combined difference beam to obtain the No. 2 azimuth-elevation combined difference beam output

[0018] Apply a differential weight vector with a pointing of φ in the elevation direction to the radar received signal b +φ b0 and apply a sum weight vector with a pointing of θ b in the azimuth direction to obtain the No. 2 elevation difference beam where φ b0 represents half of the first null beam width of the elevation difference beam, and Δ e2 represents the No. 2 elevation difference beam to obtain the output of the No. 2 elevation difference beam

[0019] Apply a differential weight vector with a pointing of (θ b , φ b +φ b0 ) in both the azimuth and elevation directions to the radar received signal to obtain the No. 3 azimuth-elevation combined difference beam to obtain the output of the No. 3 azimuth-elevation combined difference beam

[0020] Preferably, the method further includes:

[0021] Use the sum beam output x Σ as the main channel, and the output of the No. 1 azimuth difference beam and the output of the No. 2 azimuth difference beam as the auxiliary channels for interference suppression processing to obtain the adaptive elevation sum beam The output of the adaptive elevation sum beam is:

[0022]

[0023]

[0024] where E(g) represents taking the expectation; represents the gain of the No. 1 azimuth difference beam to the interference s1; represents the gain of the No. 1 azimuth difference beam to the interference s2; represents channel noise; represents the gain of the No. 2 azimuth difference beam to the interference s1; represents the gain of the No. 2 azimuth difference beam to the interference s2; represents channel noise; g s1_Σ represents the gain of the sum beam Σ to the interference s1; g s2_Σ represents the gain of the sum beam Σ to the interference s2; nΣ Indicates the Σ-channel noise.

[0025] Preferably, the method further includes:

[0026] Using the No. 1 pitch difference beam output as the main channel, the No. 1 azimuth-pitch combined difference beam output and the No. 2 azimuth-pitch combined difference beam output as the auxiliary channels for interference suppression processing to obtain the adaptive pitch difference beam The output of the adaptive pitch difference beam is:

[0027]

[0028] wherein, the weight vector corresponding to the auxiliary channel is:

[0029]

[0030]

[0031] Indicates the gain of the No. 1 azimuth-pitch combined difference beam to the interference s1; Indicates the gain of the No. 1 azimuth-pitch combined difference beam to the interference s2; Indicates channel noise; Indicates the gain of the No. 2 azimuth-pitch combined difference beam to the interference s1; Indicates the gain of the No. 2 azimuth-pitch combined difference beam to the interference s2; Indicates channel noise; Indicates the gain of the No. 1 pitch difference beam to the interference s1; Indicates the gain of the No. 1 pitch difference beam to the interference s2; Indicates channel noise.

[0032] Preferably, the method further includes:

[0033] Using the sum beam output x Σ (k) as the main channel, the No. 1 pitch difference beam output and the No. 2 pitch difference beam output as the auxiliary channels for interference suppression processing to obtain the adaptive azimuth sum beam The adaptive azimuth and beam output is as follows:

[0034]

[0035] Among them, the weight vector corresponding to the auxiliary channel is:

[0036] Indicates the gain of the No. 1 pitch difference beam to interference s1; Indicates the gain of the No. 1 pitch difference beam to interference s2; Indicates channel noise; Indicates the gain of the No. 2 pitch difference beam to interference s1; Indicates the gain of the No. 2 pitch difference beam to interference s2; Indicates channel noise; Indicates the gain of the sum beam Σ to interference s1; g s2_Σ Indicates the gain of the sum beam Σ to interference s2; n Σ Indicates the Σ channel noise.

[0037] Preferably, the method further includes:

[0038] Using the output of the No. 1 azimuth difference beam as the main channel, and the output of the No. 1 azimuth-pitch combined difference beam and the output of the No. 3 azimuth-pitch combined difference beam as the auxiliary channels to perform interference suppression processing to obtain the adaptive azimuth difference beam The output of the adaptive azimuth difference beam is as follows:

[0039]

[0040] Among them, the weight vector corresponding to the auxiliary channel is:

[0041]

[0042] Indicates the gain of the No. 1 azimuth-pitch combined difference beam to interference s1; Indicates the No. 1 azimuth-

[0043] azimuth-pitch combined difference beam to interference s1; Indicates the gain of the No. 3 azimuth-pitch combined difference beam Gain for interference s2 Indicate Channel noise Indicate the 1st azimuth difference beam For interference

[0044] Gain for interference s1 Indicate the 1st azimuth difference beam Gain for interference s2 Indicate Channel noise

[0045] Preferably, the method further includes:

[0046] Obtain the elevation adaptive monopulse ratio according to the adaptive elevation and beam and the adaptive elevation difference beam, and the elevation adaptive monopulse ratio Is equal to the adaptive elevation difference beam And the adaptive elevation and beam The ratio of, where:

[0047] Obtain the azimuth adaptive monopulse ratio according to the adaptive azimuth and beam and the adaptive azimuth difference beam, and the azimuth adaptive monopulse ratio Is equal to the adaptive azimuth difference beam And the adaptive azimuth and beam The ratio of, where:

[0048] Preferably, the radar received signal x(k) is expressed as:

[0049] x(k) = As(k) + n(k)

[0050] Where, A represents the array manifold matrix: Is the Kronecker product, k represents the time sampling sequence number; s(k) = [s0(k), s i (k)] T ; n(k) represents noise; the radar transceiver antennas share a common array surface, and the antennas are equally spaced uniform rectangular arrays, with a total of N1 rows and N2 columns; d is the element spacing in the horizontal and vertical directions; λ is the radar transmission signal wavelength; the beam pointing (θ b , φ b ), θ b Represents the azimuth pointing, φ b Represents the elevation pointing; s0(k) is the complex envelope of the target existing in the environment; (θ0, φ0) is the spatial position; s i (k) (i = 1, 2,...) represents the complex envelopes of several main lobe interferences, (θ i , φi ) is the spatial position.

[0051] In a second aspect, a radar sum-difference angle measurement device under multi-main lobe interference is provided. The radar sum-difference angle measurement device under multi-main lobe interference includes: a processor and a memory for storing processor-executable instructions;

[0052] Wherein, the processor is configured to execute the radar sum-difference angle measurement method under multi-main lobe interference as described above.

[0053] In a third aspect, a non-volatile computer storage medium is provided. The computer storage medium stores computer-executable instructions, and these computer-executable instructions are executed by one or more processors to complete the radar sum-difference angle measurement method under multi-main lobe interference described in the first aspect.

[0054] In a fourth aspect, a chip is provided, including: a processor and an interface for calling and running a computer program stored in a memory from the memory, and executing the radar sum-difference angle measurement method under multi-main lobe interference as described in the first aspect.

[0055] In a fifth aspect, a computer program product containing instructions is provided. When the instructions run on a computer or a processor, the computer or the processor is made to execute the radar sum-difference angle measurement method under multi-main lobe interference as described in any one of the first aspect to the fourth aspect.

[0056] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0057] In the present invention, by adding sum weight vectors or difference weight vectors with different directions to the radar received signals in the elevation direction and the azimuth direction respectively, a sum beam output and multiple difference beam outputs are obtained; interference suppression processing is performed on the sum beam output and the multiple difference beam outputs to obtain an adaptive elevation sum beam, an adaptive elevation difference beam, an adaptive azimuth sum beam, and an adaptive azimuth difference beam. The target elevation angle is measured according to the adaptive elevation sum beam and the adaptive elevation difference beam; the target azimuth angle is measured according to the adaptive azimuth sum beam and the adaptive azimuth difference beam. The present invention constructs multiple difference beams to increase the degree of freedom of main lobe interference suppression, and does not affect the measurement of the target azimuth angle and elevation angle while performing multiple main lobe interference suppressions, thereby realizing multiple main lobe interference suppressions and ensuring a high target angle measurement accuracy. Description of the Drawings

[0058] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0059] Figure 1a It is a schematic flow chart of a radar sum-difference angle measurement method under multi-main-lobe interference provided by an embodiment of the present invention;

[0060] Figure 1 It is a specific schematic flow chart of a radar sum-difference angle measurement method under multi-main-lobe interference provided by an embodiment of the present invention;

[0061] Figure 2 It is a schematic principle diagram of a radar sum-difference angle measurement method under multi-main-lobe interference provided by an embodiment of the present invention;

[0062] Figure 3 It is a schematic flow chart of obtaining an adaptive elevation sum beam and an adaptive elevation difference beam provided by an embodiment of the present invention;

[0063] Figure 4 It is a schematic flow chart of obtaining an adaptive azimuth sum beam and an adaptive azimuth difference beam provided by an embodiment of the present invention;

[0064] Figure 5 It is a schematic diagram of an adaptive azimuth sum beam provided by an embodiment of the present invention;

[0065] Figure 6 It is a schematic diagram of an adaptive azimuth difference beam provided by an embodiment of the present invention;

[0066] Figure 7 It is a schematic diagram of a pitch plane section of an adaptive azimuth sum beam provided by an embodiment of the present invention;

[0067] Figure 8 It is a schematic diagram of an azimuth plane section of an adaptive azimuth sum beam provided by an embodiment of the present invention;

[0068] Figure 9 It is a schematic diagram of an adaptive elevation sum beam provided by an embodiment of the present invention;

[0069] Figure 10 It is a schematic diagram of an adaptive elevation difference beam provided by an embodiment of the present invention;

[0070] Figure 11 It is a schematic diagram of an azimuth plane section of an adaptive elevation sum beam provided by an embodiment of the present invention;

[0071] Figure 12 It is a schematic diagram of a pitch plane section of an adaptive elevation sum beam provided by an embodiment of the present invention;

[0072] Figure 13 It is a schematic diagram of an azimuth single-pulse curve provided by an embodiment of the present invention;

[0073] Figure 14 It is a schematic diagram of a pitch single-pulse curve provided by an embodiment of the present invention;

[0074] Figure 15 It is a schematic diagram of an azimuth angle measurement accuracy curve provided by an embodiment of the present invention;

[0075] Figure 16 It is a schematic diagram of a pitch angle measurement accuracy curve provided by an embodiment of the present invention;

[0076] Figure 17 It is a schematic diagram of a curve showing the variation of the root mean square error of target azimuth angle estimation with the target signal-to-noise ratio provided by an embodiment of the present invention;

[0077] Figure 18 It is a schematic diagram of a curve showing the variation of the root mean square error of target pitch angle estimation with the target signal-to-noise ratio provided by an embodiment of the present invention;

[0078] Figure 19 It is a schematic diagram of the structure of a radar sum-difference angle measurement device under multi-main lobe interference provided by an embodiment of the present invention. Specific embodiments

[0079] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0080] Unless otherwise required by the context, throughout the specification and claims, the term "comprising" is interpreted in an open and inclusive sense, that is, "including, but not limited to". In the description of the specification, the terms "one embodiment", "some embodiments", "exemplary embodiments", "examples", "specific examples" or "some examples" etc. are intended to indicate that specific features, structures, materials or characteristics related to the embodiment or example are included in at least one embodiment or example of the present disclosure. The schematic representations of the above terms are not necessarily referring to the same embodiment or example. In addition, the specific features, structures, materials or characteristics may be included in any one or more embodiments or examples in any appropriate manner, that is, although they may be carried in the embodiments or examples of the above terms due to reasons such as the order of appearance and position, etc., they are not limited to being carried in a combined manner by one embodiment or example.

[0081] In the description of the present invention, the terms "first" and "second" are used only for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the embodiments of the present disclosure, unless otherwise specified, the meaning of "a plurality" is two or more. In addition, for example, for the same type of nouns in the description, the method of adding "A" and "B" at the end is used to describe them as two independent individuals. In this case, the features defined with "A" and "B" are only for the purpose of distinguishing similar individuals and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features.

[0082] In describing some embodiments, the expressions "coupled", "coupled to" and "connected" and their derivatives may be used. For example, in describing some embodiments, the term "connected" may be used to indicate that two or more components have direct physical contact or electrical contact with each other. Another example is that in describing some embodiments, the term "coupled to" may be used to indicate that two or more components have direct physical contact or electrical contact. However, the term "connected" or "coupled" may also mean that two or more components do not have direct contact with each other but still cooperate or interact with each other, such as "optical path coupling" and "wireless connection". The embodiments disclosed herein are not necessarily limited to the content of the present invention.

[0083] In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0084] Embodiment 1:

[0085] The conventional sum-difference four-channel anti-main lobe interference method is a technical means in a radar system for combating main lobe interference and measuring the target angle. In this method, there are generally four channels, namely the sum channel (including the elevation sum channel and the azimuth sum channel) and the difference channel (including the elevation difference channel and the azimuth difference channel). The sum channel is mainly used to detect the presence of the target and obtain some basic information of the target, such as distance, speed, etc.; the difference channel is mainly used to accurately measure the angle of the target. By processing and analyzing the signals of these four channels, the positioning of the target and the suppression of interference are achieved.

[0086] For the sum-difference four-channel anti-main lobe interference method, since it is necessary to ensure accurate measurement of the target angle while combating main lobe interference, and when measuring the angle, the specific relationship of the sum-difference channel signals needs to be utilized to calculate the target angle, this limits the degrees of freedom for anti-interference. Specifically, in order to balance the measurement of the target angle, in terms of canceling the main lobe interference, there is actually only one degree of freedom available for adjustment. One degree of freedom means that the system can only be optimized and adjusted for a specific interference situation. When there are multiple main lobe interferences, each interference has its unique characteristics (such as different directions, intensities, and frequencies, etc.), and only one degree of freedom cannot simultaneously meet the precise cancellation of multiple different interferences. Because to cancel multiple interferences, multiple independent parameters are required to separately control the suppression of different interferences, and one degree of freedom cannot provide sufficient adjustment ability, so this method cannot effectively cancel multiple main lobe interferences.

[0087] To solve the problems in the prior art, this embodiment provides a radar sum-difference angle measurement method under multiple main lobe interferences. In one embodiment, as Figure 1a shown, it includes:

[0088] Step 101: Add sum weight vectors or difference weight vectors with different directions to the radar received signals in the elevation direction and the azimuth direction respectively to obtain the sum beam output and multiple difference beam outputs respectively.

[0089] Step 102: Perform interference suppression processing on the sum beam output and the multiple difference beam outputs to obtain an adaptive elevation sum beam, an adaptive elevation difference beam, an adaptive azimuth sum beam, and an adaptive azimuth difference beam respectively.

[0090] Step 103: Measure the target elevation angle based on the adaptive elevation sum beam and the adaptive elevation difference beam, and measure the target azimuth angle based on the adaptive azimuth sum beam and the adaptive azimuth difference beam.

[0091] Combined with the above method, in one embodiment, taking the cancellation of two main lobe interferences as an example, as Figure 1 and Figure 2 shown, the radar sum-difference angle measurement method under multiple main lobe interferences further includes:

[0092] Step 201: Add sum weight vectors or difference weight vectors with different directions to the radar received signals in the elevation direction and the azimuth direction respectively to obtain the sum beam output and multiple difference beam outputs respectively.

[0093] Among them, by transmitting the radar received signal to the sum-difference beamforming network, a sum beam output and multiple difference beams are generated. The sum beam is used to detect the presence of a target and obtain some basic information of the target, such as distance, speed, etc. The multiple difference beams are prepared for subsequent precise measurement of the target angle and suppression of multiple main lobe interferences. Different pointing difference weight vectors can make the difference beams have different response characteristics to interferences in different directions, so as to better cope with the situation of multiple main lobe interferences. The specific process in the sum-difference beamforming network will be described below.

[0094] Step 202: Perform interference suppression processing on the sum beam output and the multiple difference beam outputs respectively to obtain an adaptive elevation sum beam and an adaptive elevation difference beam respectively. Obtain the elevation-direction adaptive monopulse ratio according to the adaptive elevation sum beam and the adaptive elevation difference beam.

[0095] Among them, in a multi-main lobe interference environment, the original beam will be affected by interferences. Through interference suppression processing, the beam can be automatically adjusted to adapt to the interference environment and minimize the influence of interferences on the beam. Then, the elevation-direction adaptive monopulse ratio is obtained according to the adaptive elevation sum beam and the adaptive elevation difference beam. This ratio reflects the offset of the target in the elevation direction relative to the beam center and is a key parameter for calculating the elevation angle in the following. The specific steps of the interference suppression processing will be specifically described below.

[0096] Step 203: Perform interference suppression processing on the sum beam output and the multiple difference beam outputs respectively to obtain an adaptive azimuth sum beam and an adaptive azimuth difference beam respectively. Obtain the azimuth-direction adaptive monopulse ratio according to the adaptive azimuth sum beam and the adaptive azimuth difference beam.

[0097] Among them, synchronously with step 102, an adaptive azimuth sum beam and an adaptive azimuth difference beam are obtained, and then the azimuth-direction adaptive monopulse ratio is obtained according to them. The azimuth-direction adaptive monopulse ratio is used to characterize the deviation degree of the target in the azimuth direction relative to the beam center and provides a basis for calculating the azimuth angle.

[0098] By performing such processing in the elevation direction and the azimuth direction respectively, the angle information of the target in the two directions can be independently obtained, improving the accuracy and reliability of angle measurement, and at the same time better coping with the main lobe interferences in different directions.

[0099] Step 204: Obtain the elevation angle and the azimuth angle according to the elevation-direction adaptive monopulse ratio and the azimuth-direction adaptive monopulse ratio respectively.

[0100] Among them, the elevation adaptive monopulse ratio and azimuth adaptive monopulse ratio related to the target angle obtained through the previous steps are used to calculate the elevation angle and azimuth angle of the target respectively by using the established correspondence between the monopulse ratio and the angle (such as a mathematical model obtained by fitting experimental data or theoretical derivation), so as to achieve precise positioning of the target in space. Among them, in the radar sum-difference angle measurement method under multi-main-lobe interference, there is a close correspondence between the elevation adaptive monopulse ratio and the elevation angle, and between the azimuth adaptive monopulse ratio and the azimuth angle, which is specifically as follows:

[0101] When the target is located on the elevation equal-signal axis (i.e., the beam center axis) of the radar antenna, the signal amplitudes received by the elevation sum beam and the elevation difference beam are equal, and at this time the elevation adaptive monopulse ratio approaches zero or a certain specific reference value. Once the target deviates from the equal-signal axis in the elevation direction, there will be a difference in the signal amplitudes received by the elevation sum beam and the elevation difference beam. This difference is related to the elevation angle of the target and will cause a corresponding change in the elevation adaptive monopulse ratio. The greater the deviation angle of the target, the greater the amplitude difference, and the greater the degree of deviation of the elevation adaptive monopulse ratio from the reference value. Through the pre-established amplitude difference-angle mapping relationship, the elevation angle of the target can be calculated according to the elevation adaptive monopulse ratio.

[0102] Similar to the elevation case, when the target is on the azimuth equal-signal axis, the signal amplitudes received by the azimuth sum beam and the azimuth difference beam are the same, and the azimuth adaptive monopulse ratio is zero or a specific reference value. When the target has an offset in the azimuth direction, there is a difference in the signal amplitudes received by the azimuth sum beam and the azimuth difference beam. This difference causes a change in the azimuth adaptive monopulse ratio, and the change situation has a correspondence with the azimuth angle of the target. Based on this relationship and the pre-determined mapping table, the azimuth angle of the target can be calculated from the azimuth adaptive monopulse ratio.

[0103] The present invention constructs multiple difference beams to increase the degree of freedom for main-lobe interference suppression, and does not affect the measurement of the target azimuth angle and elevation angle while suppressing multiple main-lobe interferences, thereby achieving multiple main-lobe interference suppression and ensuring a high target angle measurement accuracy.

[0104] Next, the specific process of the radar sum-difference angle measurement method under multi-main-lobe interference will be specifically described. Similarly, taking two main-lobe interferences as an example, in one embodiment, the radar received signal x(k) is expressed as:

[0105] x(k) = As(k) + n(k)

[0106] Among them, A represents the array manifold matrix: is the Kronecker product, k represents the time sampling sequence number; s(k) = [s0(k), si (k)] T ; n(k) represents noise; the radar transceiver antennas share a common array surface, and the antennas are an equally spaced uniform rectangular array surface with a total of N1 rows and N2 columns; d is the element spacing in the horizontal and vertical directions; λ is the wavelength of the radar transmitted signal; the beam pointing is (θ b , φ b ), θ b represents the azimuth pointing, and φ b represents the elevation pointing; s0(k) is the complex envelope of the target existing in the environment; (θ0, φ0) is the spatial position; s i (k) (i = 1, 2,...) represents the complex envelopes of several main lobe interferences, and (θ i , φ i ) is the spatial position.

[0107] In one embodiment, referring to Figure 2 , adding sum weight vectors or difference weight vectors with different pointings in the elevation and azimuth directions to the radar received signal respectively to obtain the sum beam output and multiple difference beam outputs respectively, including:

[0108] Adding the sum weight vector pointing to (θ b , φ b ) in both the azimuth and elevation directions to the radar received signal to obtain the sum beam Σ = Σ a1 Σ e1 , where Σ a1 represents the azimuth sum beam, and Σ e1 represents the elevation sum beam, so as to obtain the sum beam output x Σ (k).

[0109] Adding the difference weight vector pointing to θ b in the azimuth direction and the sum weight vector pointing to φ b in the elevation direction to the radar received signal to obtain the 1st azimuth difference beam where, Δ a1 represents the 1st azimuth difference beam, so as to obtain the 1st azimuth difference beam output

[0110] Adding the difference weight vector pointing to φ b in the elevation direction and the sum weight vector pointing to θ b in the azimuth direction to the radar received signal to obtain the 1st elevation difference beam where, Δ e1 represents the 1st elevation difference beam, so as to obtain the 1st elevation difference beam output

[0111] Adding the sum weight vectors pointing to (θ b , φ bThe difference weight vector of ) is used to obtain the No. 1 azimuth-elevation combined difference beam to obtain the output of the No. 1 azimuth-elevation combined difference beam

[0112] Add a pointing θ to the radar received signal in the azimuth direction b +θ b0 The difference weight vector and add a sum weight vector pointing to φ b in the elevation direction to obtain the No. 2 azimuth difference beam where θ b0 represents half of the first null beam width of the azimuth difference beam, and Δ a2 represents the No. 2 azimuth difference beam to obtain the output of the No. 2 azimuth difference beam

[0113] Add difference weight vectors pointing to (θ b +θ b0 , φ b ) in both the azimuth and elevation directions of the radar received signal to obtain the No. 2 azimuth-elevation combined difference beam to obtain the output of the No. 2 azimuth-elevation combined difference beam

[0114] Add a difference weight vector pointing to φ b +φ b0 in the elevation direction of the radar received signal and add a sum weight vector pointing to θ b in the azimuth direction to obtain the No. 2 elevation difference beam where φ b0 represents half of the first null beam width of the elevation difference beam, and Δ e2 represents the No. 2 elevation difference beam to obtain the output of the No. 2 elevation difference beam

[0115] Add difference weight vectors pointing to (θ b , φ b +φ b0 ) in both the azimuth and elevation directions of the radar received signal to obtain the No. 3 azimuth-elevation combined difference beam to obtain the output of the No. 3 azimuth-elevation combined difference beam

[0116] In one embodiment, as Figure 3 shown, perform interference suppression processing on the sum beam output and the multi-channel difference beam output to respectively obtain an adaptive elevation sum beam, an adaptive elevation difference beam, an adaptive azimuth sum beam, and an adaptive azimuth difference beam, specifically including:

[0117] Step 301: Use the sum beam output x ΣFor the main channel and the No. 1 azimuth difference beam output and the No. 2 azimuth difference beam output as the auxiliary channel for interference suppression processing to obtain the adaptive elevation and sum beam The adaptive elevation and sum beam output is:

[0118]

[0119] Among them, the weight vector corresponding to the auxiliary channel is: Among them, E(g) represents taking the expectation; represents the No. 1 azimuth difference beam gain to interference s1; represents the No. 1 azimuth difference beam gain to interference s2; represents channel noise; represents the No. 2 azimuth difference beam gain to interference s1; represents the No. 2 azimuth difference beam gain to interference s2; represents channel noise; g s1_Σ represents the gain of the sum beam Σ to interference s1; g s2_Σ represents the gain of the sum beam Σ to interference s2; n Σ represents the Σ channel noise.

[0120] In one embodiment:

[0121]

[0122] Among them, P s1 represents the power of interference s1, P s2 represents the power of interference s2, P N represents the noise power. Since the noise power is much smaller than the interference power, therefore, the above formula is expressed as:

[0123]

[0124] According to the orthogonality in the azimuth and elevation directions, Σ = Σ a1 Σ e1 , Furthermore, it is deduced that:

[0125]

[0126] Step 302: With the No. 1 elevation difference beam output For the main channel and the 1st azimuth-elevation combined difference beam output And the 2nd azimuth-elevation combined difference beam output Perform interference suppression processing on the auxiliary channel to obtain the adaptive elevation difference beam The output of the adaptive elevation difference beam is:

[0127]

[0128] Among them, the weight vector corresponding to the auxiliary channel is:

[0129]

[0130] Represents the 1st azimuth-elevation combined difference beam Gain to interference s1; Represents the 1st azimuth-elevation combined difference beam Gain to interference s2; Represents Channel noise; Represents the 2nd azimuth-elevation combined difference beam Gain to interference s1; Represents the 2nd azimuth-elevation combined difference beam Gain to interference s2; Represents Channel noise; Represents the 1st elevation difference beam Gain to interference s1; Represents the 1st elevation difference beam Gain to interference s2; Represents Channel noise.

[0131] In one embodiment:

[0132]

[0133] According to the orthogonality in the azimuth and elevation directions, it can be obtained that Furthermore, it is deduced that:

[0134]

[0135] In one embodiment, as Figure 4 shown, the interference suppression processing on the sum beam output and the multi-channel difference beam output to respectively obtain the adaptive elevation sum beam, the adaptive elevation difference beam, the adaptive azimuth sum beam and the adaptive azimuth difference beam further includes:

[0136] Step 401: Use the sum beam output x Σ (k) as the main channel, the No. 1 elevation difference beam output and the No. 2 elevation difference beam output as the auxiliary channels for interference suppression processing to obtain the adaptive azimuth sum beam The output of the adaptive azimuth sum beam is:

[0137]

[0138] Among them, the weight vector corresponding to the auxiliary channel is:

[0139] Table

[0140] shows the gain of the No. 1 elevation difference beam to interference s1; represents the gain of the No. 1 elevation difference beam to interference s2; represents channel noise; represents the gain of the No. 2 elevation difference beam to interference s1;

[0141] represents the gain of the No. 2 elevation difference beam to interference s2; represents channel noise; g s1_Σ represents the gain of the sum beam Σ to interference s1; g s2_Σ represents the gain of the sum beam Σ to interference s2; n Σ represents the Σ channel noise.

[0142] Step 402: Use the No. 1 azimuth difference beam output as the main channel, the No. 1 azimuth-elevation combined difference beam output and the No. 3 azimuth-elevation combined difference beam output as the auxiliary channels for interference suppression processing to obtain the adaptive azimuth difference beam The output of the adaptive azimuth difference beam is:

[0143]

[0144] Among them, the weight vector corresponding to the auxiliary channel is:

[0145]

[0146] Indicates the combined azimuth-elevation difference beam No. 1 Gain to interference s1; Indicates the combined azimuth-elevation difference beam No. 1 Gain to interference s2; Indicates Channel noise; Indicates the combined azimuth-elevation difference beam No. 3 Gain to interference s1; Indicates the combined azimuth-elevation difference beam No. 3 Gain to interference s2; Indicates Channel noise; Indicates the azimuth difference beam No. 1 Gain to interference s1; Indicates the azimuth difference beam No. 1 Gain to interference s2; Indicates Channel noise.

[0147] Among them, similarly, w e2 = w e1 can be derived, and the specific derivation process refers to the above embodiments.

[0148] In one embodiment, the radar sum-difference angle measurement method under multi-main-lobe interference further includes: obtaining the elevation-direction adaptive monopulse ratio according to the adaptive elevation sum beam and the adaptive elevation difference beam, and the elevation-direction adaptive monopulse ratio is equal to the ratio of the adaptive elevation difference beam to the adaptive elevation sum beam , where: That is, the elevation-direction adaptive monopulse ratio is equal to the elevation-direction static monopulse ratio, and the target elevation angle measurement is not affected after interference suppression; obtaining the azimuth-direction adaptive monopulse ratio according to the adaptive azimuth sum beam and the adaptive azimuth difference beam, and the azimuth-direction adaptive monopulse ratio is equal to the ratio of the adaptive azimuth difference beam to the adaptive azimuth sum beam , where: That is, the azimuth-direction adaptive monopulse ratio is equal to the azimuth-direction static monopulse ratio, and the target azimuth angle measurement is not affected after interference suppression.

[0149] Among them:

[0150]

[0151] In summary, after suppressing the main-lobe interference, the radar sum-difference angle measurement method under multi-main-lobe interference does not affect the measurement of the target elevation angle and azimuth angle.

[0152] Embodiment 2:

[0153] To further illustrate the radar sum-difference angle measurement method under multi-main-lobe interference, in one embodiment, this embodiment uses a 32×32 equally spaced uniform planar array with an element spacing of half a wavelength. The half-beam widths in both the azimuth and elevation directions are 3.6°. The radar beam points to (90°, 30°). There are two main-lobe interferences in the electromagnetic environment located at (91.8°, 28.2°) and (88.2°, 31.8°) respectively, and the interference-to-noise ratios are both 40 dB.

[0154] As Figure 5 and Figure 6 shown, the azimuth sum beam pattern and azimuth difference beam pattern after adaptive processing are given respectively. It can be seen that two interference null bands are formed in the elevation direction in both patterns. Therefore, when the radar sum-difference angle measurement method under multi-main-lobe interference measures the target azimuth angle, it suppresses the interference along the elevation direction. As Figure 7 and Figure 8 shown, the elevation cross-section and azimuth cross-section of the adaptive azimuth sum beam pattern are given respectively. It can be seen that while suppressing the interference in the elevation direction, it can ensure that the azimuth pattern does not distort. Similarly, the adaptive azimuth difference beam pattern also has the same property and will not be elaborated here.

[0155] As Figure 9 and Figure 10 shown, the elevation sum beam pattern and elevation difference beam pattern after adaptive processing are given respectively. It can be seen that two interference null bands are formed in the azimuth direction in both patterns. Therefore, when the radar sum-difference angle measurement method under multi-main-lobe interference measures the target elevation angle, it suppresses the interference along the azimuth direction. As Figure 11 and Figure 12 shown, the azimuth cross-section and elevation cross-section of the adaptive elevation sum beam pattern are given respectively. It can be seen that while suppressing the interference in the azimuth direction, it can ensure that the elevation pattern does not distort. Similarly, the adaptive elevation difference beam pattern also has the same property and will not be elaborated here.

[0156] As Figure 13 and Figure 14 shown, the monopulse curves of azimuth and elevation are given respectively. It can be seen that after adaptive processing, both the azimuth and elevation monopulse curves can well fit the static monopulse curve, proving that the radar sum-difference angle measurement method under multi-main-lobe interference can ensure the target angle measurement ability after suppressing two main-lobe interferences.

[0157] Assume that there is 1 target in the electromagnetic environment, and the input signal-to-noise ratio (SNR) of the target is 20 dB (after spatial domain synthesis). The interference scenario is the same as above, and the target angle measurement accuracy is expressed by the root mean square error (RMSE). As Figure 15 shown, the azimuth angle measurement accuracy curve of the target is given (the target elevation angle is at 30°). It can be seen from the figure that when the target azimuth angle is within the half beam width (i.e., 88.2° to 91.8°), the RMSE of the target azimuth angle estimation is less than 0.9°, that is, within 3 / 10 of the half beam width.

[0158] As Figure 16 shown, the elevation angle measurement accuracy curve of the target is given (the target azimuth angle is at 90°). It can be seen from the figure that when the target elevation angle is within the half beam width (i.e., 28.2° to 31.8°), the RMSE of the target elevation angle estimation is less than 0.94°, that is, within 3 / 10 of the half beam width.

[0159] Assume that the target is located at the radar beam pointing, that is, (90°, 30°), and the interference scenario is the same as above. As Figure 17 and Figure 18 shown, the azimuth angle and elevation angle estimation accuracies of the target under the change of the target input SNR are given respectively. It can be seen from the figure that the angle measurement accuracy improves with the increase of the SNR.

[0160] In summary, for the radar sum-difference angle measurement problem under the multi-main-lobe interference environment, in this embodiment, multiple difference beams are constructed to increase the interference suppression freedom degree. The main idea is to move the conventional azimuth difference beam along the azimuth direction by half of the zero beam width, and move the conventional elevation difference beam along the elevation direction by half of the zero beam width, thereby introducing a new interference suppression freedom degree. According to the orthogonality of the azimuth direction and the elevation direction, the measurement of the target azimuth angle and elevation angle will not be affected while suppressing multiple main-lobe interferences. This embodiment proves the effectiveness of the radar sum-difference angle measurement method under multi-main-lobe interference in radar sum-difference angle measurement both theoretically and through simulation experiments.

[0161] Embodiment 3:

[0162] In Embodiment 1, a radar sum-difference angle measurement method under multi-main-lobe interference is provided. In this embodiment, a radar sum-difference angle measurement device under multi-main-lobe interference will be proposed. The radar sum-difference angle measurement device under multi-main-lobe interference includes: a processor and a memory for storing processor-executable instructions; wherein, the processor is configured to execute the radar sum-difference angle measurement method described in Embodiment 1.

[0163] As Figure 19As shown, the radar and differential angle measuring device under multi-main lobe interference includes a processor 21 and a memory 22, wherein the processor 21 and the memory 22 can be connected via a bus or other means.

[0164] The processor 21 may be a central processing unit (CPU). The processor 21 may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or a combination of the above chips.

[0165] The memory 22, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer executable programs and modules, such as program instructions / modules corresponding to the radar and differential angle measurement method under multi-main lobe interference in Embodiment 1 of the present invention. The processor executes various functional applications and training processing of the processor by running the non-transitory software programs, instructions and modules stored in the memory.

[0166] The memory 22 may include a program storage area and a training storage area, wherein the program storage area may store an operating system and application programs required for at least one function; the training storage area may store training created by the processor, etc. In addition, the memory may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 22 may optionally include a memory remotely located relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. The one or more modules are stored in the memory 22, and when executed by the processor 21, execution such as Figure 1 The radar and differential angle measurement method under multi-mainlobe interference in the embodiment 1 are shown. The specific details of the radar and differential angle measurement method under multi-mainlobe interference can be referred to in Figure 1 , Figure 2 and Figure 3 The corresponding descriptions and effects in the embodiments shown in the figure can be understood and will not be repeated here.

[0167] This embodiment also provides a computer storage medium. The storage medium stores a computer program, and the computer program can be executed by a processor to complete the radar sum-difference angle measurement method under multi-main-lobe interference described in Embodiment 1.

[0168] The computer storage medium stores computer-executable instructions, and the computer-executable instructions can execute the radar sum-difference angle measurement method under multi-main-lobe interference in any of the above method embodiments. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), a flash memory, a hard disk drive (HDD), or a solid-state drive (SSD), etc.; the storage medium can also include a combination of the above types of memories.

[0169] For the specific steps of the radar sum-difference angle measurement method under multi-main-lobe interference, refer to Embodiment 1, which will not be elaborated in this embodiment.

[0170] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A radar sum-difference angle measurement method under multi-main lobe interference, characterized in that, Including: Adding sum weight vectors or difference weight vectors with different pointing directions to the radar received signals in the elevation direction and the azimuth direction respectively to obtain a sum beam output and a multiplexed difference beam output respectively; Performing interference suppression processing on the sum beam output and the multiplexed difference beam output to obtain an adaptive elevation sum beam, an adaptive elevation difference beam, an adaptive azimuth sum beam, and an adaptive azimuth difference beam respectively; Measuring a target elevation angle based on the adaptive elevation sum beam and the adaptive elevation difference beam, and measuring a target azimuth angle based on the adaptive azimuth sum beam and the adaptive azimuth difference beam.

2. The radar sum-difference angle measurement method under multi-main lobe interference according to claim 1, wherein, The method further includes: Apply a sum weight vector with directions (θ b , φ b ) to the radar received signal in both the azimuth and elevation directions to obtain the sum beam Σ = Σ a1 Σ e1 , where Σ a1 represents the azimuth sum beam, and Σ e1 represents the elevation sum beam, to obtain the sum beam output x Σ (k); Apply a difference weight vector with a direction of θ in the azimuth direction to the radar received signal, and apply a sum weight vector with a direction of φ in the elevation direction b to obtain the No. 1 azimuth difference beam b where Δ a1 represents the No. 1 azimuth difference beam to obtain the output of the No. 1 azimuth difference beam Apply a difference weight vector with a pitch direction pointing to φ b to the radar received signal, and apply a sum weight vector with a azimuth direction pointing to θ b to obtain the No. 1 pitch difference beam where, Δ e1 represents the No. 1 pitch difference beam to obtain the output of the No. 1 pitch difference beam Apply a differential weight vector with directions (θ b , φ b ) to the radar received signal in both the azimuth and elevation directions to obtain the No. 1 azimuth-elevation combined difference beam to obtain the output of the No. 1 azimuth-elevation combined difference beam Apply a difference weight vector with a direction of θ in the azimuth direction of the radar received signal b +θ b0 and a sum weight vector with a direction of φ in the elevation direction to obtain the No. 2 azimuth difference beam b where θ represents half of the first null beam width of the azimuth difference beam, and Δ b0 represents the No. 2 azimuth difference beam to obtain the output of the No. 2 azimuth difference beam a2 ​ Add a difference weight vector with directions (θ b +θ b0 , φ b ) to the radar received signal in both the azimuth and elevation directions to obtain the No. 2 azimuth-elevation combined difference beam to obtain the output of the No. 2 azimuth-elevation combined difference beam Add a difference weight vector with a pointing of φ in the elevation direction to the radar received signal b +φ b0 and add a sum weight vector with a pointing of θ in the azimuth direction to obtain the No. 2 elevation difference beam b where φ represents half of the first null beamwidth of the elevation difference beam, and Δ b0 represents the No. 2 elevation difference beam to obtain the output of the No. 2 elevation difference beam e2 ​ Apply a difference weight vector with directions (θ b , φ b + φ b0 ) to the radar received signal in both the azimuth and elevation directions to obtain the No. 3 azimuth-elevation combined difference beam to obtain the output of the No. 3 azimuth-elevation combined difference beam 3. The radar sum-difference angle measurement method under multi-main lobe interference according to claim 2, wherein The method further includes: Taking the sum beam output x Σ as the main channel, the No. 1 azimuth difference beam output and the No. 2 azimuth difference beam output as the auxiliary channels to perform interference suppression processing to obtain the adaptive elevation sum beam The adaptive elevation sum beam output is as follows: Among them, the weight vector corresponding to the auxiliary channel is: Among them, E(g) represents taking the expectation; x Σ = s1g s1_Σ + s2g s2_Σ + n Σ , represents the gain of the 1st azimuth difference beam to the interference s1; represents the gain of the 1st azimuth difference beam to the interference s2; represents channel noise; represents the gain of the 2nd azimuth difference beam to the interference s1; represents the gain of the 2nd azimuth difference beam to the interference s2; represents channel noise; g s1_Σ represents the gain of the sum beam Σ to the interference s1; g s2_Σ represents the gain of the sum beam Σ to the interference s2; n Σ represents the Σ channel noise.

4. The radar sum-difference angle measurement method under multi-main lobe interference according to claim 3, characterized in that, The method further includes: Using the output of the No. 1 pitch difference beam as the main channel, the output of the No. 1 azimuth-pitch combined difference beam and the output of the No. 2 azimuth-pitch combined difference beam as auxiliary channels for interference suppression processing to obtain the adaptive pitch difference beam The output of the adaptive pitch difference beam is as follows: Among them, the weight vector corresponding to the auxiliary channel is: Indicates the No. 1 azimuth-elevation combined difference beam Gain to interference s1; Indicates the No. 1 azimuth-elevation combined difference beam Gain to interference s2; Indicates Channel noise; Indicates the No. 2 azimuth-elevation combined difference beam Gain to interference s1; Indicates the No. 2 azimuth-elevation combined difference beam Gain to interference s2; Indicates Channel noise; Indicates the No. 1 elevation difference beam Gain to interference s1; Indicates the No. 1 elevation difference beam Gain to interference s2; Indicates Channel noise.

5. The radar sum-difference angle measurement method under multi-main lobe interference according to claim 4, characterized in that The method further includes: With the sum beam output x Σ (k) as the main channel, the No. 1 elevation difference beam output and the No. 2 elevation difference beam output as the auxiliary channels for interference suppression processing to obtain the adaptive azimuth sum beam The adaptive azimuth sum beam output is as follows: Among them, the weight vector corresponding to the auxiliary channel is: x Σ = s1g s1_Σ + s2g s2_Σ + n Σ , Table Indicate the elevation difference beam No. 1 Gain for interference s1; Indicate the elevation difference beam No. 1 Gain for interference s2; Indicate Channel noise; Indicate the elevation difference beam No. 2 Gain for interference s1; Indicate the elevation difference beam No. 2 Gain for interference s2; Indicate Channel noise; g s1_Σ Indicate the gain of the sum beam Σ for interference s1; g s2_Σ Indicate the gain of the sum beam Σ for interference s2; n Σ Indicate the Σ channel noise.

6. The radar sum-difference angle measurement method under multi-main lobe interference according to claim 5, characterized in that, The method further includes: Output with the 1st azimuth difference beam as the main channel, the 1st azimuth-elevation combined difference beam output and the 3rd azimuth-elevation combined difference beam output are used as auxiliary channels for interference suppression processing to obtain the adaptive azimuth difference beam The output of the adaptive azimuth difference beam is as follows: Among them, the weight vector corresponding to the auxiliary channel is: Indicates the No. 1 azimuth-elevation combined difference beam Gain to interference s1; Indicates the No. 1 azimuth-elevation combined difference beam Gain to interference s2; Indicates Channel noise; Indicates the No. 3 azimuth-elevation combined difference beam Gain to interference s1; Indicates the No. 3 azimuth-elevation combined difference beam Gain to interference s2; Indicates Channel noise; Indicates the No. 1 azimuth difference beam Gain to interference s1; Indicates the No. 1 azimuth difference beam Gain to interference s2; Indicates Channel noise.

7. The radar sum-difference angle measurement method under multi-main lobe interference according to claim 6, characterized in that The method further includes: The adaptive elevation monopulse ratio is obtained based on the adaptive elevation and beam as well as the adaptive elevation difference beam, and the adaptive elevation monopulse ratio equals the adaptive elevation difference beam and the adaptive elevation and beam The ratio is as follows: An azimuthal adaptive monopulse ratio is obtained based on the adaptive azimuth and beam and the adaptive azimuth difference beam, and the azimuthal adaptive monopulse ratio is equal to the adaptive azimuth difference beam and the adaptive azimuth and beam in a ratio, where:

8. The radar sum-difference angle measurement method under multi-main lobe interference according to claim 1, characterized in that The radar received signal x(k) is expressed as: x(k) = As(k) + n(k) Among them, A represents the array manifold matrix: is the Kronecker product, k represents the time sampling sequence number; s(k) = [s0(k), s i (k)] T ; n(k) represents noise; the radar transmitting and receiving antennas share the same array surface, and the antennas are equally spaced uniform rectangular arrays, with a total of N1 rows and N2 columns; d is the element spacing in the horizontal and vertical directions; λ is the radar transmitting signal wavelength; the beam pointing is (θ b , φ b ), θ b represents the azimuth pointing, and φ b represents the elevation pointing; s0(k) is the complex envelope of the target existing in the environment; (θ0, φ0) is the spatial position; s i (k) (i = 1, 2,...) represents the complex envelopes of several main lobe interferences, and (θ i , φ i ) is the spatial position.

9. A radar sum-difference angle measuring device under multi-main lobe interference, characterized in that, The radar sum-difference angle measurement device under multi-main lobe interference includes: a processor and a memory for storing processor-executable instructions; Wherein, the processor is configured to execute the radar sum-difference angle measurement method under multi-main lobe interference according to any one of claims 1-8.

10. A non-volatile computer storage medium, characterized in that, The computer storage medium stores computer-executable instructions, which are executed by one or more processors to complete the radar sum-difference angle measurement method under multi-main lobe interference according to any one of claims 1-8.

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