CN109828269B - Velocity loop angle tracking method based on position loop filtering - Google Patents
Velocity loop angle tracking method based on position loop filtering Download PDFInfo
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Abstract
The invention discloses a speed loop angle tracking method based on position loop filtering, which solves the problem that the radar angle tracking precision on a moving carrier platform is easily influenced by a signal-to-noise ratio or is induced to be biased by interference. Firstly, receiving a target echo through an antenna and obtaining angle error information, and acquiring real-time state information by attitude measurement equipment and position measurement equipment; then, the signal processor processes the acquired echo, the angle error information and the real-time state information to obtain the coordinate of the radar measured value in a target coordinate system; then, carrying out three-dimensional filtering by a signal processor to obtain a filtering value of the coordinate, and converting the filtering value into a servo angular velocity value; and finally, the angular velocity value is sent to the servo by the signal processor, and angle closed-loop control is completed. The method solves the problem that the radar angle tracking precision on a moving carrier platform is easily influenced by the signal-to-noise ratio or is induced to be interfered, has strong anti-jamming capability and small calculated amount, and is suitable for engineering application.
Description
Technical Field
The invention relates to a method for tracking a speed loop angle, in particular to a method for tracking a speed loop angle based on position loop filtering.
Background
For a tracking radar, not only can a target be found in a detection area, but also the distance and the two-dimensional angular coordinate position of the target can be determined, and after the target is continuously observed for a period of time, the track or flight path of the target can be provided, which is a main function of the tracking radar. The antenna beam of a conventional tracking radar maintains tracking of the target by acquiring an angular error signal and using a set of closed-loop servo systems to minimize the angular error signal.
However, in actual work, because the target signal-to-noise ratio is low, the angle error signal is seriously influenced by noise, and the angle tracking is easy to be unstable; in addition, the presence of clutter or interference signals in the detection region may also cause angular error signal errors, causing angular tracking to deviate from the target. Therefore, the research on how to process the angle error signal to keep stable angle tracking on the target has important significance in the application of the system radar.
The traditional angle tracking method is mainly divided into two types:
the first is that the servo works in a speed loop, and the angular error signal is multiplied by a proportionality coefficient to be used as an angular speed value to control the servo rotation so as to complete the angle tracking. The method can decouple the moving carrier platform and realize radar angle tracking under the condition of a moving platform.
However, this method cannot use angle-dimensional filtering in implementation, and the tracking accuracy is greatly affected by an instantaneous angle error signal, and therefore is easily affected by noise or interference.
And the second method is that the servo works in a position loop, and the deviation angle control servo of a target relative to the radar is obtained by multiplying the obtained angle error signal by a proportional system to complete angle tracking.
The main problems faced by this approach are: because the servo works in a position loop, the gyroscope cannot be utilized to decouple the angle information sensitive by the carrier platform, so that the attitude change of the carrier platform is directly superposed to the angle measurement result of the radar in the tracking process of the radar position loop, namely the radar angle measurement is theta1In the closed loop process, the carrier platform changes, and the actual target angle changes to theta2Resulting in the radar being unable to track the upper target.
Disclosure of Invention
The invention aims to provide a speed loop angle tracking method based on position loop filtering, and solves the problems that in the prior art, angle dimension filtering cannot be used, the tracking accuracy is greatly influenced by an instantaneous angle error signal, and therefore, the tracking accuracy is easily influenced by noise or interference, and a radar cannot track an upper target because a servo works in a position loop and cannot utilize a gyroscope to decouple angle information sensitive to a carrier platform.
A method for tracking the angle of a velocity loop based on position loop filtering comprises the following specific steps:
first step of building an angle tracking system
An angle tracking system, comprising: the system comprises a target simulation device, an antenna, a servo, an attitude measurement device, a position measurement device and a signal processor.
The output end of the target simulation equipment is connected with the input end of the antenna through a wire; the output end of the antenna is connected with the input end 1 of the signal processor through a wire; the output end of the attitude measurement equipment is connected with the input end 2 of the signal processor through a lead; the output end of the position measuring equipment is connected with the input end 3 of the signal processor; the output end of the signal processor is connected with the servo input end through a lead.
Second step antenna receives target echo and obtains angle error information
The target simulation equipment releases target echo at a preset angle, and the antenna processes echo signals received by the sum channel, the azimuth channel and the pitch channel to obtain azimuth angle error information AZerrPitch angle error information ELerrAnd reported to the signal processor.
Thirdly, the attitude measuring equipment and the position measuring equipment acquire real-time state information
Acquiring real-time attitude information of the carrier platform by attitude measurement equipment: carrier azimuth angle yaw, carrier pitch angle pitch and carrier roll angle roll; position measuring equipment acquires real-time coordinates of carrier platform in target coordinate system
And reporting the real-time state information to a signal processor.
Fourthly, the signal processor processes the acquired echo, the angle error information and the real-time state information
The signal processor performs target detection on the echo data to obtain a target distance R, and converts the angle error information into an actual angle of the target deviating from the antenna: azimuth AZ ═ AZerr·kAZPitch EL ═ ELerr·kELAnd converting the measured values to coordinates in an antenna coordinate system
kAZAs the azimuthal error scaling factor, kELIs a pitch angle error scaling factor.
And calculating the coordinates of the radar measured value in the carrier platform system according to the attitude measurement information through the rotation matrix converted from the antenna system to the carrier platform system.
And obtaining the coordinates of the radar measured value in a target coordinate system according to the position information of the carrier platform.
Fifthly, the signal processor carries out three-dimensional filtering to obtain a filtering value of the coordinate
The signal processor performs alpha-beta filtering on the coordinates of the radar measurement values, and the filtering is ended.
The sixth step, the signal processor converts the filtered value into the angular velocity value of the servo
Filtered values according to coordinates
Calculating a target distance filtering value R under an antenna coordinate systemfAzimuthal angle filter AZfFiltered value EL of pitch anglef。
Dividing the angle value by kAZAs the azimuthal error scaling factor, kELObtaining a servo azimuth angle value omega for a pitch angle error proportional coefficientAZValue ω of pitch angle velocityEL：ωAZ＝AZf/kAZ，ωEL＝ELf/kEL。
Seventh step, sending the angular velocity value to servo to complete closed-loop tracking
And before receiving the echo matrix of the next frame, the signal processor sends the obtained angular velocity value to a servo to carry out angle closed-loop tracking.
And finishing the angle closed-loop tracking process, and stably tracking the target by the antenna.
Preferably, the coordinates in the antenna coordinate system are:
x＝R·sin(-AZ) (1)
y＝R·cos(AZ)·cos(EL) (2)
z＝R·cos(AZ)·sin(EL) (3)
preferably, the rotation matrix transformed from the antenna system to the carrier platform system is:
preferably, the coordinates of the radar measurements in the carrier platform system are:
preferably, the coordinates of the radar measurement in the target coordinate system are:
preferably, the signal processor performs α - β filtering on the coordinates of the radar measurements, coordinate x being:
the filtered value of the kth x-coordinate is
Filtered value of x-direction velocity
Firstly, obtaining the predicted value of the x coordinate of the (k +1) th time
Predicted value of x-direction velocity
Where T is the time interval between two measurement acquisitions.
And obtaining innovation x (k +1) of the (k +1) th time according to the predicted value and the measured value. Wherein the radar measurement value of x coordinate at the k +1 th time is xm(k+1)。
According to the innovation x (k +1) of the (k +1) th time and the predicted value of the x coordinate of the (k +1) th time
Predicted value of x-direction velocity
Obtaining the filtered value of the x coordinate of the (k +1) th time
Filtered value of x-direction velocity
Wherein alpha is a distance filtering parameter and beta is a speed filtering parameter, and the filtering is finished.
Preferably, alpha is 0.01,
preferably, β is 0.001.
Preferably, the target distance filtered value R in the antenna coordinate systemfComprises the following steps:
preferably, the azimuth-filtered value AZfAnd a pitch angle filtered value ELfComprises the following steps:
the method is mainly applied to a tracking radar system, can solve the problem that the tracking precision of the radar angle on a moving carrier platform is easily influenced by the signal-to-noise ratio or is interfered and induced to be biased, has strong anti-interference capability and small calculated amount, and is suitable for engineering application.
Detailed Description
A method for tracking the angle of a velocity loop based on position loop filtering comprises the following specific steps:
first step of building an angle tracking system
An angle tracking system, comprising: the system comprises a target simulation device, an antenna, a servo, an attitude measurement device, a position measurement device and a signal processor.
The output end of the target simulation equipment is connected with the input end of the antenna through a wire; the output end of the antenna is connected with the input end 1 of the signal processor through a wire; the output end of the attitude measurement equipment is connected with the input end 2 of the signal processor through a lead; the output end of the position measuring equipment is connected with the input end 3 of the signal processor; the output end of the signal processor is connected with the servo input end through a lead.
Second step antenna receives target echo and obtains angle error information
The target simulation equipment releases target echo at a preset angle, and the antenna processes echo signals received by the sum channel, the azimuth channel and the pitch channel to obtain azimuth angle error information AZerrPitch angle error information ELerrAnd reported to the signal processor.
Thirdly, the attitude measuring equipment and the position measuring equipment acquire real-time state information
Acquiring real-time attitude information of the carrier platform by attitude measurement equipment: carrier azimuth angle yaw, carrier pitch angle pitch and carrier roll angle roll; position measuring equipment acquires real-time coordinates of carrier platform in target coordinate system
And reporting the real-time state information to a signal processor.
Fourthly, the signal processor processes the acquired echo, the angle error information and the real-time state information
The signal processor performs target detection on the echo data to obtain a target distance R, and converts the angle error information into an actual angle of the target deviating from the antenna: azimuth AZ ═ AZerr·kAZPitch EL ═ ELerr·kELAnd converting the measured values to coordinates in an antenna coordinate system
kAZAs the azimuthal error scaling factor, kELIs a pitch angle error scaling factor.
x＝R·sin(-AZ) (1)
y＝R·cos(AZ)·cos(EL) (2)
z＝R·cos(AZ)·sin(EL) (3)
And calculating the coordinates of the radar measured value in the carrier platform system according to the attitude measurement information, wherein a rotation matrix converted from the antenna system to the carrier platform system is as follows:
obtaining the coordinates of the radar measured value in the carrier platform system:
obtaining the coordinates of the radar measured value in a target coordinate system according to the position information of the carrier platform:
fifthly, the signal processor carries out three-dimensional filtering to obtain a filtering value of the coordinate
The signal processor α - β filters the coordinates of the radar measurement, and the filtering process is described below using the x coordinate as an example
Filtered value of x-direction velocity
Firstly, obtaining the predicted value of the x coordinate of the (k +1) th time
Speed in x directionPredicted value of (2)
Where T is the time interval between two measurement acquisitions.
And obtaining innovation x (k +1) of the (k +1) th time according to the predicted value and the measured value. Wherein the radar measurement value of x coordinate at the k +1 th time is xm(k+1)。
According to the innovation x (k +1) of the (k +1) th time and the predicted value of the x coordinate of the (k +1) th time
Predicted value of x-direction velocity
Obtaining the filtered value of the x coordinate of the (k +1) th time
Filtered value of x-direction velocity
Wherein alpha is a distance filtering parameter, an empirical value of 0.01 is taken, beta is a speed filtering parameter, and an empirical value of 0.001 is taken. The filtering is now complete and the filtering process for coordinate y and coordinate z is as described above.
The sixth step, the signal processor converts the filtered value into the angular velocity value of the servo
Filtered values according to coordinates
Calculating a target distance filtering value R under an antenna coordinate systemfAzimuthal angle filter AZfFiltered value EL of pitch anglef：
Dividing the angle value by kAZAs the azimuthal error scaling factor, kELObtaining a servo azimuth angle value omega for a pitch angle error proportional coefficientAZValue ω of pitch angle velocityEL：ωAZ＝AZf/kAZ，ωEL＝ELf/kEL。
Seventh step, sending the angular velocity value to servo to complete closed-loop tracking
And before receiving the echo matrix of the next frame, the signal processor sends the obtained angular velocity value to a servo to carry out angle closed-loop tracking.
And finishing the angle closed-loop tracking process, and stably tracking the target by the antenna.
The method is mainly applied to a tracking radar system, can solve the problem that the tracking precision of the radar angle on a moving carrier platform is easily influenced by the signal-to-noise ratio or is interfered and induced to be biased, has strong anti-interference capability and small calculated amount, and is suitable for engineering application.
Claims (10)
1. A velocity loop angle tracking method based on position loop filtering is characterized by comprising the following specific steps:
first step of building an angle tracking system
An angle tracking system, comprising: the system comprises target simulation equipment, an antenna, a servo, attitude measurement equipment, position measurement equipment and a signal processor;
the output end of the target simulation equipment is connected with the input end of the antenna through a wire; the output end of the antenna is connected with the input end 1 of the signal processor through a wire; the output end of the attitude measurement equipment is connected with the input end 2 of the signal processor through a lead; the output end of the position measuring equipment is connected with the input end 3 of the signal processor; the output end of the signal processor is connected with the servo input end through a wire;
second step antenna receives target echo and obtains angle error information
The target simulation equipment releases target echo at a preset angle, and the antenna processes echo signals received by the sum channel, the azimuth channel and the pitch channel to obtain azimuth angle error information AZerrPitch angle error information ELerrAnd reporting to the signal processor;
thirdly, the attitude measuring equipment and the position measuring equipment acquire real-time state information
Acquiring real-time attitude information of the carrier platform by attitude measurement equipment: carrier azimuth angle yaw, carrier pitch angle pitch and carrier roll angle roll; position measuring equipment acquires real-time coordinates of carrier platform in target coordinate system
Reporting the real-time state information to a signal processor;
fourthly, the signal processor processes the acquired echo, the angle error information and the real-time state information
The signal processor performs target detection on the echo data to obtain a target distance R, and converts the angle error information into an actual angle of the target deviating from the antenna: azimuth AZ ═ AZerrgkAZPitch EL ═ ELerrgkELAnd converting the above-mentioned measured values to an antennaCoordinates in a coordinate system
kAZAs the azimuthal error scaling factor, kELIs a pitch angle error proportionality coefficient;
calculating the coordinate of the radar measured value in the carrier platform system according to the attitude measurement information through the rotation matrix converted from the antenna system to the carrier platform system;
obtaining the coordinate of the radar measured value in a target coordinate system according to the position information of the carrier platform;
fifthly, the signal processor carries out three-dimensional filtering to obtain a filtering value of the coordinate
The signal processor carries out alpha-beta filtering on the coordinates of the radar measured value, and the filtering is finished;
the sixth step, the signal processor converts the filtered value into the angular velocity value of the servo
Filtered values according to coordinates
Calculating a target distance filtering value R under an antenna coordinate systemfAzimuthal angle filter AZfFiltered value EL of pitch anglef；
Dividing the angle value by kAZ，kELObtaining the azimuth angle value omega of the servoAZValue ω of pitch angle velocityEL：ωAZ＝AZf/kAZ，ωEL＝ELf/kEL；
Seventh step, sending the angular velocity value to servo to complete closed-loop tracking
Before receiving the echo matrix of the next frame, the signal processor sends the obtained angular velocity value to a servo to carry out angle closed-loop tracking;
and finishing the angle closed-loop tracking process, and stably tracking the target by the antenna.
2. The method of velocity loop angle tracking based on position loop filtering according to claim 1,
the coordinates under the antenna coordinate system are:
x＝R·sin(-AZ) (1)
y＝R·cos(AZ)·cos(EL) (2)
z＝R·cos(AZ)·sin(EL) (3)。
3. the method of velocity loop angle tracking based on position loop filtering according to claim 2,
the rotation matrix transformed from the antenna system to the carrier platform system is:
4. the method of velocity loop angle tracking based on position loop filtering according to claim 3,
the coordinates of the radar measurements in the carrier platform system are:
5. the method of velocity loop angle tracking based on position loop filtering according to claim 4,
coordinates of the radar measurement in the target coordinate system:
6. the method of velocity loop angle tracking based on position loop filtering according to claim 1,
the signal processor α - β filters the coordinates of the radar measurement value, and when the coordinates are x, the k-th x coordinate has a filtered value
Filtered value of x-direction velocity
Firstly, obtaining the predicted value of the x coordinate of the (k +1) th time
Predicted value of x-direction velocity
Wherein T is the time interval between two measurement value acquisitions;
obtaining innovation x (k +1) of the (k +1) th time according to the predicted value and the measured value; wherein the radar measurement value of x coordinate at the k +1 th time is xm(k+1)；
According to the innovation x (k +1) of the (k +1) th time and the predicted value of the x coordinate of the (k +1) th time
Predicted value of x-direction velocity
Obtaining the filtered value of the x coordinate of the (k +1) th time
Filtered value of x-direction velocity
Wherein alpha is a distance filtering parameter and beta is a speed filtering parameter, and the filtering is finished.
7. The method for velocity loop angle tracking based on position loop filtering according to claim 6, wherein α is 0.01.
8. The method for velocity loop angle tracking based on position loop filtering of claim 6, wherein β is 0.001.
9. The method of velocity loop angle tracking based on position loop filtering according to claim 1,
target distance filtering value R under antenna coordinate systemfComprises the following steps:
10. the method of velocity loop angle tracking based on position loop filtering according to claim 9,
azimuth filtered value AZfAnd a pitch angle filtered value ELfComprises the following steps:
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| CN110244274A (en) * | 2019-07-03 | 2019-09-17 | 北京遥感设备研究所 | A kind of position filtering method based on all-azimuth search |
| CN111190348B (en) * | 2019-11-25 | 2022-03-15 | 西安电子工程研究所 | Radar guidance head angular velocity optimization method |
| CN111736146B (en) * | 2020-07-03 | 2022-06-21 | 哈尔滨工业大学 | Bistatic pre-detection tracking method and device based on speed filtering |
| CN113608432B (en) * | 2021-08-06 | 2023-11-10 | 中国人民解放军63691部队 | Ship-borne two-degree-of-freedom servo system high dynamic loop parameter adjusting method and system |
| CN113960620B (en) * | 2021-09-30 | 2023-08-18 | 西南电子技术研究所（中国电子科技集团公司第十研究所） | High-precision beam tracking system |
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| CN101697466A (en) * | 2009-10-28 | 2010-04-21 | 上海电机学院 | Servo system for linear motor |
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