Radar elevation multi-target resolution method, device, storage medium and computer program

Abstract

This disclosure relates to the field of radar detection technology, providing a radar elevation multi-target resolution method, device, storage medium, and computer program. The method includes: acquiring the target signal amplitude value and target amplitude ratio of a target track in an elevation and difference beam; determining the target elevation angle of the target track based on the target amplitude ratio; determining whether multiple targets exist within the beam containing the target track based on the target elevation angle; and outputting the number of elevation targets determined. By using radar based on digital multibeam synthesis technology, combined with sum-difference amplitude angle measurement technology, and utilizing the multibeam target echo characteristics, multi-target resolution within the beam is achieved, thereby improving the elevation resolution.

Description

Technical Field

[0001] This disclosure relates to the field of radar detection technology, and in particular to a radar elevation multi-target resolution method, device, storage medium, and computer program. Background Technology

[0002] In the development of modern radar technology, digital multibeam synthesis technology has been widely and deeply applied in the radar field due to its significant performance advantages. Compared with traditional single-beam detection radar, this technology demonstrates obvious superiority in key indicators such as detection accuracy, target resolution, and detection stability, laying a solid foundation for improving the effectiveness of radar systems. With the rapid development of UAV technology, low-altitude security defense faces new challenges, with low, slow, and small targets becoming the main targets of low-altitude defense radar detection. Especially when dealing with dense and complex targets such as UAV swarms, the resolution of radar systems is subject to higher requirements. In the radar resolution system, azimuth resolution can be improved by increasing the radar azimuth beamwidth, while range resolution can be enhanced by increasing the signal bandwidth. However, improving elevation resolution faces a unique dilemma, as its performance is greatly limited by the receiving beamwidth, making it difficult to achieve effective breakthroughs through traditional technical means.

[0003] Existing technologies face significant limitations in addressing the elevation resolution requirements for detecting UAV swarms. For single-beam angle-measuring radars, the elevation beamwidth is typically 10°, necessitating an elevation resolution at least twice the beamwidth, insufficient to meet the high-precision target discrimination needs of UAV swarms. While digital multibeam synthesized radars compress the elevation beamwidth to approximately 3°, achieving differentiation between targets at different altitudes through multibeam collaboration, their theoretical elevation resolution remains limited to around 5°. This is insufficient for closely spaced swarm targets, leading to target height ambiguity or even misjudgment. Therefore, within the framework of digital multibeam synthesis technology, overcoming the elevation resolution bottleneck has become a key technological challenge for improving radar performance in detecting UAV swarms. Summary of the Invention

[0004] This disclosure provides a radar elevation multi-target resolution method, device, storage medium, and computer program, based on digital multibeam synthesis radar technology, combined with sum-difference amplitude angle measurement technology and multibeam discrimination, to improve radar elevation resolution.

[0005] In a first aspect, this disclosure provides a radar elevation multi-target resolution method, comprising: acquiring the target signal amplitude value and target amplitude ratio of a target trace in an elevation and difference beam; determining the target elevation angle of the target trace based on the target amplitude ratio; determining whether there are multiple targets within the beam where the target trace is located based on the target elevation angle; and outputting the number of elevation targets determined.

[0006] In some embodiments, before acquiring the signal amplitude and amplitude ratio of the target point trace in the pitch and difference beams, the method further includes: selecting a reference channel among all channels; performing amplitude compensation and phase compensation on the channel data of the remaining channels other than the reference channel based on the channel data of the reference channel; acquiring the compensation data of each channel through the compensated channel data; and forming a sum beam and a difference beam in the pitch direction.

[0007] In some embodiments, forming sum and difference beams in the elevation direction includes: calculating the antenna pattern weight vector based on the characteristics of the array elements; calculating the pattern vector of the zero element at the location angle φ of the target point; calculating the combined pattern vector of all elements at the location angle φ of the target point; calculating the weighted pattern vector of the sum and difference beams based on the characteristics of the antenna; and calculating the beam data of the sum and difference beams using the sum-difference ratio amplitude.

[0008] In some embodiments, determining the target elevation angle of the target point based on the target amplitude ratio includes: obtaining a target elevation amplitude ratio table based on the antenna's operating frequency and beam pointing, the target elevation amplitude ratio table including a reference amplitude ratio and an elevation correction value; when the target amplitude ratio exceeds the upper limit of the target elevation amplitude ratio table, correcting the amplitude ratio of the target point by referencing the elevation correction value of the upper limit of the target elevation amplitude ratio table to obtain the target elevation angle of the target point; when the target amplitude ratio exceeds the lower limit of the target elevation amplitude ratio table, correcting the amplitude ratio of the target point by referencing the elevation correction value of the lower limit of the target elevation amplitude ratio table to obtain the target elevation angle of the target point; when the target amplitude ratio is between the upper and lower limits of the target elevation amplitude ratio table, correcting the amplitude ratio of the target point based on the position ratio of the target amplitude ratio between the upper and lower limits of the target elevation amplitude ratio table to obtain the target elevation angle of the target point.

[0009] In some embodiments, when the target pitch ratio is greater than 0, the pitch correction value is obtained from the upper half of the target pitch ratio table; when the target pitch ratio is less than 0, the pitch correction value is obtained from the lower half of the target pitch ratio table.

[0010] In some embodiments, determining whether multiple targets exist within the beam containing the target point based on the target pitch angle includes: acquiring a first point in a first cohesive pool; classifying the first point; writing the first point that meets the target threshold condition into a second cohesive pool; acquiring a second maximum point and a second large point in the second cohesive pool; if the second maximum point and the second large point do not meet the target size relationship condition, outputting the number of pitch targets as a single target; if the second maximum point and the second large point meet the target size relationship condition, writing the second maximum point and the second large point into a third cohesive pool, and performing beam discrimination on the points in the third cohesive pool.

[0011] In some embodiments, beam discrimination of the points in the third cohesive pool includes: acquiring the third maximum point and the third largest point in the third cohesive pool; if the difference between the beam numbers corresponding to the third maximum point and the third largest point exceeds a preset value, outputting the number of pitch targets as a single target; if the difference between the beam numbers corresponding to the third maximum point and the third largest point does not exceed a preset value, writing the third maximum point and the third largest point into the fourth cohesive pool; acquiring the fourth maximum point and the fourth second largest point in the fourth cohesive pool; if the fourth maximum point and the fourth second largest point belong to different beams and the beam elevation types are different, outputting the number of pitch targets as a single target; if the fourth maximum point and the fourth second largest point belong to the same beam, or if the fourth maximum point and the fourth largest point belong to different beams and the beam elevation types are different, outputting the number of pitch targets as a dual target.

[0012] In a second aspect, this disclosure provides a computer device including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the method described in the foregoing aspect.

[0013] Thirdly, this disclosure provides a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the steps of the method described above.

[0014] Fourthly, this disclosure provides a computer program product, including computer program instructions, which, when executed by a processor, implement the steps of the methods described above.

[0015] This disclosure provides a radar elevation multi-target resolution method, device, storage medium, and computer program. It determines the elevation angle of a target track based on the target signal amplitude and target ratio amplitude in the elevation and difference beams. Based on the elevation angle of the target track, it distinguishes multiple target tracks within the beam where the target track is located, thereby determining the number of targets. By using a radar based on digital multi-beam synthesis technology, combined with sum-difference amplitude angle measurement technology, and utilizing the multi-beam target echo characteristics, it achieves multi-target resolution within the beam, thereby improving elevation resolution. Attached Figure Description

[0016] The present disclosure will be described in more detail below based on embodiments and with reference to the accompanying drawings: Figure 1 A schematic flowchart illustrating a radar elevation multi-target resolution method provided in an embodiment of this disclosure; Figure 2 A schematic diagram of the sum and difference beamweighted pattern vectors provided in the embodiments of this disclosure; Figure 3 A schematic diagram showing the results of two sum-difference ratio magnitude calculation methods provided in the embodiments of this disclosure; Figure 4 A schematic diagram of the normalized results of two sum-difference ratio magnitude calculation methods provided in the embodiments of this disclosure; Figure 5 This is a schematic flowchart illustrating the radar elevation multi-target determination process provided in an embodiment of this disclosure.

[0017] In the accompanying drawings, the same parts are referred to by the same reference numerals, and the drawings are not drawn to scale. Detailed Implementation

[0018] To enable those skilled in the art to better understand the technical solutions of this disclosure, and to fully understand and implement the process of how this disclosure applies technical means to solve technical problems and achieve corresponding technical effects, the technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, not all embodiments. The embodiments of this disclosure and the various features within them can be combined with each other without conflict, and the resulting technical solutions are all within the protection scope of this disclosure. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without creative effort should fall within the protection scope of this disclosure.

[0019] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0020] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0021] Digital multibeam synthesis technology has been widely applied in radar detection. By simultaneously forming multiple independent beams, it significantly improves the system's detection accuracy, target resolution, and environmental adaptability, offering clear advantages over traditional single-beam radar. However, while widely used in radar, digital multibeam synthesis technology still suffers from insufficient elevation resolution when detecting low-altitude, slow-moving, and small targets such as drone swarms. For single-beam angle-measuring radars, the elevation beamwidth is typically 10°, requiring an elevation resolution of at least twice the beamwidth, which is insufficient to meet the high-precision resolution requirements of drone swarms. While digital multibeam synthesis radar compresses the elevation beam to approximately 3° and distinguishes targets at different altitudes through multibeam collaboration, its theoretical elevation resolution is still limited to around 5°. This is insufficient for closely spaced swarm targets, leading to target height ambiguity or even misjudgment. Therefore, improving the elevation resolution of radars based on this technology is crucial for detecting drone swarms.

[0022] Example 1 Figure 1 This is a flowchart illustrating a radar elevation multi-target resolution method provided in an embodiment of this disclosure. Figure 1 As shown, a radar elevation multi-target resolution method includes: Step 101: Obtain the target signal amplitude value and target ratio amplitude of the target point trace in the elevation and difference beam.

[0023] Specifically, differential amplitude comparison angle measurement is a classic radar angle measurement technique that quickly and accurately measures the azimuth or elevation angle of a target by comparing the amplitude difference between signals received from two or more overlapping beams. It features high precision, strong anti-interference capabilities, and real-time performance. The channel system of differential amplitude comparison angle measurement includes a sum channel and a difference channel; the sum channel provides the target range and reference amplitude; while the difference channel reflects the direction and magnitude of the target's deviation from the central axis. It should be noted that before implementing the radar elevation multi-target resolution method disclosed herein, amplitude and phase correction between channels needs to be completed to ensure a more accurate final radar elevation multi-target resolution result. The signal amplitude value and amplitude ratio in differential amplitude comparison angle measurement technology determine the accuracy, reliability, and anti-interference capability of the angle measurement; the signal amplitude value can serve as a normalization reference for the signal; the amplitude ratio can serve as a direct measure of angular offset.

[0024] In some embodiments, before obtaining the signal amplitude and amplitude ratio of the target point trace in the elevation and difference beams in step 101, the method further includes: under far-field conditions, an omnidirectional antenna transmits a known radio frequency signal, the antenna receives the signal, and acquires channel data of each channel through an AD converter; the data of each channel is analyzed to obtain the amplitude and phase difference values ​​of each channel; a reference channel is selected from all channels, and based on the channel data of the reference channel, amplitude compensation and phase compensation are performed on the channel data of the remaining channels other than the reference channel; the compensated data of each channel is obtained through the compensated channel data, and a sum beam and a difference beam are formed in the elevation direction.

[0025] Specifically, the sum beam is a beam formed by superimposing the signals from all antenna channels in phase, while the difference beam is a beam formed by subtracting the signals from the two groups of signals when the antenna array is divided into two groups. In some embodiments, forming the sum and difference beams in the elevation direction includes: calculating the antenna pattern weight vector based on the characteristics of the array elements; calculating the pattern vector of the zero element at the location angle φ of the target point; calculating the combined pattern vector of all elements at the location angle φ of the target point; calculating the weighted pattern vector of the sum and difference beams based on the characteristics of the antenna; and calculating the beam data of the sum and difference beams using the sum-difference ratio amplitude.

[0026] Specifically, the antenna pattern weight vector is calculated using the following formula. :

[0027] Where d is the element spacing and r is the wavelength; The range of values ​​is [- ].

[0028] The following formula is used to calculate the combined radiation pattern vector of all array elements at an angle φ to the location of the target point. :

[0029] Where d is the element spacing and r is the wavelength; The range of values ​​is [- ].

[0030] The following formula is used to calculate the combined radiation pattern vector of all array elements at an angle φ to the location of the target point. :

[0031] Where k is the number of array elements, and win(k) is the window function.

[0032] The weighted pattern vectors of the sum and difference beams are calculated based on the characteristics of the antenna, and the beam data of the sum and difference beams are calculated using the sum-difference ratio amplitude. In a specific embodiment, the weighted pattern vectors of the sum and difference beams obtained through MATLAB simulation are as follows: Figure 2 As shown, red represents the sum beam pattern and blue represents the difference beam pattern.

[0033] Furthermore, after obtaining the sum and difference beamweighted pattern vectors, the sum-difference ratio amplitude is calculated. The sum of the weighted values ​​of the lower half-element and the upper half-element yields the sum beam data. The difference between the weighted values ​​of the lower half of the array elements and the weighted values ​​of the upper half of the array elements yields the difference beam data. Assuming the target point detection result is The corresponding differential path data detection results are All are plural numbers.

[0034] In some specific embodiments, the amplitude AR and its symbol flag are calculated using method one:

[0035] +

[0036] flag=angle( )*180 /

[0037] In some other specific embodiments, the amplitude AR and its symbol flag are calculated using method two:

[0038]

[0039] In a specific embodiment, for the same set of data, the results of the amplitude ratio and its sign calculated using Method 1 and Method 2 respectively are as follows: Figure 3 As shown. When the calculation results of Method 1 and Method 2 are normalized, i.e., the amplitude angle value is positive and recorded as -1, and the angle value is negative and recorded as +1, the normalized result is as follows. Figure 4 As shown.

[0040] Step 102: Determine the target pitch angle of the target point based on the target amplitude.

[0041] Specifically, the elevation resolution of a radar is closely related to its beamwidth, but ultimately it requires precise elevation angle measurement to achieve resolution. The accuracy of the elevation angle determination directly determines whether the radar can overcome the physical limitations of beamwidth and achieve higher resolution multi-target resolution. In some embodiments, determining the target elevation angle of the target point based on the target amplitude ratio includes: obtaining a target elevation amplitude ratio table based on the antenna's operating frequency and beam pointing, the target elevation amplitude ratio table including a reference amplitude ratio and an elevation correction value; when the target amplitude ratio exceeds the upper limit of the target elevation amplitude ratio table, correcting the amplitude ratio of the target point by referencing the elevation correction value of the upper limit of the target elevation amplitude ratio table to obtain the target elevation angle of the target point; when the target amplitude ratio exceeds the lower limit of the target elevation amplitude ratio table, correcting the amplitude ratio of the target point by referencing the elevation correction value of the lower limit of the target elevation amplitude ratio table to obtain the target elevation angle of the target point; when the target amplitude ratio is between the upper and lower limits of the target elevation amplitude ratio table, correcting the amplitude ratio of the target point based on the position ratio of the target amplitude ratio between the upper and lower limits of the target elevation amplitude ratio table to obtain the target elevation angle of the target point.

[0042] Specifically, the amplitude comparison table contains different amplitude comparison values ​​and their corresponding pitch correction values. If the target point's pitch amplitude comparison exceeds the upper limit of the table, the pitch angle is directly corrected using the data from the upper limit of the table; conversely, if the target point's pitch amplitude comparison exceeds the lower limit of the table, the pitch angle is directly corrected using the data from the lower limit of the table; if the target point's pitch amplitude comparison is within the range of the table, the amplitude and azimuth values ​​are precisely corrected proportionally based on the nearest upper and lower limits within the table. It should be noted that the purpose of calculating the pitch angle is to determine which beam the target point belongs to, facilitating subsequent target resolution and the calculation of the target point's angle and altitude.

[0043] In some embodiments, the method further includes: if the target pitch ratio is greater than 0, obtaining the pitch correction value in the upper half of the target pitch ratio table; and if the target pitch ratio is less than 0, obtaining the pitch correction value in the lower half of the target pitch ratio table.

[0044] In some embodiments, the pitch angle is obtained by multiplying the beam number by the corresponding angle coefficient.

[0045] Step 103: Based on the target elevation angle, determine whether there are multiple targets within the beam where the target point is located.

[0046] Step 104: Output the number of pitch target determinations.

[0047] Specifically, when determining whether multiple targets exist within the beam containing the target point, the point is conditionally judged and then sequentially placed into different coagulation cells for discrimination until the number of targets is determined. The admission conditions for different coagulation cells are different.

[0048] In some embodiments, determining whether multiple targets exist within the beam containing the target point based on the target pitch angle includes: acquiring a first point in a first cohesive pool; classifying the first point; writing the first point that meets the target threshold condition into a second cohesive pool; acquiring a second maximum point and a second large point in the second cohesive pool; if the second maximum point and the second large point do not meet the target size relationship condition, outputting the number of pitch targets as a single target; if the second maximum point and the second large point meet the target size relationship condition, writing the second maximum point and the second large point into a third cohesive pool, and performing beam discrimination on the points in the third cohesive pool.

[0049] In some embodiments, beam discrimination of the points in the third cohesive pool includes: acquiring the third maximum point and the third largest point in the third cohesive pool; if the difference between the beam numbers corresponding to the third maximum point and the third largest point exceeds a preset value, outputting the number of pitch targets as a single target; if the difference between the beam numbers corresponding to the third maximum point and the third largest point does not exceed a preset value, writing the third maximum point and the third largest point into the fourth cohesive pool; acquiring the fourth maximum point and the fourth second largest point in the fourth cohesive pool; if the fourth maximum point and the fourth second largest point belong to different beams and the beam elevation types are different, outputting the number of pitch targets as a single target; if the fourth maximum point and the fourth second largest point belong to the same beam, or if the fourth maximum point and the fourth largest point belong to different beams and the beam elevation types are different, outputting the number of pitch targets as a dual target.

[0050] Specifically, such as Figure 5 As shown, determining whether there are multiple targets within the beam containing the target point, based on the target's elevation angle, specifically includes the following steps: In step 501, the spot data in the first coagulation tank is judged.

[0051] In step 502, if the amplitude A of the target point data is greater than the threshold TH1 and the amplitude AR is less than the threshold TH2, then the main beam discrimination condition is met, and the process jumps to step 503; otherwise, other point data are selected as the target point data, and the process jumps to step 501.

[0052] In step 503, the target point data is written into the second agglomeration tank.

[0053] In step 504, the trace with the largest trace value in the same frame of the second coagulation pool is denoted as A1, and the trace with the second largest trace value is denoted as A2; traces A1 and A2 are then distinguished.

[0054] In step 505, it is determined whether A1 and A2 satisfy A1>A2>A1*x, where x is an adaptive adjustment coefficient and x is related to distance and beam spacing; if satisfied, proceed to step 506; otherwise, proceed to step 513.

[0055] In step 506, since there are bimodal peaks in the current frame and there may be multiple targets, spot A1 and spot A2 are placed into the third coagulation pool.

[0056] In step 507, the spot data in the third coagulation tank is judged.

[0057] In step 508, determine whether the difference between the beam numbers of spot A1 and spot A2 is B_NUM>1; if not, proceed to step 509; if yes, proceed to step 513.

[0058] In step 509, the spot data of spot A1 and spot A2 are written into the fourth coagulation pool.

[0059] In step 510, the spot data in the fourth coagulation tank is judged.

[0060] In step 511, it is determined whether the sum-difference ratio amplitude of traces A1 and A2 satisfies conditions A and B; if both conditions are met, the process jumps to step 513; otherwise, the process jumps to step 512; where condition A: high beam AR1>0; condition B: low beam AR2<0.

[0061] In step 512, the output of the number of pitch targets is two targets.

[0062] In step 513, the output of the number of pitch target determination results is a single target.

[0063] It should be noted that the form and content of the spot data remain unchanged during the process of placing the above-mentioned spots in different agglomeration tanks.

[0064] In a specific embodiment, it is assumed that the beam number of point A1 is 3, which is a high beam; the beam number of point A2 is 2, which is a low beam; when the high beam AR1>0 and the low beam AR2<0, it means that there is only one target; otherwise, it means that there are two targets, and the main beams corresponding to point A1 and point A2 are 3 and 2, respectively.

[0065] This disclosure provides a radar elevation multi-target resolution method, device, storage medium, and computer program. It determines the elevation angle of a target track based on the target signal amplitude and target ratio amplitude in the elevation and difference beams. Based on the elevation angle of the target track, it distinguishes multiple target tracks within the beam where the target track is located, thereby determining the number of targets. By using a radar based on digital multibeam synthesis technology, combined with sum-difference amplitude angle measurement technology, it utilizes the target echo characteristics of multibeams to achieve multi-target resolution within a beam. The sum-difference amplitude ratio can distinguish multiple targets in adjacent beams, increasing the elevation resolution of the radar based on digital beam synthesis to one beamwidth. Through the sum-difference amplitude ratio, finer distinctions can be achieved within the same beam, making the elevation resolution equal to the beamwidth. Traditional methods require two beam intervals, meaning the resolution is twice the beamwidth. Compared to methods relying solely on multibeam resolution, this disclosure doubles the resolution capability.

[0066] Example 2 Based on the above embodiments, this embodiment provides a computer device, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the method described in the above embodiments.

[0067] In some embodiments of this example, a computer-readable storage medium is provided, on which a computer program is stored, which, when executed by a processor, implements the steps of the method described in the above embodiments.

[0068] In some embodiments of this example, a computer program product is provided, including computer program instructions, which, when executed by a processor, implement the steps of the method described in the above embodiments.

[0069] The processor may include, but is not limited to, one or more processors or microprocessors. Each processor may be implemented as an Application Specific Integrated Circuit (ASIC), Digital Signal Processor (DSP), Digital Signal Processing Device (DSPD), Programmable Logic Device (PLD), Field Programmable Gate Array (FPGA), controller, microcontroller, microprocessor, or other electronic component, for executing the methods described in the above embodiments. Computer-readable storage media can be implemented by any type of volatile or non-volatile storage device or a combination thereof. Computer-readable storage media can include, but are not limited to, random access memory (RAM), read-only memory (ROM), flash memory, EPROM memory, EEPROM memory, registers, and computer storage media (e.g., hard disks, floppy disks, solid-state drives, removable disks, CDs). ROM, DVD ROM, Blu-ray discs, etc.

[0070] Computer-readable storage media may also store at least one computer-executable program instruction, such as computer-readable instructions. Computer-readable storage media include, but are not limited to, volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and / or cache memory. Computer-readable storage media may include, for example, read-only memory (ROM), hard disk, flash memory, etc. For example, a non-transitory computer-readable storage medium may be connected to a computing device such as a computer, and then, when the computing device executes the computer-readable instructions stored on the computer-readable storage medium, the various methods described above can be performed.

[0071] In addition, the computer device may include (but is not limited to) a data bus, an input / output (I / O) bus, a display, and input / output devices (e.g., keyboard, mouse, speakers, etc.).

[0072] The processor can communicate with external devices via the I / O bus through wired or wireless networks.

[0073] In one embodiment, the at least one computer-executable instruction may also be compiled into or comprise a software product / computer program product, wherein one or more computer-executable instructions are executed by a processor to perform the steps of the various functions and / or methods in the embodiments described herein.

[0074] In the embodiments provided in this disclosure, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative; for example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0075] It should be noted that, in this disclosure, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element limited by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0076] While the embodiments disclosed herein are as described above, the foregoing content is merely for the purpose of facilitating understanding of this disclosure and is not intended to limit this disclosure. Any person skilled in the art to which this disclosure pertains may make any modifications and changes in form and detail of the implementation without departing from the spirit and scope of this disclosure; however, the scope of patent protection of this disclosure shall still be determined by the scope defined in the appended claims.

Claims

1. A radar elevation multi-target resolution method, characterized in that, include: Acquire the target signal amplitude and target ratio of the target point trace in the elevation and difference beams; Based on the target amplitude ratio, determine the target pitch angle of the target point; Based on the target elevation angle, determine whether there are multiple targets within the beam containing the target point; Output the number of pitch target determination results.

2. The method according to claim 1, characterized in that, Before acquiring the signal amplitude and amplitude ratio of the target point trace in the pitch and difference beams, the method further includes: A reference channel is selected from all channels, and amplitude compensation and phase compensation are performed on the channel data of the remaining channels other than the reference channel based on the channel data of the reference channel. Compensated data for each channel is obtained by using the compensated channel data, and sum and difference beams are formed in the pitch direction.

3. The method according to claim 2, characterized in that, The formation of sum and difference beams in the pitch direction includes: Calculate the antenna pattern weight vector based on the characteristics of the array elements; Calculate the orientation vector of the zero element of the array at an angle of φ where the target point is located; Calculate the combined radiation pattern vector of all array elements whose positions are at angles φ of the target point trace; The weighted pattern vectors of the sum and difference beams are calculated based on the characteristics of the antenna, and the beam data of the sum and difference beams are calculated using the sum-difference ratio amplitude.

4. The method according to claim 1, characterized in that, Determining the target pitch angle of the target point based on the target amplitude ratio includes: Based on the antenna's operating frequency and beam direction, a target elevation ratio amplitude table is obtained, which includes a reference ratio amplitude and an elevation correction value. If the target amplitude exceeds the upper limit of the target pitch amplitude table, the amplitude of the target point is corrected by referencing the pitch correction value of the upper limit of the target pitch amplitude table to obtain the target pitch angle of the target point. If the target amplitude exceeds the lower bound of the target pitch amplitude table, the amplitude of the target point is corrected by referencing the pitch correction value of the lower bound of the target pitch amplitude table to obtain the target pitch angle of the target point. When the target amplitude ratio is located between the upper and lower boundaries of the target pitch amplitude ratio table, the amplitude ratio of the target point is corrected according to the position ratio of the target amplitude ratio between the upper and lower boundaries of the target pitch amplitude ratio table to obtain the target pitch angle of the target point.

5. The method according to claim 4, characterized in that, The method further includes: If the target pitch ratio is greater than 0, the pitch correction value is obtained from the upper half of the target pitch ratio table. If the target pitch ratio is less than 0, the pitch correction value is obtained from the lower half of the target pitch ratio table.

6. The method according to claim 5, characterized in that, The step of determining whether there are multiple targets within the beam containing the target point based on the target elevation angle includes: Obtain the first point trace in the first coagulation pool, judge the first point trace, and write the first point trace that meets the target threshold condition into the second coagulation pool; Obtain the second maximum value point and the second largest value point in the second coagulation pool; If the second maximum value point and the second large value point do not meet the target size relationship condition, the output of the number of pitch targets is a single target; If the second maximum value point and the second maximum value point satisfy the target size relationship condition, the second maximum value point and the second maximum value point are written into the third coagulation cell, and beam discrimination is performed on the points in the third coagulation cell.

7. The method according to claim 6, characterized in that, The beam discrimination of the dots in the third condensation cell includes: Obtain the third maximum value point and the third largest value point in the third coagulation pool; If the difference between the beam number corresponding to the third maximum value point and the third maximum value point exceeds a preset value, the output elevation target determination result is a single target. If the difference between the beam number corresponding to the third maximum value point and the third maximum value point does not exceed a preset value, the third maximum value point and the third maximum value point are written into the fourth coagulation cell. Obtain the fourth maximum value point and the fourth second maximum value point in the fourth coagulation pool; When the fourth maximum value point and the fourth second maximum value point belong to different beams and the beams have different elevation types, the output elevation target determination result is a single target. If the fourth maximum value point and the fourth second maximum value point belong to the same beam, or if the fourth maximum value point and the fourth second maximum value point belong to different beams and the beam elevation types are different, the output elevation target determination result is two targets.

8. A computer device, comprising a memory, a processor, and a computer program stored in the memory, characterized in that, The processor executes the computer program to implement the steps of the method according to any one of claims 1 to 7.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the steps of the method according to any one of claims 1 to 7.

10. A computer program product comprising computer program instructions, characterized in that, When executed by a processor, the computer program implements the steps of the method according to any one of claims 1 to 7.

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