CN103728614A - Mechanical scanning meter wave radar based method for improving single pulse angle measurement - Google Patents

Mechanical scanning meter wave radar based method for improving single pulse angle measurement Download PDF

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CN103728614A
CN103728614A CN201410017227.7A CN201410017227A CN103728614A CN 103728614 A CN103728614 A CN 103728614A CN 201410017227 A CN201410017227 A CN 201410017227A CN 103728614 A CN103728614 A CN 103728614A
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gust
data
angle
target
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CN103728614B (en
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赵永波
高炎
水鹏朗
刘宏伟
程增飞
冯大政
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Xidian University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target

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Abstract

The invention discloses a mechanical scanning meter wave radar based angle measurement method which mainly aims at solving the problem that the angle measurement of a mechanical scanning meter wave radar is low in accuracy by the traditional single pulse method. The mechanical scanning meter wave radar based method comprises step 1, dividing an antenna into two sub-matrixes equally and transmitting pulse signals; step 2, performing coherent accumulation on received echo signals and obtaining data after the accumulation; step 3, performing DET (Discrete Fourier Transformation) calculation on the data after the accumulation; step 4, finding out a point in a doppler channel, reserving M points on the left side and the right side of the point and setting rest points to be 0, wherein the point is corresponding to the doppler frequency; step 5, performing IDFT (Inverse Discrete Fourier Transform) calculation on the data which are set to be 0; step 6, obtaining a sum beam and a difference beam according to obtained two groups of data after the IDFT calculation; step 7, performing the sum and difference beam single pulse angle measurement on the sum beam and the difference beam to obtain an off-axis angle of a target; step 8, adding the off-axis angle to a reference angle to obtain the accurate angle of the target. According to the mechanical scanning meter wave radar based method for improving the single pulse angle measurement, the accuracy of the angle measurement is high, a plurality of targets can be distinguished, and the mechanical scanning meter wave radar based method can be applied to the target accurate positioning and multi-target detection of the mechanical scanning meter wave radar.

Description

Based on machine, sweep the improvement monopulse angle-measuring method of metre wave radar
Technical field
The invention belongs to Radar Technology field, particularly metre wave radar angle-measuring method, can be used in mechanical scanning radar when single target or a plurality of target exist simultaneously target to carry out monopulse angle measurement.
Background technology
Metre wave radar is because signal attenuation is little, and detection range is far away, at aspects such as over-the-horizon detection, anti-electronic interferences, has unique advantage, but simultaneously because the wavelength of metre wave radar is longer, wave beam is wider, makes its angle-resolved rate variance, and angle measurement accuracy is low.Mechanical scanning radar is because cost is low, realizes the factor such as simple always by people's widespread use.Mechanic scan radar angle-measuring method generally adopts maximum-signal method, but the precision of this method is poor, especially for machine, sweeps metre wave radar.Its electric size is less, and wave beam is wider, and maximum-signal method angle measurement accuracy is not high.In order to improve angle measurement accuracy, can adopt monopulse angle measurement technique.
Zhang Guangyi academician has provided monopulse angle-measuring method in " phased-array radar principle [M], Beijing: National Defense Industry Press, 1994 " book.Monopulse angle-measuring method refers to a class angle-measuring method that utilizes the echoed signal of individual pulse just can measure target actual position.At machine, sweep and in metre wave radar, utilize the accurate location that obtains target that width phase and difference beam single pulse method can be very fast.Width phase and difference beam single pulse method refer to each pulse echo that radar is received after treatment, obtain each pulse with wave beam and difference beam, by calculating poor and ratio, the off-axis angle of known each the pulse target of tabling look-up.Add the reference angle of antenna, just obtain the angle on target that individual pulse records, it is exactly the actual position of target that the angle that all pulses are recorded is averaged.
Due to width phase and difference beam single pulse method realization convenience, calculated amount is little, and angle measurement accuracy is high, and tool has great advantage in actual applications.But be subject to machine to sweep the impact of the shortcomings such as metre wave radar wave beam is wider, central beam misalignment target, although width phase and difference beam monopulse angle-measuring method precision are higher than maximum-signal method, but its angle measurement accuracy is affected by noise very large, precision needs further to improve, especially in same beam angle, exist in multiobject situation, its angle measurement accuracy is still very low, thereby affects the accuracy of the resolving power of radar and detection, tracking target.
Summary of the invention
The object of the invention is the shortcoming for above-mentioned existing width phase and difference beam monopulse angle-measuring method, propose a kind of improvement monopulse angle-measuring method of sweeping metre wave radar based on machine, to reduce the impact of noise on signal, reduce angle error, improve angle measurement accuracy.
The present invention is achieved in that for achieving the above object
One, technical scheme
Machine is swept to the antenna surface that antenna equivalence becomes to be comprised of two submatrixs, in antenna scanning process, the echoed signal receiving is carried out to Subarray processing, utilize discrete Fourier transformation DFT that two paths of signals is transformed in Doppler's passage, the noise effect of secondary lobe is got rid of, then it is carried out to inverse discrete Fourier transform IDFT, data formation and difference beam to obtaining after processing, utilize width phase and difference beam monopulse algorithm to measure the off-axis angle of target, obtains target actual position after adding reference angle.
Two, performing step
The improvement monopulse angle-measuring method of sweeping metre wave radar based on machine, comprises the steps:
(1) machine is swept to antenna and be equivalent to the antenna array being comprised of N array element, antenna array is divided into two submatrixs in left and right, each submatrix array number is N/2, and N is more than or equal to 4 even number;
(2) measurable angle range-90 °～90 ° are divided into a ripple position at interval of 10 °, for any one ripple position, by N/2 the array element on half gust, a left side, are obtained the synthetic wave beam B in half gust, a left side of this ripple position l, by N/2 the array element on half gust, the right side, obtained the synthetic wave beam B in half gust, the right side of this ripple position r, by these two synthetic wave beam B land B robtain the mirror angular curve of this ripple position, preserve the data of the mirror angular curve of all ripples position, angular curve table obtains reflecting;
(3) mechanic scan radar, when antenna scanning is worked, at interval of a pulse of 0.5 ° of transmitting, is launched L pulse altogether in a beam angle, and in the time of will launching i pulse, the angle of center of antenna normal and horizontal reference plane is as reference angle , i=1,2 ..., L;
(4) echoed signal of the L pulse of launching by N array element receiving radar: X=AS+n, wherein:
A=[a (θ 1) ... a (θ i) ..., a (θ l)] represent that array element receives the target phase information that signal comprises, wherein a (θ i)=[1, exp (j2 π 1d/ λ sin θ i) ..., exp (j2 π (N-1) d/ λ sin θ i)] tbe the off-axis angle vector of i pulse, i=1,2 ..., L; θ irepresent that target, with respect to the angle between antenna normal, is called off-axis angle; Exp represents to take the exponential depth that e is the end, and j represents imaginary unit, and d represents array element distance, λ representation signal wavelength, [] tthe non-conjugated transposition that represents vector;
S=[S 1... S i..., S l] trepresent that array element receives the complex envelope of signal, S ithe complex envelope information that represents i pulse signal
Figure BDA0000457134850000032
, f wherein dthe Doppler frequency that represents target,
Figure BDA0000457134850000031
v represents the radial velocity of the relative radar of target, f 0the centre frequency that represents radar emission signal, c represents the light velocity, the t indicating impulse repetition period;
N represents N * L rank white Gaussian noise matrix that average is 0, variance is 1;
(5) the echoed signal X receiving is carried out respectively to Subarray coherent accumulation by half gust of left and right, to capable summation of front N/2 corresponding in echo signal data X, obtain the data T after left half gust of coherent accumulation 1, to capable summation of rear N/2 corresponding in echo signal data X, obtain the data T after right half gust of coherent accumulation 2;
(6) to the data T after the coherent accumulation of half gust, a left side 1with the data T after the coherent accumulation of half gust, the right side 2carry out respectively leaf transformation DFT computing in L point discrete Fourier, obtain the data Q after left half gust of discrete Fourier transformation 1with the data Q after the discrete Fourier transformation of half gust, the right side 2;
(7) the L point data Q after the discrete Fourier transformation of half gust, a left side respectively 1with the L point data Q after the discrete Fourier transformation of half gust, the right side 2in, find target Doppler frequency f dcorresponding some K:K=[f d* t * L]+1, and M some data of the right and left of ordering at K reservation, remaining point is all set to 0, obtains the data Y after half gust, a left side sets to 0 1data Y after setting to 0 with half gust, the right side 2, 1≤M≤L wherein, [] represents round computing;
(8) data Y after respectively half gust, a left side being set to 0 1data Y after setting to 0 with half gust, the right side 2carry out inverse discrete Fourier transform IDFT computing, obtain the data Z after left half gust of inverse discrete Fourier transform 1with the data Z after the inverse discrete Fourier transform of half gust, the right side 2;
(9) by described Z 1and Z 2obtain and wave beam P Σwith difference beam P Δfor: P Σ=Z 1+ Z 2, P Δ=Z 1-Z 2; Utilize described and wave beam P Σwith difference beam P Δdiffered from and compared
Figure BDA0000457134850000041
by differing from and obtaining the target off-axis angle θ of i pulse than the value of P by looking into mirror angular curve table i, wherein imag () represents to get imaginary-part operation;
(10) by the target off-axis angle θ of i pulse ireference angle with i pulse
Figure BDA0000457134850000043
be added, obtain the take measurement of an angle ψ of i pulse to target i, i=1,2 ... L;
(11) to the L being obtained by step (10) the ψ that takes measurement of an angle ibe averaged, obtain the accurate angle Φ of target,
Φ = 1 L Σ i = 1 L Ψ i .
The present invention compared with prior art has following advantage:
1) the present invention, owing to having carried out DFT computing to receiving data, is equivalent to signal to carry out coherent accumulation, and the secondary lobe after DFT is set to 0, and has reduced the impact on signal of noise that secondary lobe receives, has improved signal to noise ratio (S/N ratio) and angle measurement accuracy.
2) the present invention carries out DFT computing to receiving data, data are transformed in Doppler's passage, because Doppler's passage can extract the doppler information of unlike signal, therefore the present invention can carry out angle measurement to a plurality of targets in a beam angle simultaneously, with respect to traditional width phase monopulse angle-measuring method, there is better robustness.
Accompanying drawing explanation
Fig. 1 is realization flow figure of the present invention;
Fig. 2 be traditional width phase monopulse angle-measuring method with difference beam curve;
Fig. 3 is the mirror angular curve of traditional width phase monopulse angle-measuring method;
Fig. 4 adopts the inventive method a target to be carried out to the root-mean-square error correlation curve of angle measurement with traditional width phase single pulse method;
Fig. 5 is the root-mean-square error correlation curve that adopts the inventive method and traditional width phase single pulse method, when a plurality of target, a target is carried out to angle measurement.
Embodiment
With reference to Fig. 1, specific embodiment of the invention step is as follows:
Step 1, is equivalent to the antenna of mechanic scan radar the array antenna being comprised of array element.
The uniform line-array that 1a) the antenna equivalence of mechanic scan radar is become to be comprised of N array element, the array element distance d between any two adjacent array elements is all equal, and half of the wavelength X transmitting for metre wave radar, d=λ/2;
1b) antenna array is divided into two submatrixs in left and right, each submatrix array element number is N/2, and N is more than or equal to 4 even number.
Step 2, arranges mirror angular curve table.
2a) measurable angle range-90 °～90 ° are divided into a ripple position at interval of 10 °;
2b) for any one ripple position, by N/2 the array element on half gust, a left side, obtained the synthetic wave beam B in half gust, a left side of this ripple position l, by N/2 the array element on half gust, the right side, obtained the synthetic wave beam B in half gust, the right side of this ripple position r;
2c) by the synthetic wave beam B in half gust, a left side of any one ripple position lwith the synthetic wave beam B in half gust, the right side r, obtain respectively half gust of left and right and the wave beam B of this ripple position Σwith half gust of left and right difference beam B Δ:
B Σ=B l+B r，
B Δ=B l-B r；
2d) according to half gust of left and right difference beam B Δwith half gust of left and right and wave beam B Σ, calculate difference and the ratio of this ripple position:
Figure BDA0000457134850000051
wherein imag () represents to get imaginary-part operation;
2e) take the angular range of this ripple position is horizontal ordinate, and it is poor and than being ordinate, by difference corresponding to this ripple position measurable angle range with than the mirror angular curve that draws this ripple position to take;
2f) repeating step 2a) to 2e), obtain the mirror angular curve of all ripples position, and the data of preserving all mirror angular curves, angular curve table obtains reflecting.
Step 3, mechanic scan radar be take surface level as with reference to 0 ° of angle, when mechanic scan radar is worked in antenna scanning, at interval of a pulse of 0.5 ° of transmitting, in a beam angle, launch altogether L pulse, in the time of will launching i pulse, the angle of center of antenna normal and horizontal reference plane is as reference angle
Figure BDA0000457134850000052
i=1,2 ..., L.
Step 4, by the echoed signal of L pulse described in radar receiver receiving step 3.
4a) utilize the mechanic scan radar antenna described in step 1, receive the echoed signal of i pulse, obtain its off-axis angle vector a (θ i): a (θ i)=[1, ex p(j2 π 1d/ λ sin θ i) ..., ex p(j2 π (N-1) d/ λ sin θ i)] t, i=1,2 ..., L, wherein θ irepresent that target, with respect to the angle between antenna normal, is called off-axis angle; Ex pthe exponential depth that e is the end is take in expression, and j represents imaginary unit, and d represents array element distance, λ representation signal wavelength, [] tthe non-conjugated transposition that represents vector; By the echoed signal of L pulse, obtain the matrix A that comprises target phase information: A=[a (θ 1) ... a (θ i) ..., a (θ l)];
4b) by target with respect to the radial velocity V of radar and the centre frequency f of radar emission signal 0, obtain the Doppler frequency of target
Figure BDA0000457134850000061
wherein c represents the light velocity;
4c) by step 4b) in Doppler frequency f dand the pulse repetition time t of radar transmitted pulse, obtain the complex envelope information S=[S of i pulse signal 1... S i..., S l] t, wherein
Figure BDA0000457134850000062
4d) produce at random N * L rank white Gaussian noise matrix n that a class mean is 0, variance is 1;
4e) according to above-mentioned steps 4a) to step 4d) parameter, obtain the expression of echoed signal X: X=AS+n, this formula is N * L rank matrixes.
Step 5, carries out Subarray coherent accumulation to the echoed signal X receiving.
5a), to left half gust of corresponding capable summation of front N/2 in echoed signal X, obtain the data T after left half gust of coherent accumulation 1, T 1be 1 * L rank matrixes;
5b), to right half gust of corresponding capable summation of rear N/2 in echoed signal X, obtain the data T after right half gust of coherent accumulation 2, T 2be 1 * L rank matrixes.
Step 6, respectively to the data T after half gust, the left side coherent accumulation being obtained by step 5 1with the data T after the coherent accumulation of half gust, the right side 2carry out L point DFT computing, obtain the data Q after left half gust of discrete Fourier transformation 1=[Q 1(0) ..., Q 1(l) ... Q 1(L-1) the data Q] and after right half gust of discrete Fourier transformation 2=[Q 2(0) ..., Q 2(l) ... Q 2(L-1)], wherein Q g ( l ) = DFT [ T g ( m ) ] = Σ m = 0 L - 1 T g ( m ) e - j 2 π L lm , T in formula g(m) represent the data before DFT, Q g(l) represent the data after DFT, g=1,2,0≤m≤L-1,0≤l≤L-1.
Step 7, sets to 0 processing to the data after discrete Fourier transformation.
7a) the L point data Q after the discrete Fourier transformation of half gust, a left side respectively 1with the L point data Q after the discrete Fourier transformation of half gust, the right side 2in, find target Doppler frequency f dcorresponding some K, the computing formula of its mid point K is K=[f d* t * L]+1; [] represents round computing, t indicating impulse repetition period, L indicating impulse number;
7b) take a K as benchmark, the data Q after the discrete Fourier transformation of half gust, a left side 1with the data Q after the discrete Fourier transformation of half gust, the right side 2in about K point retain the data of M point, remaining is put and is all set to 0, the data Y after half gust, the left side that obtains sets to 0 1data Y after setting to 0 with half gust, the right side 2.
Step 8, the data Y after respectively half gust, a left side being set to 0 1data Y after setting to 0 with half gust, the right side 2carry out L point inverse discrete Fourier transform IDFT computing, obtain the data Z after left half gust of inverse discrete Fourier transform 1=[Z 1(0) ..., Z 1(m) ..., Z 1(L-1) the data Z] and after right half gust of inverse discrete Fourier transform 2=[Z 2(0) ..., Z 2(m) ..., Z 2(L-1)] Z g ( m ) = IDFT [ Y g ( l ) ] = 1 L Σ l = 0 L - 1 Y g ( l ) e j 2 π L lm , Y in formula g(l) represent IDFT data before, Z g(m) represent IDFT data afterwards, g=1,2,0≤m≤L-1,0≤l≤L-1.
Step 9, carries out and the angle measurement of difference beam monopulse the data after IDFT.
9a) by the data Z after the inverse discrete Fourier transform of half gust, a left side 1with the data Z after the inverse discrete Fourier transform of half gust, the right side 2, obtain and wave beam P Σwith difference beam P Δ:
P Σ=Z 1+Z 2，
P Δ=Z 1-Z 2；
9b) utilization and wave beam P Σwith difference beam P Δ, calculate poor and ratio
Figure BDA0000457134850000081
by the mirror angular curve table that differs from and obtain by query steps 2 than the value of P, obtain the target off-axis angle θ of i pulse i, i=1,2 ..., L, wherein imag () represents to get imaginary-part operation.
Step 10, according to the target off-axis angle θ of i pulse ireference angle with i pulse obtain i pulse taking measurement of an angle to target:
Figure BDA0000457134850000083
i=1,2 ... L.
Step 11, by the L obtaining the ψ that takes measurement of an angle ibe averaged, obtain accurate target location Φ:
Φ = 1 L Σ i = 1 L Ψ i .
Effect of the present invention can be verified by following Computer Simulation:
One, simulated conditions
Simulated conditions 1: suppose the antenna surface that antenna is comprised of 8 array elements, be divided into two submatrixs, 4 array elements of each submatrix, the beam angle of antenna is about 12 °, antenna is rotated scanning with the speed of 10s/r, and radar is every a pulse that frequency is 300MHz of 10ms transmitting, and antenna receives 25 pulse signals at every turn, center of antenna normal does not aim at the mark, center of antenna 4 pulses that depart from objectives; Suppose to have a target, the true angle of target is 10 °, and the radial velocity of the relative radar of target is 50m/s, and the Doppler frequency of target is 100Hz; Get-10dB of signal to noise ratio (S/N ratio) is to 10dB.
Simulated conditions 2: suppose the antenna surface of antenna for being formed by 8 array elements, be divided into two submatrixs, 4 array elements of each submatrix.The beam angle of antenna is about 12 °, and antenna is with 10 sthe speed of/r is rotated scanning, and radar is every 10m slaunch a pulse that frequency is 300MHz, antenna receives 25 pulse signals at every turn, and center of antenna normal does not aim at the mark, center of antenna 4 pulses that depart from objectives; Suppose to exist two targets, and the true angle of first aim is 10 °, the true angle of second target is 18 °, and the radial velocity of the relative radar of first aim is 50m/s, and Doppler frequency is 100Hz; The radial velocity of the relative radar of second target is 250m/s, and Doppler frequency is 500Hz; Get-10dB of signal to noise ratio (S/N ratio) is to 20dB.
Two, emulation content
Emulation 1, utilize that simulated conditions 1 produces respectively traditional monopulse angle-measuring method with difference beam curve and mirror angular curve, respectively as shown in Figures 2 and 3, wherein Fig. 2 horizontal ordinate is angle, ordinate is amplitude; Fig. 3 horizontal ordinate is angle, and ordinate is poor and ratio.
As seen from Figure 2, when antenna centre normal aims at the mark, echoed signal with wave beam amplitude at maximum position, difference beam amplitude, at minimum position, if antenna does not aim at the mark, there will not be above-mentioned situation.
As seen from Figure 3, when antenna centre normal aims at the mark, and the difference of difference beam and than being 0, situation shown in this and Fig. 2 matches, and contrast Fig. 2 can find, when center of antenna normal aims at the mark, the difference beam amplitude of echo is 0, and it is poor and than must be 0; Similarly, if when center of antenna is found not aim at the mark, poor and than having deviation, in addition, the mirror angular curve shown in Fig. 3 can be used as the foundation of tabling look-up of the inventive method.
Emulation 2, utilize 1 pair of target of simulated conditions to adopt respectively and traditional carry out angle measurement with difference beam single pulse method and the inventive method, obtain the root-mean-square error curve that two kinds of methods change with signal to noise ratio (S/N ratio), as shown in Figure 4, in Fig. 4, horizontal ordinate is signal to noise ratio (S/N ratio), and ordinate is root-mean-square error.
As seen from Figure 4, the inventive method is higher with difference beam single pulse method precision than traditional, particularly when signal to noise ratio (S/N ratio) is low, effect is very obvious, Fig. 4 has fully proved the validity of the inventive method, the situation of center of antenna normal misalignment target is more common in actual applications, and low noise impact can fall in the inventive method, improves angle measurement accuracy.
Emulation 3, utilize 2 pairs of a plurality of targets of simulated conditions to carry out angle measurement, to first aim and second target angle measurement simultaneously, can obtain the root-mean-square error curve that two kinds of methods change with signal to noise ratio (S/N ratio), as shown in Figure 5, in Fig. 5, be the root-mean-square error curve to first aim angle measurement, the horizontal ordinate in Fig. 5 is signal to noise ratio (S/N ratio), and ordinate is root-mean-square error.
As seen from Figure 5, while there is a plurality of target in mechanic scan radar angle measurement process, traditional single pulse method is subject to affecting angle measurement performance and can declining of other target, when two targets are nearer apart, be subject to the impact of other targets larger, because noise in high s/n ratio diminishes on the impact of first aim, but still there is impact to first aim in second target, so the root-mean-square error curve of traditional monopulse can level off to straight, even if the present invention proposes, improve one's methods when apart nearer of two targets, still low noise impact can be fallen, improve signal to noise ratio (S/N ratio), the precision of bonding pulse angle measurement, there is good robustness.

Claims (3)

1. based on machine, sweep an improvement monopulse angle-measuring method for metre wave radar, comprise the steps:
(1) machine is swept to antenna and be equivalent to the antenna array being comprised of N array element, antenna array is divided into two submatrixs in left and right, each submatrix array number is N/2, and N is more than or equal to 4 even number;
(2) measurable angle range-90 °～90 ° are divided into a ripple position at interval of 10 °, for any one ripple position, by N/2 the array element on half gust, a left side, are obtained the synthetic wave beam B in half gust, a left side of this ripple position l, by N/2 the array element on half gust, the right side, obtained the synthetic wave beam B in half gust, the right side of this ripple position r, by these two synthetic wave beam B land B robtain the mirror angular curve of this ripple position, preserve the data of the mirror angular curve of all ripples position, angular curve table obtains reflecting;
(3) mechanic scan radar, when antenna scanning is worked, at interval of a pulse of 0.5 ° of transmitting, is launched L pulse altogether in a beam angle, and in the time of will launching i pulse, the angle of center of antenna normal and horizontal reference plane is as reference angle
Figure FDA0000457134840000012
, i=1,2 ..., L;
(4) echoed signal of the L pulse of launching by N array element receiving radar: X=AS+n, wherein:
A=[a (θ 1) ... a (θ i) ..., a (θ l)] represent that array element receives the target phase information that signal comprises, wherein a (θ i)=[1, exp (j2 π 1d/ λ sin θ i) ..., exp (j2 π (N-1) d/ λ sin θ i)] tbe the off-axis angle vector of i pulse, i=1,2 ..., L; θ irepresent that target, with respect to the angle between antenna normal, is called off-axis angle; Exp represents to take the exponential depth that e is the end, and j represents imaginary unit, and d represents array element distance, λ representation signal wavelength, [] tthe non-conjugated transposition that represents vector;
S=[S 1... S i..., S l] trepresent that array element receives the complex envelope of signal, S ithe complex envelope information that represents i pulse signal
Figure FDA0000457134840000013
, f wherein dthe Doppler frequency that represents target, v represents the radial velocity of the relative radar of target, f 0the centre frequency that represents radar emission signal, c represents the light velocity, the t indicating impulse repetition period;
N represents N * L rank white Gaussian noise matrix that average is 0, variance is 1;
(5) the echoed signal X receiving is carried out respectively to Subarray coherent accumulation by half gust of left and right, to capable summation of front N/2 corresponding in echo signal data X, obtain the data T after left half gust of coherent accumulation 1, to capable summation of rear N/2 corresponding in echo signal data X, obtain the data T after right half gust of coherent accumulation 2;
(6) to the data T after the coherent accumulation of half gust, a left side 1with the data T after the coherent accumulation of half gust, the right side 2carry out respectively leaf transformation DFT computing in L point discrete Fourier, obtain the data Q after left half gust of discrete Fourier transformation 1with the data Q after the discrete Fourier transformation of half gust, the right side 2;
(7) the L point data Q after the discrete Fourier transformation of half gust, a left side respectively 1with the L point data Q after the discrete Fourier transformation of half gust, the right side 2in, find target Doppler frequency f dcorresponding some K:K=[f d* t * L]+1, and M some data of the right and left of ordering at K reservation, remaining point is all set to 0, obtains the data Y after half gust, a left side sets to 0 1data Y after setting to 0 with half gust, the right side 2, 1≤M≤L wherein, [] represents round computing;
(8) data Y after respectively half gust, a left side being set to 0 1data Y after setting to 0 with half gust, the right side 2carry out inverse discrete Fourier transform IDFT computing, obtain the data Z after left half gust of inverse discrete Fourier transform 1with the data Z after the inverse discrete Fourier transform of half gust, the right side 2;
(9) by described Z 1and Z 2obtain and wave beam P Σwith difference beam P Δfor: P Σ=Z 1+ Z 2, P Δ=Z 1-Z 2; Utilize described and wave beam P Σwith difference beam P Δdiffered from and compared
Figure FDA0000457134840000021
by differing from and obtaining the target off-axis angle θ of i pulse than the value of P by looking into mirror angular curve table i, wherein imag () represents to get imaginary-part operation;
(10) by the target off-axis angle θ of i pulse ireference angle with i pulse
Figure FDA0000457134840000022
be added, obtain the take measurement of an angle ψ of i pulse to target i, i=1,2 ... L;
(11) to the L being obtained by step (10) the ψ that takes measurement of an angle ibe averaged, obtain the accurate angle Φ of target,
Φ = 1 L Σ i = 1 L Ψ i .
2. according to sweeping the improvement monopulse angle-measuring method of metre wave radar based on machine described in claims 1, it is characterized in that, the described antenna that machine is swept of step (1) is equivalent to the antenna array being comprised of N array element, it is the uniform line-array that first the antenna equivalence of mechanic scan radar is become to be comprised of N array element, be that array element distance d between any two adjacent array elements all equates, and half of the wavelength X transmitting for metre wave radar, d=λ/2; Uniform line-array is divided into two and half gusts of left and right, left half gust is N/2 with the array number of right half gust again, and N is total array number, the even number that value is N >=4.
3. according to sweeping the improvement monopulse angle-measuring method of metre wave radar based on machine described in claims 1, it is characterized in that, in described step (2) by the synthetic wave beam B in half gust, a left side of any one the ripple position after dividing lwith the synthetic wave beam B in half gust, the right side r, obtain the mirror angular curve of this ripple position, carry out as follows:
2a) by the synthetic wave beam B in half gust, a left side of any one ripple position lwith the synthetic wave beam B in half gust, the right side r, obtain respectively half gust of left and right and the wave beam B of this ripple position Σwith half gust of left and right difference beam B Δ:
B Σ=B l+B r，
B Δ=B l-B r；
2b) according to half gust of left and right difference beam B Δwith half gust of left and right and wave beam B Σ, calculate difference and the ratio of this ripple position: wherein imag () represents to get imaginary-part operation;
2c) take the angular range of this ripple position is horizontal ordinate, and it is poor and than being ordinate, by difference corresponding to this ripple position measurable angle range with than the mirror angular curve that draws this ripple position to take.
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