Angle measurement method, device and equipment based on vortex electromagnetic waves to prevent angle misjudgment

Abstract

This invention relates to a method, apparatus, and device for anti-angle misjudgment angle measurement based on vortex electromagnetic waves, and relates to the field of radar signal processing technology. The method includes: using a circular array as a transmitter, generating and transmitting multiple modes of vortex electromagnetic waves to illuminate the target, obtaining echo signals; selecting a dual-mode combination, processing the echo signals corresponding to the combination to obtain angle measurement values ​​corresponding to each combination; calculating the error between any two sets of angle measurement values, comparing each error with a preset threshold to determine if angle misjudgment exists; if all errors are within the preset threshold, it is determined that there is no angle misjudgment, and the preset angle measurement value is output as the target angle measurement result; if an error exceeds the preset threshold, it is determined that there is angle misjudgment, and the unaffected measurement values ​​are filtered by the consistency and difference of each set of angle measurement values, and the target angle measurement result is output. This invention can achieve robust, continuous, and accurate measurement of target angles in complex interference environments.

Description

Technical Field

[0001] This invention relates to the field of radar signal processing technology, and in particular to an angle measurement method, apparatus and equipment based on vortex electromagnetic waves to prevent angle misjudgment. Background Technology

[0002] With the rapid development of fields such as civilian surveying and mapping, air traffic auxiliary monitoring, ship navigation and positioning, and small target detection, increasingly higher requirements are being placed on the accuracy and stability of angle measurement. Traditional angle measurement methods mostly employ single-pulse technology, which calculates the target angle by transmitting sum and difference beams and using the ratio of the echo signals from the two beams. This method can meet basic measurement needs under normal electromagnetic environments and is therefore widely used in various electronic devices.

[0003] However, due to the increasingly complex electromagnetic environment and the presence of various electromagnetic interferences, traditional single-pulse angle measurement methods are highly susceptible to interference. The measured angles often deviate from the true direction of the target, and the degree of deviation is closely related to the parameter settings of the interference. This angle measurement deviation directly affects the reliability of related applications: for example, in UAV mapping, angle errors can lead to distorted mapping data, affecting the accuracy of terrain modeling; in ship navigation and positioning, incorrect angle information may mislead route judgments, increasing navigation risks; and in civil air traffic auxiliary monitoring, misjudgment of angles may interfere with the determination of the position of small aircraft, affecting the safety of dispatching. Summary of the Invention

[0004] Therefore, it is necessary to provide a method, device, and equipment for preventing angle misjudgment based on vortex electromagnetic waves that can achieve robust, continuous, and accurate measurement of target angles in complex interference environments, in order to address the above-mentioned technical problems.

[0005] An angle measurement method based on vortex electromagnetic waves to prevent angle misjudgment, the method comprising:

[0006] Step 1: Using a circular array as the transmission source, the transmitted signal is modulated by orbital angular momentum mode to generate and transmit multiple modes of vortex electromagnetic waves to illuminate the target, and the echo signal corresponding to each orbital angular momentum mode is obtained.

[0007] Step 2: Select at least three distinct dual-mode combinations from each orbital angular momentum mode, and process the echo signal corresponding to each combination using the mode comparison interferometry method to obtain the angle measurement value corresponding to each combination.

[0008] Step 3: Calculate the error between any two sets of angle measurements, compare each error with a preset threshold, and determine whether there is any angle misjudgment.

[0009] Step 4: If all errors are within the preset threshold, it is determined that there is no angle misjudgment, and the angle measurement value corresponding to a preset set of dual-mode combinations is output as the target angle measurement result; if there is an error exceeding the preset threshold, it is determined that there is an angle misjudgment, and the uninterrupted measurement value is filtered by the consistency and difference of each set of angle measurement values, and the target angle measurement result is output based on the filtering result.

[0010] On the other hand, a vortex electromagnetic wave-based anti-angle misjudgment angle measuring device is also provided, comprising:

[0011] The echo signal acquisition module is used to modulate the transmitted signal into orbital angular momentum modes using a circular array as the transmission source, generate and transmit multiple modes of vortex electromagnetic waves to illuminate the target, and obtain the echo signal corresponding to each orbital angular momentum mode.

[0012] The angle measurement calculation module is used to select at least three different dual-mode combinations from each orbital angular momentum mode, and process the echo signal corresponding to each combination using the mode comparison interferometry method to obtain the angle measurement value corresponding to each combination.

[0013] The error calculation and judgment module is used to calculate the error between any two sets of angle measurement values, compare each error with a preset threshold, and determine whether there is an angle misjudgment.

[0014] The result filtering and output module is used to determine that there is no angle misjudgment if all errors are within the preset threshold, and output the angle measurement value corresponding to a preset set of dual-mode combinations as the target angle measurement result; if there are errors exceeding the preset threshold, it is determined that there is angle misjudgment, and the measurement value that is not disturbed is filtered by the consistency and difference of each set of angle measurement values, and the target angle measurement result is output based on the filtering result.

[0015] Compared with existing technologies, the angle measurement method, device, and equipment based on vortex electromagnetic waves provided by this invention have the following beneficial effects:

[0016] 1. By selecting at least three different dual-mode combinations to obtain multiple sets of angle measurement values, and utilizing the redundancy of multiple sets of data to construct a verification system, combined with error comparison and consistency screening mechanisms, it is possible to accurately identify scenarios with abnormal angle deviations, effectively avoid angle measurement deviations caused by non-target signals, ensure that reliable target angle information can still be output in complex signal environments, and improve the reliability of angle measurement results.

[0017] 2. Using a circular array as the emission source, the excellent symmetry of the array improves the omnidirectional angle measurement performance and reduces the estimation error caused by different spatial orientations of the target. At the same time, the mode comparison interferometry method is used to process the echo signal, which can accurately calculate the phase difference. Combined with the consistency verification of multiple sets of measurements, random errors and systematic errors are further reduced, making the angle measurement results more accurate and more stable.

[0018] 3. By fully utilizing the orthogonality of orbital angular momentum modes, different modes of vortex electromagnetic waves do not interfere with each other when transmitted coaxially, ensuring effective separation and accurate processing of multi-mode echo signals; the anomaly identification and result screening logic is based on basic error calculation and threshold comparison, without the need for complex algorithms, which reduces computational complexity while ensuring the anti-deviation effect, improves the adaptability of the method in complex environments, and has strong robustness. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of the present invention, and those skilled in the art can obtain other related drawings based on these drawings without creative effort.

[0020] Figure 1 This is a flowchart illustrating the angle measurement method based on vortex electromagnetic waves to prevent angle misjudgment in Example 1.

[0021] Figure 2 This is a schematic diagram of the circular array in Example 1;

[0022] Figure 3 This is a schematic diagram illustrating the interference effect of the vortex interferometry angle measurement method under angle misjudgment in Example 1, wherein, Figure 3 (a) is a schematic diagram of the tolerance for angle misjudgment parameters when using a combination of OAM mode 1 and OAM mode 2 (1 / 2). Figure 3 (b) is a close-up view of the tolerance of angle misjudgment parameters when using a combination of OAM mode 1 and OAM mode 2 (1 / 2);

[0023] Figure 4 This is a schematic diagram illustrating the interference effect of the single-pulse angle measurement method under angle misjudgment in Example 1, wherein, Figure 4 (a) is a schematic diagram of the tolerance for angle misjudgment parameters in the single-pulse angle measurement method. Figure 4 (b) is a close-up view of the tolerance of angle misjudgment parameters in the single-pulse angle measurement method;

[0024] Figure 5 This is a schematic diagram of the angle measurement results of the method proposed in this invention under the condition of angle misjudgment in Example 1;

[0025] Figure 6 This is a schematic diagram of the angle measurement results of the single-pulse method under angle misjudgment in Example 1;

[0026] Figure 7 This is a structural block diagram of the angle measurement device based on vortex electromagnetic waves to prevent angle misjudgment in Example 2;

[0027] Figure 8This is a diagram of the internal structure of the computer device in Example 3.

[0028] The objectives, features, and advantages of this invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0029] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0030] It should be noted that in this invention, the use of terms such as "first," "second," etc., is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0031] It is understood that the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0032] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0033] Example 1

[0034] like Figure 1 As shown, this embodiment provides an angle measurement method based on vortex electromagnetic waves to prevent angle misjudgment, including the following steps:

[0035] Step 1: Using a circular array as the transmission source, the transmitted signal is modulated by orbital angular momentum mode to generate and transmit multiple modes of vortex electromagnetic waves to illuminate the target, and the echo signal corresponding to each orbital angular momentum mode is obtained.

[0036] Step 2: Select at least three distinct dual-mode combinations from each orbital angular momentum mode, and process the echo signal corresponding to each combination using the mode ratio interferometry method to obtain the angle measurement value corresponding to each combination.

[0037] Step 3: Calculate the error between any two sets of angle measurements, compare each error with a preset threshold, and determine whether there is any angle misjudgment.

[0038] Step 4: If all errors are within the preset threshold, it is determined that there is no angle misjudgment, and the angle measurement value corresponding to a preset set of dual-mode combinations is output as the target angle measurement result; if there is an error exceeding the preset threshold, it is determined that there is an angle misjudgment, and the uninterrupted measurement value is filtered by the consistency and difference of each set of angle measurement values, and the target angle measurement result is output based on the filtering result.

[0039] The present invention provides an angle measurement method based on vortex electromagnetic waves to prevent angle misjudgment. By generating multimode vortex electromagnetic waves with a circular array as the emission source, selecting at least three sets of dual-mode combinations to obtain multiple sets of angle measurement values, using error comparison to determine whether angle misjudgment exists, and filtering out undisturbed measurement values ​​through consistency and difference, the method achieves robust, continuous and accurate measurement of target angles in complex interference environments, effectively improving the reliability, accuracy and robustness of angle measurement results.

[0040] In step 1, the Uniform Circular Array (UCA) is a transmitting array composed of multiple array elements distributed along a circumference. It possesses good symmetry and can support omnidirectional angle measurement. This includes, but is not limited to, uniform and non-uniform circular arrays, and can have single or multiple layers. Orbital Angular Momentum (OAM) modes are a core characteristic of vortex electromagnetic waves. Different modes are orthogonal and do not interfere with each other during coaxial transmission, providing a foundation for signal separation and precise processing. The echo signal is the signal reflected back to the receiver after the vortex electromagnetic wave illuminates the target, containing key angular information such as the target's elevation and azimuth angles.

[0041] Specifically, such as Figure 2 As shown, the number of elements in the circular array is , radius is The transmitted signal is modulated using orbital angular momentum modes to generate and transmit modes ranging from [specific range]. (in Multiple modal vortex electromagnetic waves (integers greater than 1) irradiate the target, with the center frequency of the transmitted signal set to... After receiving the echo signal, phase compensation is first performed to eliminate phase distortion during signal transmission. Then, pulse compression processing is performed to enhance the signal-to-noise ratio of the target signal. Finally, the complex data of the target range cell is extracted as the echo signal for subsequent angle calculation.

[0042] Among them, when the target's distance, pitch angle, and azimuth angle are respectively located at At that time, after phase term compensation of the received echo signal, pulse compression processing is performed to extract the complex data of the target range cell as the echo signal, which is represented as:

[0043] (1)

[0044] In the formula, Indicates the echo signal; Indicates the target's pitch angle; Indicates the target azimuth angle; Modes are used to represent angle measurements; This indicates the complex amplitude after echo processing; express Bessel function of order 1; To represent an intermediate variable, the expression is: ; Indicates wave number; Represents the speed of light; Modes for angle measurement Related echo phase terms.

[0045] Assuming there are radiation sources near the target, this embodiment uses two. The two radiation sources are located at opposite ends of the target, facing the radar detection direction, with their elevation angles matching the target's. The azimuth angles of the two radiation sources deviate slightly from the actual scattering center, and their angles relative to the radar's line of sight are respectively... and At the same time, and there is an amplitude ratio between the two radiation sources. ( and phase difference In the event of an angle misjudgment, the echo signal is represented as:

[0046] (2)

[0047] In the formula, This indicates the echo signal when an angle misjudgment occurs; This represents the complex amplitude of the signal emitted by the first radiation source; Modes for angle measurement Additional phase terms introduced; This indicates the amplitude ratio between two radiation sources; Modes for angle measurement The phase term of the relevant first radiation source azimuth angle; Modes for angle measurement The phase term of the relevant second radiation source azimuth angle; Represents the imaginary unit; This indicates the phase difference.

[0048] The two radiation sources deviate from the true scattering center in azimuth angle, as shown below:

[0049] (3)

[0050] In the formula, Indicates the azimuth angle of the first radiation source; Indicates the azimuth angle of the second radiation source; This indicates the angle of deviation of the first radiation source relative to the target's true azimuth. This indicates the angle of deviation of the second radiation source relative to the true azimuth of the target.

[0051] If two radiation sources are symmetrically distributed around the target in azimuth, and the transmission power of each radiation source is much greater than the radar echo, the radar echo can be ignored, and the echo signal when there is angular misjudgment can be simplified as follows:

[0052] (4)

[0053] In the formula, Modes for angle measurement The phase term of the echo signal when there is an angle misjudgment; This indicates the angle of deviation of the radiation source relative to the true azimuth of the target; Indicates wave number; This represents the radius of the circular array.

[0054] This step involves emitting multimode vortex electromagnetic waves using a circular array, leveraging the orthogonality of different modes to ensure effective signal separation. The echo signal, after phase compensation and pulse compression, has a higher signal-to-noise ratio and purer target information, providing a reliable data foundation for subsequent angle calculation. Simultaneously, considering angle misjudgment in real-world scenarios, an echo model under interference is established, enhancing the method's practicality.

[0055] In step 2, dual-mode combination refers to selecting two different modes from multiple orbital angular momentum modes and pairing them to calculate the target angle through interference effects; the modal phase comparison interferometry method is a method that uses the phase difference of the echo signals of two sets of modes and combines them with modal characteristics to calculate the target angle, which has the advantage of high phase calculation accuracy; the angle measurement value is the target angle estimate obtained by processing the echo signal of the dual-mode combination, and its accuracy directly affects the final angle measurement result.

[0056] Specifically, from the launch At least three distinct bimodal combinations are selected from the modal data. In this embodiment, three distinct bimodal combinations are preferred. , and The echo signals corresponding to each combination are processed using the modal phase comparison interferometry method. By calculating the phase difference between the two sets of modal echo signals and combining this with the characteristics of the modes themselves, the angle measurement value corresponding to each combination is obtained. It is worth noting that the echo signals processed in this step include echo signals under both interference-free and interference-affected conditions.

[0057] The expression for the angle measurement value is as follows:

[0058] (5)

[0059] In the formula, Indicates bimodal combination Angle measurement value; Indicates bimodal combination Angle measurement value; Indicates bimodal combination Angle measurement value; Indicates the emission mode Echo signal when there is angle misjudgment; Indicates the emission mode Echo signal when there is angle misjudgment; Indicates the emission mode Echo signal when there is angle misjudgment; Indicates the emission mode Echo signal when there is angle misjudgment; Represents the complex conjugate operator; Indicates different emission modes; Indicates bimodal combination Angular offset; Indicates bimodal combination Angular offset; Indicates bimodal combination Angular offset; This represents the phase solver for complex signals.

[0060] It is understandable that if there is no angle misjudgment, the angle measurement results in formula (5) should be consistent. Considering that there may be errors in actual measurement, it is set that the error between any two sets of measurement results is within the threshold range, which can be considered as consistent angle measurement results. The threshold is usually determined according to the requirements. In this embodiment, the threshold is set to 5°. If there is an angle misjudgment, it will cause a fixed offset in the azimuth measurement. The expression for the angle offset corresponding to each combination is:

[0061] (6)

[0062] The offset calculated in formula (6) is only related to the radiation source parameters. Interference modes used and the deflection angles of the two radiation sources related.

[0063] This step selects at least three sets of dual-mode combinations for angle measurement, and uses the redundancy of multiple sets of data to build a verification system, providing sufficient data support for subsequent angle misjudgment identification; the modal comparison interferometry method can accurately calculate the phase difference, and combined with specific mathematical expressions, it can accurately quantify the angle measurement value and offset, improving the accuracy of angle measurement; clarifying the relationship between the angle offset and the interference parameters lays a theoretical foundation for subsequent interference identification and processing.

[0064] In step 3, the angle measurement error refers to the difference between the angle measurement values ​​corresponding to any two sets of dual-mode combinations, which is used to reflect the degree of consistency of the angle measurement results of different combinations.

[0065] Specifically, first, calculate the error between all pairs of angle measurements, such as in a dual-modal combination. and Error and Error and The error is calculated, and then each group of errors is compared with a preset threshold. It is worth noting that the preset threshold is usually determined according to the actual angle measurement accuracy requirements. In this embodiment, the threshold is set to 5°. If the actual application requires higher accuracy, the threshold can be appropriately reduced; if the environmental interference is strong, the threshold can be reasonably increased to balance reliability and sensitivity.

[0066] If there is no angle misjudgment, the angle offset of each dual-mode combination is small and tends to be consistent, and the error between any two sets of angle measurements will be within the preset threshold; if there is angle misjudgment, the interference parameters This can lead to an increase in the angle measurement offset of some dual-mode combinations, causing the error between the corresponding two sets of angle measurements to exceed a preset threshold. A typical interference parameter for angle misjudgment is... Phase difference When the phase difference Within a specific range, the angle measurement results for some modal combinations will show a significant shift. The specific range is as follows:

[0067] (7)

[0068] This step calculates the error of multiple sets of angle measurements and compares it with a preset threshold. This allows for a quick and accurate determination of whether there is an angle misjudgment, avoiding potential omissions due to a single combination of angle measurements. It also clarifies the error characteristics under typical interference parameters, making the misjudgment judgment more targeted and reliable, and providing clear criteria for subsequent result screening.

[0069] In step 4, consistency refers to the degree of agreement between multiple sets of angle measurements. If the error is within the preset threshold, it is considered to be consistent, indicating that the angle measurement result is not greatly affected by interference. Difference refers to the degree of deviation between multiple sets of angle measurements. If the error exceeds the preset threshold, it is considered to be different. Unaffected measurement value refers to the measurement value that is not affected by angle misjudgment and can accurately reflect the true angle of the target. It is the core source of the final angle measurement result.

[0070] Specifically, the error comparison results are handled in two ways:

[0071] Scenario 1: If the errors of all two sets of angle measurements are within a preset threshold, it is determined that there is no angle misjudgment. In this case, each set of angle measurement results can reflect the true angle of the target, and a preset set of angle measurement values ​​corresponding to a dual-modal combination is output as the target angle measurement result. In this embodiment, preferably... The corresponding angle measurement value is used as the target angle measurement result.

[0072] Scenario 2: If the error between any two sets of angle measurements exceeds a preset threshold, an angle misjudgment is determined. Unaffected measurements are filtered based on the consistency and difference of each set of angle measurements. The target angle measurement result is then output based on the filtering results, including:

[0073] The angle measurements are divided into at least two sets of measurement subsets, each set of measurement subsets containing at least one angle measurement value.

[0074] Calculate the angle measurement error within each measurement subset and between each measurement subset. Based on the comparison of the angle measurement error with a preset threshold, determine the consistency and difference of each measurement subset.

[0075] Based on the results of consistency and difference assessment, select the measurement subsets or individual angle measurements that meet the criteria.

[0076] If the filtering result is a single angle measurement value, it is directly output as the target angle measurement result; if the filtering result is multiple angle measurements, the average value is processed and then the target angle measurement result is output.

[0077] It also includes: when there is no combination of angle measurements that meets the consistency requirements, at least two unused dual-mode combinations are selected from each orbital angular momentum mode, and the echo signals corresponding to each unused dual-mode combination are processed by the mode comparison interferometry method to obtain the corresponding supplementary angle measurements.

[0078] The supplementary angle measurement value is compared with the angle measurement value. Based on the correlation obtained from the comparison, the measurement value that is not affected by angle misjudgment is selected as the target angle measurement result output.

[0079] The following explanation uses the dual-modal combination in this embodiment as an example:

[0080] Step 401, determine the bimodal combination and Are the angle measurement results consistent? If they are consistent, and both are consistent with... If the angle measurement results show a significant discrepancy, it is determined to be an angle misjudgment under typical parameters, and the output is... and The average measurement value is used as the target angle measurement result; if there is a large error between the two, then proceed to step 402 for screening.

[0081] Step 402, Determine and , and Error relationship: If and If the angle measurement result is within the error range, then it is judged that... The output is affected by the angle misjudgment of the corresponding parameters. The measured value is used as the target angle measurement result; if and If the angle measurement result is within the error range, then it is judged that... The output is affected by the angle misjudgment of the corresponding parameters. The measured value is used as the target angle measurement result. If both are consistent with... If the angle measurement results have a large error, then proceed to step 403 for supplementary screening.

[0082] Step 403: Select unused dual-mode combinations from each orbital angular momentum mode. and ,right , The corresponding echo signals were processed using the modal phase comparison interferometry method to obtain two sets of supplementary angle measurements; if the supplementary angle measurements are close to The measured value is then judged. The output is affected by angle misjudgment. The measured value is used as the target angle measurement result; if the supplementary angle measurement value is close to... The measured value is then judged. The output is affected by angle misjudgment. The measured value is used as the target angle measurement result.

[0083] This step employs a hierarchical, multi-dimensional consistency and difference filtering logic to accurately identify undisturbed measurement values, effectively avoiding angle measurement deviations caused by misjudgment. Supplementing with unused dual-modal combinations for secondary verification further enhances the reliability of the filtering results. The filtering logic is based on fundamental error calculation and threshold comparison, requiring no complex algorithms, thus reducing computational complexity while ensuring effective misjudgment prevention. The final output angle measurement results are highly accurate and stable, enabling robust measurement of target angles even in complex interference environments.

[0084] In one embodiment, the method proposed in this invention is verified. An array antenna with 52 elements and a ring radius of 3.857 cm is used to transmit vortex electromagnetic waves with a center frequency of 35 GHz; the amplitude ratio between the two radiation sources is... The unit is dB, and the phase difference is expressed in degrees, representing the azimuth angle between the two radiation sources. .

[0085] from Figure 3 (a) and Figure 4 (a) Overall, the parameter tolerances for angle misjudgment are very similar for both methods, but from the perspective of… Figure 3 (b) and Figure 4 (b) A close-up view shows that angle misjudgment with an amplitude ratio of around 0dB and a phase difference set in the range of 182°~184° has a significant impact on the angle measurement of the vortex interferometric angle measurement method; however, under typical interference parameter settings, theoretically there should be no interference effect on the vortex interferometric angle measurement.

[0086] To further verify the effectiveness of this invention in angle measurement under angle misjudgment, a Monte Carlo simulation experiment was conducted on the two-dimensional angle measurement of a point target under angle misjudgment conditions. The experiment was divided into two scenarios: Interference Scenario 1: the target is located at (5.5°, 10°), the first radiation source is located at (5.5°, 11°), and the second radiation source is located at (5.5°, 9°); Interference Scenario 2: the target is located at (5.5°, 30°), the first radiation source is located at (5.5°, 31°), and the second radiation source is located at (5.5°, 29°). In each scenario, 1000 simulation experiments were conducted under a signal-to-interference ratio of 20 dB. Figure 5 and Figure 6 It is evident that the angle estimation results of the single-pulse method are mostly misestimates, while the angle measurement results of the method proposed in this invention converge almost entirely to the actual value of the point target under the condition of angle misjudgment, which fully verifies that the method of this invention can effectively combat angle misjudgment in angle measurement.

[0087] It should be understood that, although this embodiment Figure 1The steps are shown sequentially as indicated by the arrows, but they are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order in which these steps are performed; they can be executed in other orders. Figure 1 At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0088] Example 2

[0089] Based on the vortex electromagnetic wave-based angle measurement method for preventing angle misjudgment in Example 1, this embodiment discloses a vortex electromagnetic wave-based angle measurement device for preventing angle misjudgment, such as... Figure 7 As shown, the angle measurement device based on vortex electromagnetic waves to prevent angle misjudgment includes: an echo signal acquisition module 501, an angle measurement value calculation module 502, an error calculation and judgment module 503, and a result filtering and output module 504, wherein:

[0090] The echo signal acquisition module 501 is used to use a circular array as the transmission source to perform orbital angular momentum mode modulation on the transmitted signal, generate and transmit multiple modes of vortex electromagnetic waves to illuminate the target, and obtain the echo signal corresponding to each orbital angular momentum mode.

[0091] The angle measurement calculation module 502 is used to select at least three different dual-mode combinations from each orbital angular momentum mode, and process the echo signal corresponding to each combination using the mode comparison phase interference method to obtain the angle measurement value corresponding to each combination.

[0092] The error calculation and judgment module 503 is used to calculate the error between any two sets of angle measurement values, compare each error with a preset threshold, and determine whether there is an angle misjudgment.

[0093] The result filtering and output module 504 is used to determine that there is no angle misjudgment if all errors are within the preset threshold, and output the angle measurement value corresponding to a preset set of dual-mode combinations as the target angle measurement result; if there are errors exceeding the preset threshold, it is determined that there is angle misjudgment, and the measurement value that is not disturbed is filtered by the consistency and difference of each set of angle measurement values, and the target angle measurement result is output based on the filtering result.

[0094] In this embodiment, the specific working process and working principle of the echo signal acquisition module 501, the angle measurement value calculation module 502, the error calculation and judgment module 503, and the result filtering and output module 504 are the same as those in Embodiment 1, and therefore will not be described again in this embodiment. Each unit module can be implemented entirely or partially through software, hardware, or a combination thereof. Each unit module can be embedded in or independent of the processor in the computer device in hardware form, or it can be stored in the memory of the computer device in software form, so that the processor can call and execute the operations corresponding to the above unit modules.

[0095] Example 3

[0096] like Figure 8 The diagram illustrates a computer device disclosed in this embodiment, including a transmitter, a receiver, a memory, and a processor. The transmitter is used to send instructions and data, the receiver is used to receive instructions and data, the memory is used to store computer execution instructions, and the processor is used to execute the computer execution instructions stored in the memory to implement the method in Embodiment 1 above.

[0097] It is important to note that the aforementioned memory can be either standalone or integrated with the processor. When the memory is set up independently, the terminal device also includes a bus for connecting the memory and the processor.

[0098] Example 4

[0099] This embodiment discloses a computer-readable storage medium storing computer-executable instructions. When a processor executes the computer-executable instructions, it implements the method in Embodiment 1 above.

[0100] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0101] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0102] The embodiments described above are merely examples of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention.

Claims

1. A method for preventing angle misjudgment based on vortex electromagnetic waves, characterized in that, The method includes: Step 1: Using a circular array as the transmission source, the transmitted signal is modulated by orbital angular momentum mode to generate and transmit multiple modes of vortex electromagnetic waves to illuminate the target, and the echo signal corresponding to each orbital angular momentum mode is obtained. Step 2: Select at least three distinct dual-mode combinations from each orbital angular momentum mode, and process the echo signal corresponding to each combination using the mode comparison interferometry method to obtain the angle measurement value corresponding to each combination. Step 3: Calculate the error between any two sets of angle measurements, compare each error with a preset threshold, and determine whether there is any angle misjudgment. Step 4: If all errors are within the preset threshold, it is determined that there is no angle misjudgment, and the angle measurement value corresponding to a preset set of dual-mode combinations is output as the target angle measurement result; if there is an error exceeding the preset threshold, it is determined that there is an angle misjudgment, and the uninterrupted measurement value is filtered by the consistency and difference of each set of angle measurement values, and the target angle measurement result is output based on the filtering result. Step 1 also includes setting up a radiation source near the target. If the radiation source is misjudged at an angle relative to the target, the echo signal when this misjudgment occurs is represented as follows: ； In the formula, This indicates the echo signal when an angle misjudgment occurs; This represents the complex amplitude of the signal emitted by the first radiation source; Modes for angle measurement Additional phase terms introduced; This indicates the amplitude ratio between two radiation sources; Modes for angle measurement The phase term of the echo signal when there is an angle misjudgment; Represents the imaginary unit; This indicates the angle of deviation of the radiation source relative to the true azimuth of the target; Indicates phase difference; Indicates wave number; Represents the radius of the circular array; In step 2, three distinct dual-mode combinations are selected, and the echo signals corresponding to each combination are processed using the mode ratio interferometry method to obtain the angle measurement value corresponding to each combination. The expression is as follows: ； In the formula, Indicates bimodal combination Angle measurement value; Indicates bimodal combination Angle measurement value; Indicates bimodal combination Angle measurement value; Indicates the emission mode Echo signal when there is angle misjudgment; Indicates the emission mode Echo signal when there is angle misjudgment; Indicates the emission mode Echo signal when there is angle misjudgment; Indicates the emission mode Echo signal when there is angle misjudgment; Represents the complex conjugate operator; Indicates different emission modes; Indicates bimodal combination Angular offset; Indicates bimodal combination Angular offset; Indicates bimodal combination Angular offset; This represents the phase solver for complex signals.

2. The angle measurement method based on vortex electromagnetic waves to prevent angle misjudgment according to claim 1, characterized in that, In step 1, after phase term compensation is performed on the received echo signal, pulse compression processing is executed to extract the complex data of the target range cell as the echo signal, represented as: ； In the formula, Indicates the echo signal; Indicates the target's pitch angle; Indicates the target azimuth angle; Modes are used to represent angle measurements; This indicates the complex amplitude after echo processing; express Bessel function of order 1; Indicates intermediate variables; Mode representation and angle measurement Related echo phase terms.

3. The angle measurement method based on vortex electromagnetic waves to prevent angle misjudgment according to claim 1, characterized in that, In step 2, the expression for the angle offset corresponding to each combination is: 。 4. The angle measurement method based on vortex electromagnetic waves to prevent angle misjudgment according to any one of claims 1 to 3, characterized in that, In step 4, undisturbed measurement values ​​are filtered based on the consistency and difference of the angle measurements in each group. The target angle measurement results are then output based on the filtering results, including: The angle measurement values ​​are divided into at least two measurement subsets, each of which contains at least one angle measurement value; Calculate the angle measurement error within each measurement subset and between each measurement subset. Based on the comparison of the angle measurement error with a preset threshold, determine the consistency and difference of each measurement subset. Based on the results of consistency and difference assessment, select the measurement subsets or individual angle measurements that meet the criteria. If the filtering result is a single angle measurement value, it is directly output as the target angle measurement result; if the filtering result is multiple angle measurements, the average value is processed and then the target angle measurement result is output.

5. The angle measurement method based on vortex electromagnetic waves to prevent angle misjudgment according to claim 4, characterized in that, In step 4, when filtering undisturbed measurement values ​​based on the consistency and difference of each group of angle measurements, the following steps are also included: When there is no combination that meets the consistency requirements for the angle measurement values ​​of each group, at least two unused dual-mode combinations are selected from each orbital angular momentum mode. The echo signals corresponding to each unused dual-mode combination are processed by the mode comparison interferometry method to obtain the corresponding supplementary angle measurement values ​​for each group. The supplementary angle measurement value is compared with the angle measurement value. Based on the correlation obtained from the comparison, the measurement value that is not affected by angle misjudgment is selected as the target angle measurement result output.

6. An angle measurement device based on vortex electromagnetic waves to prevent angle misjudgment, characterized in that, The device employing the vortex electromagnetic wave-based anti-angle misjudgment angle measurement method according to any one of claims 1 to 5 includes: The echo signal acquisition module is used to modulate the transmitted signal into orbital angular momentum modes using a circular array as the transmission source, generate and transmit multiple modes of vortex electromagnetic waves to illuminate the target, and obtain the echo signal corresponding to each orbital angular momentum mode. The angle measurement calculation module is used to select at least three different dual-mode combinations from each orbital angular momentum mode, and process the echo signal corresponding to each combination using the mode comparison interferometry method to obtain the angle measurement value corresponding to each combination. The error calculation and judgment module is used to calculate the error between any two sets of angle measurement values, compare each error with a preset threshold, and determine whether there is an angle misjudgment. The result filtering and output module is used to determine that there is no angle misjudgment if all errors are within the preset threshold, and output the angle measurement value corresponding to a preset set of dual-mode combinations as the target angle measurement result; if there are errors exceeding the preset threshold, it is determined that there is angle misjudgment, and the measurement value that is not disturbed is filtered by the consistency and difference of each set of angle measurement values, and the target angle measurement result is output based on the filtering result.

7. A computer device, comprising a memory and a processor, characterized in that, The memory stores a computer program, and when the processor executes the computer program, it implements the steps of the angle measurement method based on vortex electromagnetic waves to prevent angle misjudgment as described in any one of claims 1 to 5.

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