CN105353339B - A kind of bionical direction-finding method with wide-band uniformity - Google Patents
A kind of bionical direction-finding method with wide-band uniformity Download PDFInfo
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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
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/80—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using ultrasonic, sonic or infrasonic waves
- G01S3/802—Systems for determining direction or deviation from predetermined direction
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- Measurement And Recording Of Electrical Phenomena And Electrical Characteristics Of The Living Body (AREA)
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Abstract
The present invention relates to a kind of bionical direction-finding method with wide-band uniformity, it is characterised in that including herein below：1) object function of target frequency bands is set up according to bionic coupling structure, and the bionic coupling structure for obtaining the target frequency bands after 2) model parameter for meeting constraints combination is optimized using parametric joint is solved to object function progress parameter optimization, complete phase difference direction finding based on baseline is rotated.Bionic principle of the present invention due to make use of bionic coupling structure, for comparing traditional direction-finding station technology, combined optimization is carried out to the parameter in wide-band, enable set of parameter while meet phase difference amplification multiple consistent in wide-band, realize the bionic coupling structure design of wide working frequency range.The present invention can be widely applied in direction-finding station, spectrum management and electronic reconnaissance system.
Description
Technical field
The present invention relates to communication and Radar Signal Processing Technology field, especially with regard to a kind of with wide-band uniformity
Bionical direction-finding method.
Background technology
The general principle of direction-finding station technology is the signal received according to bay, to the phase difference of two paths of signals
Estimated, so as to reference to baseline length and signal frequency, calculate the arrival direction angle of signal.Direction-finding station technology is not only
Played an important role in traditional application field such as electronic reconnaissance, radio spectrum management, while also positioning, life indoors
The emerging scenes such as rescue, which are achieved, to be widely applied.Direction finding precision depends primarily on the estimation essence of two aspect factors, i.e. phase difference
Spend the sensitivity from phase difference to different arrival direction angles.The estimated accuracy of phase difference directly determines by signal to noise ratio, phase difference pair
The sensitivity at different arrival direction angles is often directly proportional to antenna baseline length, to ensure the precision of direction finding, is meeting without fuzzy
Under the conditions of direction finding, baseline length typically requires longer.Even if using aerial array, the frequency range for still suffering from antenna array divides scope
Narrow, the problems such as array element is large number of, the miniaturized application to high-precision direction finding equipment brings difficulty.
There is a kind of parasite of the brown flies of entitled Ao meter Ya on American continent, its breeding is needed by female fly in host
Spawning is completed in cricket body, detection to suitable host and is accurately positioned the pith as female fly reproductive process.Ao meter Ya
Two eardrum spacing of brown fly are very small, less than 0.5 millimeter.Under so small eardrum spacing, sound wave reaches two ear drum membranes
The sound intensity is almost identical, it is impossible to differentiate orientation by intensity of sound.Also, the time difference is less than 1.5 between sound wave reaches both sides ear-drum
Microsecond, is even less than the conduction time of biological auditory nerve impulsion.But under this yardstick, Ao meter Ya palm fibre fly azimuthals are surveyed
To can but reach 1~2 ° of precision.Ao meter Ya palm fibre this high-precision sound direction finding abilities of fly have benefited from the machine between its ears
Tool coupled structure, the coupled structure can significantly amplify ears and receive the phase difference of sound, so as to greatly help Ao meter Ya palm fibres
The walking direction that fly is called to host.So, there is the hearing organ of coupled structure using the brown flies of Ao meter Ya as the tachinid of representative,
The phase difference that the sound that quiets down can be docked is amplified, and sensitivity of the phase difference to different arrival direction angles is improved, so as to improve survey
To performance.In recent years, the scholar in bionics Study field carries out dissection to construct power to the auditory structures of the brown flies of Ao meter Ya
Model is learned, and devises the phased-inverting amplifie applied to sound wave.2001《Nature》How U.S.'s health is published
The article that your university Andrew C.Mason et al. are delivered, describes the insect of a kind of entitled " Ao meter Ya palm fibres fly ", this insect
Auditory system be provided simultaneously with two features of short baseline and high-precision direction finding, can for solve conventional dry interferometer direction finding technology core
Heart problem provides thinking.There are some scholars to carry out analysis to the biological structure of the brown flies of Ao meter Ya before, Robert et al. divides
The biology anatomical structure of the brown flies of Ao meter Ya has been analysed, the hearing organ of the brown flies of Ao meter Ya is observed under the microscope, found
Mechanical couplings structure between the brown fly membranae tympani aures unitaes (PTM) of Ao meter Ya, referred to as eardrum intermembranous bridge.The intermembranous bridge of the eardrum is by eardrum
Eardrum nest (Tp) and center pivot dash forward (Pivot) be connected, attachment means are similar to flexible lever, referred to as manubrium
(Pr).R.N.Miles is carrying out the basis of a large amount of Reformation of Mechanical Vibration experiments according to Robert et al. biological anatomical structure
On, it is proposed that Ao meter Ya palm fibre fly auditory structures mechanical models, and the parameters of mechanical model have been drawn by experiment, and will
Mechanical model response is decomposed into the response of strange mould and studied with even mould response, disclose the brown fly amplification acoustical phase differences of Ao meter Ya and
The mechanism of amplitude ratio.The mechanical model parameter that domestic rich pillar et al. is drawn according to R.N.Miles, to the power of the brown flies of Ao meter Ya
Learn model and carried out verification experimental verification, and parameter is finely tuned, improve the adaptability of model.
Currently, bionical phased-inverting amplifie is mainly used in single frequency point signal, has correlative study to carry out the analysis of theory
With realization.AryeNehorai et al. is built to the mathematical modeling of the brown flies of Ao meter Ya, and has carried out pushing away for theoretical precision
Lead.A kind of Nader Behdad et al. coupled antennas according to bionic coupling structure design, are built using resistance, inductance and electric capacity
The hearing organ of breadboardin Ao meter Ya palm fibre flies is tested, and indicates the amplification of phase difference, and change circuit elements device
Part parameter is adjusted, influence of the analysis component parameter to phase difference amplification multiple.But, current bionical phased-inverting amplifie
The frequency that is adapted to of design it is more single, lack the phased-inverting amplifie design method and circuit parameter of a kind of wide working frequency range
Computational methods.Domestic and international existing research method, the coupled structure including the brown flies of Ao meter Ya is applied to narrow band signal, is suitable
Answer target frequency bands to design many set parameter coordinations to use, need to load many set phase difference amplification hardware modules simultaneously in realization, this
Run in the opposite direction with miniaturization, the direction finding equipment Development trend simplified, there is no phase difference amplification model parameter in wide-band to solve
Method.
The content of the invention
In view of the above-mentioned problems, it is an object of the invention to provide it is a kind of can effectively improve direction finding precision have wide-band one
The bionical direction-finding method of cause property.
To achieve the above object, the present invention takes following technical scheme：A kind of bionical direction finding with wide-band uniformity
Method, it is characterised in that including herein below：1) object function of target frequency bands is set up according to bionic coupling structure, and to target
Function carries out the model parameter combination that parameter optimization solution obtains meeting constraints, and detailed process is：1.1) bionical survey is solved
To the system function of mathematical modeling；1.2) resonant frequency point is solved according to system function, is used as the starting of target frequency bands, cutoff frequency
Rate, obtains two parameter optimization constraintss；1.3) system function phase response function is subtracted each other and obtains phase difference output, with reference to
Input phase difference obtains phase difference amplification multiple, regard the maximum of phase difference amplification multiple as the 3rd parameter optimization constraint article
Part；1.4) object function is set up, by adjusting model parameter so that the boundary point and phase difference amplification multiple of target frequency bands are surrounded
Parametric joint optimization region area reach maximum, obtain meeting the model parameter combination of constraints, realize target frequency bands
Parametric joint optimization；2) the bionic coupling structure of the target frequency bands after being optimized using parametric joint, is completed based on rotation baseline
Phase difference direction finding, detailed process is：2.1) phase difference datum curve and phase difference curve are calculated；2.2) phase difference curve is carried out
Bilevel Linear programming processing, obtains phase difference measurement curve；2.3) estimated according to phase difference measurement curve and phase difference datum curve
Incoming signal azimuth and the angle of pitch, complete direction finding.
Further, the starting of the target frequency bands 1.2), cut-off frequency are respectively：
In formula, m, c, k, c3For model parameter.
Further, it is described 1.3) in phase difference amplification multiple η：
In formula, ω is signal frequency, m, c, k, c3For model parameter.
Further, the calculating process of 2.1) calculating phase difference datum curve and the phase difference curve is：
Y (nT)=g (nT) ejθ, n=0,1,2 ...
In formula, T is signal sampling time interval, phase of received signal when g () is θ=0 ° poor curve, i.e. phase difference
Datum curve；The signal phase difference curve representation formula that rotable antenna is received is：
Z (nT)=g (arcsin (sin (nT) cos (ψ))) ejθ, n=0,1,2...
In formula, ψ is the angle of pitch.
Further, 2.3) the estimation incoming signal azimuth and the angle of pitch are using the method for seeking correlation function.
The present invention is due to taking above technical scheme, and it has advantages below：1st, the present invention is analyzing existing radio
On the basis of direction finding technology and the brown flies of Ao meter Ya are to the direction finding of cricket position, realized using bionic coupling structure based on bionical rotation
Turn baseline direction finding, solve the problem of narrower bandwidth of operation in the prior art, frequency range and multiplication factor inconvenience are adjusted, effectively improve
The precision of direction finding.2nd, bionic principle of the present invention due to make use of bionic coupling structure, compares traditional direction-finding station skill
For art, combined optimization is carried out to the parameter in wide-band so that set of parameter can meet phase consistent in wide-band simultaneously
Potential difference multiplication factor, realizes the bionic coupling structure design of wide working frequency range.The present invention can be widely applied to wireless electrical measurement
Into, spectrum management and electronic reconnaissance system.
Brief description of the drawings
Fig. 1 is the bionical direction-finding system schematic flow sheet of the present invention；
Fig. 2 is the brown fly hearing organ's mechanical model schematic diagrames of Ao meter Ya；
Fig. 3 is that the present invention exports amplitude ratio and phase dygoram, wherein, figure (a) is input sound wave phase of coupled structure
Position and phase difference, figure (b) are the output sonic wave amplitude ratio after bionic coupling structure, and figure (c) is to pass through bionic coupling structure
Output acoustic phase afterwards is poor；
Fig. 4 is that the block diagram of the bionic coupling structure of the present invention in actual applications is represented；
Fig. 5 is the angle of pitch of the present invention, the schematic diagram that defines of azimuth；
Fig. 6 is 30MHz~100MHz parametric joints optimization schematic diagram of the embodiment of the present invention；
Fig. 7 is the phase difference curve synoptic diagram that baseline rotation of the present invention is produced, and abscissa represents the baseline anglec of rotation, indulges and sit
Mark represents phase difference；
Fig. 8 is the bionical direction-finding bearing angular accuracy under different signal to noise ratio of the invention；
Fig. 9 is the angle measuring interferometer direction-finding bearing angular accuracy under different signal to noise ratio of the invention.
Embodiment
Come to carry out the present invention detailed description below in conjunction with accompanying drawing.It should be appreciated, however, that accompanying drawing has been provided only more
Understand the present invention well, they should not be interpreted as limitation of the present invention.
As shown in figure 1, the bionical direction-finding method with wide-band uniformity of the present invention, including two aspect contents：
1st, the object function of target frequency bands is set up according to bionic coupling structure, and parameter optimization solution is carried out to object function
Obtain meeting the model parameter combination of constraints, realize the parametric joint optimization of target frequency bands, comprise the following steps：
1) system function of bionical direction finding mathematical modeling is solved.
As shown in Figure 2 by the brown fly hearing organs of Ao meter Ya it is abstract be mechanical model, the mechanical model is made up of three parts, often
Part all includes a spring and a damper.The defeated of model is used as in the point active force that 1. and 2. membranae tympani aures unitae is located using sound field
Enter, the displacement that 1. and 2. eardrum produces after excited target as mechanical model output, wherein, k1、k2、k3For three spring oscillators
Spring ratio, c1、c2、c3For the damped coefficient of three dampers, m is eardrum quality, due to two ear structures of the brown flies of Ao meter Ya
It is symmetrical, therefore k here1=k2=k, c1=c2=c.According to Newton's second law, the equation of motion for writing eardrum can be arranged,
It is as follows：
In formula, x1(t, Δ) and x2(t, Δ) is input, y1And y2For output, Δ is the reaching time-difference of input signal.
Above-mentioned differential equation group both sides are subjected to Laplace conversion, system transter is tried to achieve：
In formula, D1(s)、D2(s), N (s), P (s) are made up of model parameter, are specifically expressed as follows：
D1(s)=ms2+(c1+c3)s+k1+k3
D2(s)=ms2+(c2+c3)s+k2+k3
N (s)=c3s+k3
P (s)=D1(s)D2(s)-N2(s)
Make X1(s)=1, X2(s)=e-sΔ, can obtain bionical direction finding mathematical modeling two systems function is respectively：
In formula, s=j ω, Δ is the reaching time-difference of two paths of signals.
According to the two systems function of obtained bionical direction finding mathematical modeling, two-way input signal can be obtained through bionical coupling
The amplitude versus frequency characte and phase-frequency characteristic of output signal after structure are closed, is carried out below by taking the brown fly acoustics direction-finding system parameters of Ao meter Ya as an example
Analysis, as shown in figure 3, when introducing coupled structure between the brown fly ears of Ao meter Ya, substituting into the brown fly hearing organ's mechanics moulds of Ao meter Ya
The parameter of type, calculates the amplitude ratio and phase difference of the brown fly membranae tympani aures unitae displacements of Ao meter Ya, as can see from Figure 3 when introducing coupling
Close after structure, the amplitude ratio that the brown fly membranae tympani aures unitae top offsets of Ao meter Ya are acted on after the coupled structure of sound wave becomes with phase difference
Greatly, the principle validity of bionic coupling structure is fully demonstrated.
2) resonant frequency point is solved according to system function, as the starting of target frequency bands, cut-off frequency, obtains two parameters
Optimize constraints, be specially：
Make P (s)=D1(s)D2(s)-N2(s)=0, equation root is the limit of system function, and expression formula is p1=-r1-
ji1, p2=-r2-ji2。
Wherein, the imaginary part i of two limits1And i2The resonant frequency of system is represented respectively, can be expressed as：
Resonant frequency determines starting and the cut-off frequency that bionic coupling structure is applicable frequency range, by the void for changing limit
Portion, the application band of adjustable model.The real part r of two limits1And r2Applicable frequency range on coupling does not constitute influence,
But it determines the phase difference amplification multiple under particular frequency range as free variable.
Trying to achieve the starting of target frequency bands, cut-off frequency is respectively：
Can be according to applicable frequency range (f in actual use1~f2), row constraint is entered to parameter.
3) system function phase response is subtracted each other and obtains phase difference output, phase is obtained with reference to the expression formula of input phase difference
Poor multiplication factor, by the maximum h of phase difference amplification multiplemaxIt is used as the 3rd parameter optimization constraints：
S=j ω are made, two systems function phase response is subtracted each other, derive that the poor expression formula of phase of output signal is：
Wherein：
A=-m ω2-c3ωsin(Q)-k3cos(Q)+k+k3
B=(c+c3)ω-c3ωcos(Q)+k3sin(Q)
C=-m ω2cos(Q)+(c+c3)ωsin(Q)+(k+k3)cos(Q)-k3
D=m ω2sin(Q)+(c+c3)ωcos(Q)-c3ω-(k+k3)sin(Q)
As shown in figure 4, φinIt is poor for input phase, it is expressed as：
In formula, d is baseline length, and λ is signal wavelength, and θ is direction of arrival of signal angle.
Phase of output signal difference multiplication factor is defined as：
Its physical significance is slope of the phase difference output with input phase difference when incident direction angle is 0 to incident direction angle
The ratio between, the phase difference output multiplication factor of identical arrival direction angle under same signal frequency is represented,
Further obtain phase difference amplification multiple and signal frequency and the relation of model parameter：
In formula, ω is signal frequency, m, c, c3For model parameter.
Maximum phase difference multiplication factor ηmaxBy the maximum output gain G of circuitmaxDetermined with noise coefficient F, should be according to tool
Body application scenarios select suitable phase difference amplification multiple as the poor multiplication factor of the constraints of parameter optimization, i.e. maximum phase
ηmax。
4) object function (area that starting, cut-off frequency and phase difference amplification times number curve are surrounded) is set up, passes through adjustment
Model parameter, causes the parametric joint that the boundary point and phase difference amplification multiple of target frequency bands are surrounded to optimize area surface by search
Product reaches maximum, obtains meeting the model parameter combination of constraints, realizes the parametric joint optimization of target frequency bands：
By adjusting model parameter, parameter combination R={ m, c, a c are found using existing trellis search method3,k,k3,
So that
So as to realize the parametric joint optimization of target frequency bands.
2nd, the bionic coupling structure of the target frequency bands after being optimized using parametric joint, is completed phase difference based on rotation baseline and surveyed
To as shown in figure 1, the bionic coupling structure of the target frequency bands after parametric joint is optimized places reception antenna and digital receiver
Between, the phase difference of two-way output signal is amplified by bionic coupling structure and measured in numeric field, according to same scene
The phase difference datum curve calculated, calculates signal arrival bearing angle and the angle of pitch, and particular content is：
1) phase difference datum curve and phase difference curve are calculated.
It is the initial position that baseline rotates to determine some position, and the angle between direction of arrival of signal angle and+y-axis is designated as
Angle between azimuth angle theta, with x-y plane is designated as angle of pitch ψ, as shown in Figure 5.When ψ=0 °, rotable antenna reception can be obtained
The signal phase difference curve arrived, expression formula is：
Y (nT)=g (nT) ejθ, n=0,1,2 ...
In formula, T is signal sampling time interval, phase of received signal when g () is θ=0 ° poor curve, i.e. phase difference
Datum curve.
Under conditions of ψ ≠ 0 °, the signal phase difference curve representation formula that rotable antenna is received is：
Z (nT)=g (arcsin (sin (nT) cos (ψ))) ejθ, n=0,1,2....
2) bilevel Linear programming processing is carried out to phase difference curve, obtains phase difference measurement curve.
When input signal phase difference is more than 180 °, phase ambiguity just occurs, estimating for azimuth and the angle of pitch is reduced
Count precision.Transition detection is carried out to phase difference curve consecutive points, as follows the poor curve of retrieved phase：
In order to eliminate systematic error, phase difference curve is subtracted into phase offset, accurate phase difference measurement curve is obtained：
In formula, E is expectation.
3) incoming signal azimuth and the angle of pitch are estimated according to phase difference measurement curve and phase difference datum curve, completes to survey
To.
Due to the deflection of incoming signal be presented as two curve g (nT),Phase information, the angle of pitch is presented as two
Bar curve g (nT),Amplitude information.The present invention by ask correlation function method estimate incoming signal azimuth and
The angle of pitch.
For deflection θ, the expression formula of phase difference measurement curve and datum curve cross-correlation function is utilized：
In formula, N is that baseline rotates a circle total points of sampling.It is assumed that R (MT) is the maximum of cross-correlation function, then it is incident
The π M/N of the azimuth angle theta of signal=2.
For angle of pitch ψ, due to correlation functionContain phase difference measurement
The amplitude information of curve and datum curve, therefore there is correlation function S (ψ) to be corresponded with it for any angle of pitch ψ.By phase
Difference measurements curve calculates correlation function with datum curve by above-mentioned expression formula, you can obtain the angle of pitch ψ of incoming signal.
The process of the bionical direction-finding method with wide-band uniformity of the present invention is carried out below by specific embodiment
Describe in detail, the present embodiment carries out bionical direction finding using the method for the present invention, be specially by taking 30MHz~100MHz frequency ranges as an example：
Starting, the cut-off frequency f of target frequency bands are determined first1=30MHz, f2=100MHz；
The phase difference amplification multiple of phased-inverting amplifie is determined later in conjunction with noise coefficient, peak power output gain, this
In set maximum phase difference amplification multiple ηmaxFor 14；
Object function is obtained in the system function that the resonant frequency of target frequency bands is finally brought into bionical direction finding mathematical modeling,
And parameter optimization solution is carried out to object function so that the ginseng that target frequency bands cutoff frequency and phase difference amplification multiple are surrounded
Number combined optimization region area reaches maximum, so that the model parameter combination for meeting constraints is drawn, it is as shown in the table, and
The phase difference amplification times number curve in frequency range is solved as shown in fig. 6, it can be seen that in target frequency bands (30MHz~100MHz) phase
Poor multiplication factor is basically identical, can guarantee that each frequency component of signal has consistent phase difference when broadband signal is received
Multiplication factor, overcomes the defect that existing coupled structure can be only applied to single-frequency point.
The bionical direction finding model parameter values of 1 30MHz of table~100MHz
In order to illustrate that the bionic coupling structure can be applied in actual direction finding, baseline length is set to 1 meter, input letter
Number modulation system is QPSK, with a width of 5kHz, and sample rate is set to 10kHz, and the signal to noise ratio of digital receiver rear end is 10dB, baseline
The speed of rotation 1 is enclosed the/second, and aspect angle is -45 °, and the angle of pitch is 0 °.Bionic coupling structure is placed in reception antenna and numeral connects
Between receipts machine.After to experiment curv ambiguity solution, phase difference datum curve can be obtained and experiment curv is as shown in Figure 7.Will be upper
State curve to substitute into the expression formula of computer azimuth angle and the angle of pitch, it is -44.2 °, the angle of pitch that can calculate and obtain aspect angle
For 0.4 °.The present embodiment is introduced into the azimuth direction finding essence of the azimuth direction finding precision after bionic coupling structure and conventional dry interferometer
Degree compares, and comparative result as shown in FIG. 8 and 9, as a result shows, bionical direction-finding method of the invention can be real using same set of parameter
The direction finding of existing wide-band, and with the largest of about 1 times of precision improvement compared with conventional dry interferometer.
The various embodiments described above are merely to illustrate the present invention, and wherein each implementation steps of method etc. are all to be varied from
, every equivalents carried out on the basis of technical solution of the present invention and improvement should not exclude the protection in the present invention
Outside scope.
Claims (6)
1. a kind of bionical direction-finding method with wide-band uniformity, it is characterised in that including herein below：
1) object function of target frequency bands is set up according to bionic coupling structure, and parameter optimization solution is carried out to object function and is obtained
Meet the model parameter combination of constraints, detailed process is：
1.1) system function of bionical direction finding mathematical modeling is solved；
1.2) resonant frequency point is solved according to system function, as the starting of target frequency bands, cut-off frequency, obtains two parameters excellent
Change constraints；
1.3) system function phase response function is subtracted each other and obtains phase difference output, phase difference amplification is obtained with reference to input phase difference
Multiple, regard the maximum of phase difference amplification multiple as the 3rd parameter optimization constraints；
1.4) object function is set up, by adjusting model parameter so that the boundary point and phase difference amplification multiple of target frequency bands enclose
Into parametric joint optimization region area reach maximum, obtain meeting the model parameter combination of constraints, realize target frequency
The parametric joint optimization of section；
2) the bionic coupling structure of the target frequency bands after being optimized using parametric joint, phase difference direction finding is completed based on rotation baseline,
Detailed process is：
2.1) phase difference datum curve and phase difference curve are calculated；
2.2) bilevel Linear programming processing is carried out to phase difference curve, obtains phase difference measurement curve；
2.3) incoming signal azimuth and the angle of pitch are estimated according to phase difference measurement curve and phase difference datum curve, completes to survey
To.
2. a kind of bionical direction-finding method with wide-band uniformity as claimed in claim 1, it is characterised in that it is described 1.2)
The startings of target frequency bands, cut-off frequency be respectively：
In formula, m, c, k, c3For model parameter, k3For the spring ratio of spring oscillator.
3. a kind of bionical direction-finding method with wide-band uniformity as claimed in claim 1, it is characterised in that it is described 1.3)
In phase difference amplification multiple η：
In formula, ω is signal frequency, m, c, k, c3For model parameter, k3For the spring ratio of spring oscillator.
4. a kind of bionical direction-finding method with wide-band uniformity as claimed in claim 2, it is characterised in that described
1.3) the phase difference amplification multiple η in：
In formula, ω is signal frequency, m, c, k, c3For model parameter, k3For the spring ratio of spring oscillator.
5. a kind of bionical direction-finding method with wide-band uniformity as claimed in claim 1 or 2 or 3 or 4, its feature exists
In the calculating process of 2.1) calculating phase difference datum curve and the phase difference curve is：
Y (nT)=g (nT) ejθ, n=0,1,2 ...
In formula, T is signal sampling time interval, phase of received signal when g () is θ=0 ° poor curve, i.e. phase difference benchmark
Curve；
The signal phase difference curve representation formula that rotable antenna is received is：
Z (nT)=g (arcsin (sin (nT) cos (ψ))) ejθ, n=0,1,2...
In formula, ψ is the angle of pitch.
6. a kind of bionical direction-finding method with wide-band uniformity as claimed in claim 1 or 2 or 3 or 4, its feature exists
In 2.3) the estimation incoming signal azimuth and the angle of pitch are using the method for seeking correlation function.
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