CN112083382B - High-precision small phased array secondary radar azimuth compensation calculation method - Google Patents
High-precision small phased array secondary radar azimuth compensation calculation method Download PDFInfo
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- 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
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- G—PHYSICS
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- 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
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Abstract
The invention discloses a high-precision small phased array secondary radar azimuth compensation calculation method. The method mainly comprises three parts, wherein the first part is a sum-difference sampling amplitude value after the microwave darkroom environment testing integrated antenna, TR and wave beam are formed, the second part is an OBA table of each half-wave bit and a central position offset table of each wave bit generated according to test data, and the third part is used for performing data processing azimuth compensation calculation according to the OBA table and the central position offset table. Aiming at the problem that the azimuth error of the small-sized phased array secondary radar is increased when the difference between different wave position antennas and TR hardware is large, the method can effectively reduce the error caused by the difference between different wave position hardware, thereby improving the azimuth measuring and calculating accuracy of the small-sized phased array secondary radar.
Description
Technical Field
The invention belongs to the technical field of radar signal processing, and particularly relates to a high-precision small phased array secondary radar azimuth compensation calculation method.
Background
Along with the rapid development of the phased array radar, a plurality of small-sized mobile platforms of targets begin to deploy the phased array secondary radar, and the phased array secondary radar wants to have the advantages of flexible scanning, small volume, convenience in concealment and high reliability compared with the traditional mechanical scanning radar [1] The disadvantages are high cost and difficult technology. Due to size constraint, the main lobe width of an interrogation beam of the small-sized phased array secondary radar is often larger than that of an interrogation beam of a mechanical scanning antenna, and can reach dozens of degrees.
At present, on a small phased array secondary radar, a common antenna test is used for providing a general Off-Angle (OBA-Off-boresight Angle) and a signal left and right mark for azimuth table look-up calculation, the method has the advantages that when the hardware difference on different wave positions is small, the azimuth calculation error is small, if the hardware difference on different wave positions is large, the phenomenon that a target swings leftwards and rightwards greatly when flying across the wave positions can occur, and at the moment, the general OBA provided by the antenna test cannot control the target azimuth calculation error in a reasonable interval, so that the azimuth calculation accuracy is improved under the condition of tolerating a certain hardware difference, and the method is of great importance for improving the detection performance of the secondary radar.
On a small phased array secondary radar, due to the hardware difference of antenna, TR and beam forming, the final formed beam of each wave position is different, the left side and the right side of the wave position are also different, and the central position of the actual wave position is also deviated from the ideal position by a certain angle, which introduces errors for the azimuth calculation of the final target.
The currently common azimuth compensation method is to use a general OBA table obtained by antenna measurement to perform azimuth compensation calculation, and the center position of each wave position is defaulted to be an ideal position.
Disclosure of Invention
The invention aims to provide a high-precision small-sized phased array secondary radar azimuth compensation calculation method aiming at the problem that azimuth errors are increased when different wave position antennas and TR hardware of a small-sized phased array secondary radar are different greatly.
The purpose of the invention is realized by the following technical scheme:
a high-precision small phased array secondary radar azimuth compensation calculation method at least comprises the following steps: s1: measuring the sampling amplitude of a darkroom; s2: the measured data is sorted and analyzed, the measured data is analyzed and sorted, the wave position center position is currently positioned to the position with the maximum amplitude value of the subtraction, the center of each wave position is found, the wave position center position data is sorted, and all half-wave-position data are obtained by splitting according to the wave position center position; s3: generating a half-wave position OBA table, performing polynomial fitting according to an amplitude difference value and a relative wave position center offset absolute value in half-wave position data, gradually increasing and substituting the amplitude difference value into a formula in steps of 1 from 0 according to a fitting formula until the fitted relative wave position center offset absolute value is less than or equal to 0, and storing the data into an array, wherein the array is the OBA table of the half-wave position; s4: generating a wave position center offset parameter table, selecting a position as a reference position according to the wave position center position data arranged in the step S2, calculating clockwise included angles between the center positions of all wave positions and the reference position, and storing the clockwise included angles into the center position offset parameter table; s5: and performing data processing azimuth compensation calculation, acquiring original target decoding during data processing to obtain a wave position value, a phase sign position and an amplitude difference value, searching a wave position center offset parameter table according to the wave position value to obtain a center actual azimuth of the wave position, then determining whether the current target is positioned on the left side or the right side of the wave position according to the phase sign position value to find a corresponding OBA table, and then sampling an amplitude difference according to the sum and difference to perform OBA table searching to obtain an azimuth which is an included angle between the current target and a reference azimuth.
According to a preferred embodiment, the step S1 specifically includes:
s11: building a test environment of a navigation management simulator, an antenna, a rotary table and an interrogation host in a microwave darkroom;
s12: sending a control command transmitted by single wave bit inquiry to an inquiry host through a debugging tool;
s13: clockwise rotating the antenna through antenna turntable control software, checking an original decoding amplitude sampling waveform through display control software, and finding the leftmost end of a wave position according to the change trend that the amplitude difference value from right to left in the wave position is from small to large and then to small, wherein the sum sampling amplitude value is the difference sampling amplitude value at the moment;
s14: through antenna rotary table control software, the antenna is rotated anticlockwise from the leftmost end of the current wave position by 0.1 degree of stepping, the wave position value, the sum sampling amplitude value, the difference sampling amplitude value and the antenna rotary table angle value are recorded, the rotary table is controlled to rotate to the rightmost end of the wave position all the time, and at the moment, the sum sampling amplitude value is equal to the difference sampling amplitude value;
s15: steps 12-14 are repeated until all wave bits have completed recording data.
According to a preferred embodiment, the step S2 specifically includes:
s21: in the case where the darkroom environmental data measuring step S1 is completed, data collation analysis is started;
s22: sequentially acquiring single wave bit test record data from a first wave bit, wherein the data comprises a wave bit value BeamNum, a sampling amplitude value SumAmp, a difference sampling amplitude value DelAmp and an antenna angle value AntAngle;
s23: when the SumAmp is larger than or equal to the DelAmp, finding an antenna angle value AntAngle corresponding to the maximum value of the SumAmp-DelAmp beamCenter Recording the angle value of the antenna as the central position of the current wave position;
s24: according to the central position of wave position, the data of a complete wave position is divided into a left wave position part and a right wave position part, and effective data is arranged to be azimuth offset theta offset ＝|AntAngle-AntAngle beamCenter L, amplitude difference value Amp ═ SumAmp-DelAmp;
s25: and repeating the steps 22-24 until all wave positions complete data sorting and analysis.
According to a preferred embodiment, the step S3 of generating the half-wave-bit OBA table specifically includes:
s31: acquiring data after half-wave bit arrangement, including an amplitude difference value and a relative wave bit center offset absolute value;
s32: and fitting a 4-order polynomial by taking the amplitude difference value as x and the absolute value of the relative angle as y to obtain a fitting formula y-ax 3 +bx 2 +cx+d；
S33: according to the fitting formula, the amplitude difference value x is substituted into the formula from 0 by stepping and increasing 1 until the absolute value y of the relative angle is less than or equal to 0, and a plurality of groups of amplitude difference values x are obtained step＝1 And the fitted absolute value y (x) of the relative angle step＝1 )；
S34: amplitude difference x by step 1 step＝1 For array index values, the absolute value y (x) of the relative angle to be fitted is determined step＝1 ) Storing the data into the array in the form of array elements, the obtained array being the half-wave bitOBA meter, wherein the storage format of the meter is OBA [ f (i)][x]Where i is the serial number of wave bits, where f (i) ═ 2i denotes the left wave bit, f (i) ═ 2i +1 denotes the right wave bit, and x is the amplitude difference;
s35: and repeating the steps 31-34 until all half-wave bits finish the generation of the OBA table.
According to a preferred embodiment, the step S4 specifically includes:
s41: determining the central position of a wave position as a reference position;
s42: acquiring an antenna angle value of a wave position center position of wave position sorting data;
s43: calculating the clockwise included angle theta between the central position of the current wave position and the reference position i ；
S44: will form an included angle theta i In a one-dimensional array Azi [ i ]]]The storage format of (1) is stored into a central position offset parameter table, wherein i is the serial number of the wave position;
s45: steps 42-44 are repeated until all wave positions have completed the generation of the center position offset parameter table.
According to a preferred embodiment, the step S5 of processing data for the azimuth compensation calculation specifically includes:
s51: acquiring a wave level value, a phase sign bit and an amplitude difference value from an original target decoding;
s52: lookup of center offset table Azi [ i ] according to wave level value]Obtaining the angle theta of the wave phase relative to the reference azimuth i ＝Azi[i]；
S53: determining whether the current target is at the left wave bit or the right wave bit of the current wave bit according to the phase sign bit, thereby confirming a first index value of the two-dimensional OBA table OBA [ ] [ ], wherein the left wave bit is 2i, and the right wave bit is 2i + 1;
s54: according to the amplitude difference value, confirming a second index value of the two-dimensional OBA table OBA [ ] [ ], so that an azimuth compensation value can be obtained;
s55: according to the wave position central position look-up table value, phase sign position and azimuth compensation value, substituting into compensation calculation formula, calculating to obtain the included angle theta of target relative to reference azimuth calc 。
According to a preferred embodiment, the compensation calculation formula of step S55 is:
the main scheme and the further selection schemes can be freely combined to form a plurality of schemes which are all adopted and claimed by the invention; in the invention, the selection (each non-conflict selection) and other selections can be freely combined. The skilled person in the art can understand that there are many combinations, which are all the technical solutions to be protected by the present invention, according to the prior art and the common general knowledge after understanding the scheme of the present invention, and the technical solutions are not exhaustive herein.
The method has the advantages that the high-precision small-sized phased array secondary radar azimuth compensation calculation method can effectively reduce errors caused by different wave position hardware differences, and therefore the azimuth measurement accuracy of the small-sized phased array secondary radar is improved.
Drawings
FIG. 1 is a flow chart of the orientation compensation calculation method of the present invention.
Fig. 2 is a flow chart of the darkroom sampling amplitude measurement of step S1 in the orientation compensation calculation method of the present invention.
Fig. 3 is a flowchart for sorting and analyzing the measurement data in step S2 in the method for calculating the orientation compensation according to the present invention.
Fig. 4 is a flowchart of generating a half-wave-bit OBA table in step S3 in the azimuth compensation calculation method according to the present invention.
Fig. 5 is a flowchart of the wave position center offset table generation in step S4 in the method for calculating the azimuth compensation according to the present invention.
Fig. 6 is a flowchart of the data processing orientation calculation in step S5 in the orientation compensation calculation method of the present invention.
FIG. 7 is a comparison diagram of the measured amplitude and angle between the wave positions in the method for calculating the azimuth compensation according to the present invention.
FIG. 8 is a comparison graph of half-wave amplitude angles in the measured wave position according to the method for calculating azimuth compensation of the present invention.
Fig. 9 is a first order polynomial fitting graph of the amplitude difference value and the absolute value of the relative angle in step S3 in the calculation method for azimuth compensation according to the present invention.
Fig. 10 is a second-order polynomial fitting graph of the amplitude difference and the absolute value of the relative angle in step S3 in the azimuth compensation calculation method according to the present invention.
Fig. 11 is a third-order polynomial fitting chart of the absolute value of the amplitude difference and the relative angle in step S3 in the method for calculating the azimuth compensation of the present invention.
Fig. 12 is a fourth order polynomial fitting graph of the amplitude difference and the absolute value of the relative angle in step S3 in the calculation method for azimuth compensation according to the present invention.
Fig. 13 is a comparison of antenna test OBA and integrated data processing OBA for the orientation compensation calculation method of the present invention.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that, in order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are clearly and completely described below, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments.
Thus, the following detailed description of the embodiments of the present invention is not intended to limit the scope of the invention as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, the invention discloses a high-precision small phased array secondary radar azimuth compensation calculation method. The invention aims to realize the purpose that the azimuth of the target can be compensated and calculated with high precision when the hardware difference between the antenna and the TR is obvious at different wave positions. The method mainly comprises three parts, wherein the first part is a sum-difference sampling amplitude value after the microwave darkroom environment testing integrated antenna, TR and wave beam are formed, the second part is an OBA table of each half-wave bit and a central position offset table of each wave bit generated according to test data, and the third part is used for performing data processing azimuth compensation calculation according to the OBA table and the central position offset table.
The azimuth compensation calculation method comprises the following steps:
step S1: darkroom sampling amplitude measurement. The method comprises the following steps: in a microwave darkroom environment, a simulation transponder is erected, an antenna is arranged on an antenna rotary table, an inquiry host is connected with the antenna through a cable, and measurement is carried out through a network control equipment host and the antenna rotary table. The antenna, TR and the sampling amplitude value after the beam forming comprehensive processing of each wave position are measured in a darkroom, the stepping angle of an antenna rotary table is 0.1 degree during measurement, and the complete measurement data of all the wave positions are recorded, wherein the content comprises: wave position value (BeamNum is more than or equal to 0, and BeamNum is an integer), sum-difference sampling amplitude value (SumAmp is more than or equal to DelAmp), and antenna angle value (AntAngle is more than or equal to 0 degree and less than 360 degree).
Preferably, as shown with reference to fig. 2. The step S1 specifically includes:
s11: and (3) setting up a test environment of a navigation management simulator, an antenna, a rotary table and an interrogation host in the microwave darkroom.
S12: and sending the control command transmitted by the single-wave-bit inquiry to the inquiry host machine through the debugging tool.
S13: through antenna revolving stage control software, clockwise rotation antenna looks over original decoding amplitude sampling waveform through showing accuse software, and from small to big to little change trend according to the right-to-left amplitude difference value in the wave position, find the leftmost end of wave position again, and the sampling amplitude value is poor sampling amplitude value this moment.
S14: through antenna revolving stage control software, with the step-by-step of 0.1 degree from the leftmost end of current wave position, anticlockwise rotation antenna records the wave position value, with sample amplitude value, poor sample amplitude value, antenna revolving stage angle value, controls the revolving stage to rotate to the rightmost end of wave position always, and the value of this moment with sample amplitude value is poor sample amplitude value.
S15: steps 12-14 are repeated until all wave bits have completed recording data.
Step S2: and (5) sorting and analyzing the measurement data. Analyzing and sorting the measurement data, locating the wave position center position to the position of the maximum amplitude value of the sum and difference currently, finding the center of each wave position, sorting the wave position center position data, and splitting according to the wave position center position to obtain all half-wave-bit data. Each half-wave bit effective data range is the azimuth offset from the edge of the wave bit to the center of the wave bit, the sum sampling amplitude value and the difference sampling amplitude value, the edge of the wave bit corresponds to SumAmp (DelAmp), and the center of the wave bit corresponds to DelAmp
Preferably, as shown with reference to fig. 3. The step S2 specifically includes:
s21: in the case where the darkroom environmental data measuring step S1 is completed, the data collation analysis is started.
S22: and sequentially acquiring single-wave-bit test record data from the first wave bit, wherein the data comprises a wave bit value BeamNum, a sampling amplitude value SumAmp, a difference sampling amplitude value DelAmp and an antenna angle value AntAngle.
S23: when the SumAmp is larger than or equal to the DelAmp, finding an antenna angle value AntAngle corresponding to the maximum value of the SumAmp-DelAmp beamCenter And recording the antenna angle value as the center position of the current wave position.
S24: according to the central position of wave position, the data of a complete wave position is divided into a left wave position part and a right wave position part, and effective data is arranged to be azimuth offset theta offset ＝|AntAngle-AntAngle beamCenter And | and the amplitude difference value Amp is SumAmp-DelAmp.
S25: and repeating the steps 22-24 until all wave positions complete data sorting and analysis.
According to the invention, the darkroom sampling amplitude measurement and measurement data arrangement and analysis method is utilized, so that an operator can be clearly guided to carry out OBA original data acquisition and analysis, the measurement efficiency and the data effectiveness are improved, and an accurate data source is provided for the generation of the half-wave bit OBA table and the wave bit center offset parameter table.
Step S3: and generating a half-wave bit OBA table. And performing fourth-order polynomial fitting according to the amplitude difference value in the half-wave bit data and the relative wave bit center offset absolute value, substituting the amplitude difference value into the formula in a stepping increasing mode of 1 according to the fitting formula until the fitted relative wave bit center offset absolute value is less than or equal to 0, and storing the section of data into an array, wherein the array is the OBA table of the half-wave bit.
Preferably, as shown with reference to fig. 4. The step S3 of generating the half-wave-bit OBA table specifically includes:
s31: and acquiring data after half-wave bit arrangement, including an amplitude difference value and a relative wave bit center offset absolute value.
S32: and (4) performing 4-order polynomial fitting by taking the amplitude difference value as x and the absolute value of the relative angle as y to obtain a fitting formula y ═ ax 3 +bx 2 +cx+d。
S33: according to the fitting formula, the amplitude difference value x is substituted into the formula from 0 by stepping and increasing 1 until the absolute value y of the relative angle is less than or equal to 0, and a plurality of groups of amplitude difference values x are obtained step＝1 And the fitted absolute value y (x) of the relative angle step＝1 )。
S34: amplitude difference x by step 1 step＝1 For array index values, the absolute value y (x) of the relative angle to be fitted is determined step＝1 ) Storing the data into array in form of array element, the obtained array is OBA table of the half-wave bit, wherein the table storage format is OBA [ f (i)][x]Where i is the index of the wave bits, where f (i) ═ 2i denotes the left wave bit, f (i) ═ 2i +1 denotes the right wave bit, and x is the amplitude difference.
S35: and repeating the steps 31-34 until all half-wave bits finish the generation of the OBA table.
The method for generating the half-wave bit OBA table can quickly and accurately generate the half-wave bit OBA table under the condition of larger test sampling azimuth interval, and can also eliminate errors caused by wrong sampling when the error ratio of test sampling is smaller, thereby effectively improving the utilization rate of test data and the accuracy of the OBA table.
Step S4: and generating a wave position center offset parameter table. And selecting one position as a reference position according to the wave position center position data arranged in the step S2, calculating clockwise included angles between the center positions of all the wave positions and the reference position, and storing the clockwise included angles into a center position offset parameter table.
Preferably, as shown with reference to fig. 5. The step S4 specifically includes:
s41: the central position of one wave position is determined as a reference position.
S42: and acquiring an antenna angle value of the wave position center position of the wave position sorting data.
S43: calculating the clockwise included angle theta between the central position of the current wave position and the reference position i 。
S44: will form an included angle theta i In a one-dimensional array Azi [ i ]]]The storage format of (1) is stored in a central position offset parameter table, wherein i is the serial number of the wave position.
S45: steps 42-44 are repeated until all wave positions have completed the generation of the center position offset parameter table.
In table 1, the measured wave position center and the theoretical wave position center of a certain phased array secondary radar are listed, and it can be seen that the centers of different wave positions all have a certain angular offset, and if the angular offset error is not processed, the final target direction calculation is affected.
TABLE 1 comparison graph of wave position center theory and actually measured angle of certain phased array secondary radar
| Wave position number | Theoretical wave position center (rotation) | Actual measurement wave position center (rotation) |
| 1 | 0 | 0.3 |
| 2 | 22.5 | 21.9 |
| 3 | 45 | 44.3 |
| 4 | 67.5 | 67.8 |
| 5 | 90 | 90.7 |
| 6 | 112.5 | 112.3 |
| 7 | 135 | 134.6 |
| 8 | 157.5 | 158.1 |
| 9 | 180 | 180.6 |
| 10 | 202.5 | 203.6 |
| 11 | 225 | 224.8 |
| 12 | 247.5 | 247.1 |
| 13 | 270 | 271.3 |
| 14 | 292.5 | 292.8 |
| 15 | 315 | 314.3 |
| 16 | 337.5 | 336.4 |
Step S5: and performing data processing azimuth compensation calculation, acquiring original target decoding during data processing to obtain a wave position value, a phase sign position and an amplitude difference value, searching a wave position center offset parameter table according to the wave position value to obtain a center actual azimuth of the wave position, then determining whether the current target is positioned on the left side or the right side of the wave position according to the phase sign position value to find a corresponding OBA table, and then sampling an amplitude difference according to the sum and difference to perform OBA table searching to obtain an azimuth which is an included angle between the current target and a reference azimuth.
Preferably, as shown with reference to fig. 6. Step S5, data processing azimuth compensation calculation, specifically including:
s51: and acquiring a wave-level value, a phase sign bit and an amplitude difference value from the original target decoding.
S52: lookup of center offset table Azi [ i ] according to wave level value]Obtaining the angle theta of the wave phase relative to the reference azimuth i ＝Azi[i]。
S53: and determining whether the current target is at the left wave bit or the right wave bit of the current wave bit according to the phase sign bit, thereby confirming the first index value of the two-dimensional OBA table OBA [ ] [ ], wherein the left wave bit is 2i, and the right wave bit is 2i + 1.
S54: from the amplitude difference value, the second index value of the two-dimensional OBA table OBA [ ] [ ] is confirmed, and the azimuth compensation value can be acquired.
S55: according to the wave position central position look-up table value, phase sign position and azimuth compensation value, substituting into compensation calculation formula, calculating to obtain the included angle theta of target relative to reference azimuth calc 。
The compensation calculation formula of step S55 is:
in table 2, the integrated compensation OBA method and the antenna general OBA method are applied to a certain phased array secondary radar for error analysis and comparison, and as a result, the integrated compensation OBA method has a small position error and stable error fluctuation, while the antenna general OBA method has a large position error and large error variation along with the change of the amplitude difference.
TABLE 2 COMPLEX COMPENSATION OBA METHOD AND ANTENNA UNIVERSAL OBA METHOD COMPLEX TABLE FOR COMPUTING ORIENTATION MEASUREMENT OF DIRECTION
Fig. 7 is a comparison graph of amplitude and angle of a half wave position obtained by measuring two different wave positions of a certain phased array secondary radar, and it can be seen that there is a certain difference in amplitude and angle offset between different wave positions, so that an OBA table generated for each wave position can reduce a position calculation error.
Fig. 8 is a comparison graph of amplitude and angle of the left and right sides of a certain wave position obtained by measurement of a certain phased array secondary radar, and it can be seen that there is a certain difference in amplitude and angle offset of the left and right sides of the same wave position, so that the OBA tables are generated for the left and right sides of the wave position respectively, and the azimuth calculation error can be reduced.
Fig. 9 to 12 show the process of polynomial fitting comparison between the amplitude difference value and the angle deviation value measured by a certain half-wave position of a certain phased array secondary radar, that is, the 1 st-order polynomial fitting goodness is 0.89, the fitting degree is worst, the 2 nd-order polynomial fitting goodness reaches 0.99, the fitting degree is general, the 3 rd-order and 4 th-order polynomial fitting goodness both reaches more than 0.999, the fitting degree is better, and in order to satisfy polynomial fitting under some complex conditions, the 4 th-order polynomial is selected and adopted in the technical scheme of the patent.
Fig. 13 is a comparison graph of antenna test OBA and comprehensive data processing OBA table fitting curves of a certain phased array secondary radar, it can be seen that the OBA curve obtained by antenna test and the OBA curve obtained by synthesizing factors such as antenna, TR and beam forming have great difference, and the antenna test OBA can generate great error, so that the target azimuth accuracy can be more effectively improved by adopting comprehensive data processing OBA to perform azimuth calculation.
The high-precision small phased array secondary radar azimuth compensation calculation method disclosed by the invention can effectively reduce azimuth errors caused by hardware differences of different wave positions and improve the calculation accuracy of the target azimuth.
The foregoing basic embodiments of the invention and their various further alternatives can be freely combined to form multiple embodiments, all of which are contemplated and claimed herein. In the scheme of the invention, each selection example can be combined with any other basic example and selection example at will. Numerous combinations will be known to those skilled in the art.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (7)
1. A high-precision small phased array secondary radar azimuth compensation calculation method is characterized by at least comprising the following steps:
s1: measuring the sampling amplitude of a darkroom;
s2: the measured data is sorted and analyzed, the measured data is analyzed and sorted, the wave position center position is currently positioned to the position with the maximum amplitude value of the subtraction, the center of each wave position is found, the wave position center position data is sorted, and all half-wave-position data are obtained by splitting according to the wave position center position;
s3: generating a half-wave position OBA table, performing polynomial fitting according to an amplitude difference value and a relative wave position center offset absolute value in half-wave position data, gradually increasing and substituting the amplitude difference value into a formula in steps of 1 from 0 according to a fitting formula until the fitted relative wave position center offset absolute value is less than or equal to 0, and storing the data into an array, wherein the array is the OBA table of the half-wave position;
s4: generating a wave position center offset parameter table, selecting a position as a reference position according to the wave position center position data arranged in the step S2, calculating clockwise included angles between the center positions of all the wave positions and the reference position, and storing the clockwise included angles into a center position offset parameter table;
s5: and performing data processing azimuth compensation calculation, acquiring original target decoding during data processing to obtain a wave position value, a phase sign position and an amplitude difference value, searching a wave position center offset parameter table according to the wave position value to obtain a center actual azimuth of the wave position, then determining whether the current target is positioned on the left side or the right side of the wave position according to the phase sign position value to find a corresponding OBA table, and then sampling an amplitude difference according to the sum and difference to perform OBA table searching to obtain an azimuth which is an included angle between the current target and a reference azimuth.
2. The method for calculating the azimuth compensation of the high-precision small phased array secondary radar as claimed in claim 1, wherein the step S1 specifically comprises:
s11: building a test environment of a navigation management simulator, an antenna, a rotary table and an interrogation host in a microwave darkroom;
s12: sending a control command transmitted by single wave bit inquiry to an inquiry host through a debugging tool;
s13: clockwise rotating the antenna through antenna turntable control software, checking an original decoding amplitude sampling waveform through display control software, and finding the leftmost end of a wave position according to the change trend that the amplitude difference value from right to left in the wave position is from small to large and then to small, wherein the sum sampling amplitude value is the difference sampling amplitude value at the moment;
s14: through antenna rotary table control software, the antenna is rotated anticlockwise from the leftmost end of the current wave position by 0.1 degree of stepping, the wave position value, the sum sampling amplitude value, the difference sampling amplitude value and the antenna rotary table angle value are recorded, the rotary table is controlled to rotate to the rightmost end of the wave position all the time, and at the moment, the sum sampling amplitude value is equal to the difference sampling amplitude value;
s15: steps 12-14 are repeated until all wave bits have completed recording data.
3. The method for calculating the azimuth compensation of the high-precision small phased array secondary radar as claimed in claim 2, wherein the step S2 specifically comprises:
s21: in the case where the darkroom environmental data measuring step S1 is completed, data collation analysis is started;
s22: sequentially acquiring single wave bit test record data from a first wave bit, wherein the data comprises a wave bit value BeamNum, a sampling amplitude value SumAmp, a difference sampling amplitude value DelAmp and an antenna angle value AntAngle;
s23: when the SumAmp is larger than or equal to the DelAmp, finding an antenna angle value AntAngle corresponding to the maximum value of the SumAmp-DelAmp beamCenter Recording the angle value of the antenna as the central position of the current wave position;
s24: according to the central position of wave position, the data of a complete wave position is divided into two parts of left and right wave positions, and effective data is arranged into a relative wave position central deviation absolute value theta offset ＝|AntAngle-AntAngle beamCenter L, amplitude difference value Amp ═ SumAmp-DelAmp;
s25: and repeating the steps 22-24 until all wave positions complete data sorting and analysis.
4. The method for calculating the azimuth compensation of the high-precision small phased array secondary radar as claimed in claim 3, wherein the step S3 of generating the half-wave-position OBA table specifically comprises:
s31: acquiring data after half-wave bit arrangement, wherein the data comprises an amplitude difference value and a relative wave bit center offset absolute value;
s32: and fitting a 4-order polynomial by taking the amplitude difference value as x and the absolute value of the relative wave position center offset as y to obtain a fitting formula y-ax 3 +bx 2 +cx+d；
S33: according to the fitting formula, the amplitude difference value x is substituted into the formula from 0 by 1 step increment until the absolute value y of the relative wave position center deviation is less than or equal to 0, and a plurality of groups of amplitude difference values x are obtained step＝1 And the absolute value y (x) of the deviation of the fitted relative wave position center step＝1 )；
S34: amplitude difference x by step 1 step＝1 Shifting the relative wave position center of the corresponding fitting by an absolute value y (x) for the array index value step＝1 ) Storing the data into array in form of array element, the obtained array is OBA table of the half-wave bit, wherein the table storage format is OBA [ f (i)][x]Wherein i is the serial number of wave bits, where f (i) ═ 2i denotes the left wave bit, f (i) ═ 2i +1 denotes the right wave bit, and x is the amplitude difference;
s35: and repeating the steps 31-34 until all half-wave bits finish the generation of the OBA table.
5. The method for calculating the azimuth compensation of the high-precision small phased array secondary radar as claimed in claim 4, wherein the step S4 specifically comprises:
s41: determining the central position of a wave position as a reference position;
s42: acquiring an antenna angle value of a wave position center position of wave position sorting data;
s43: calculating the clockwise included angle theta between the central position of the current wave position and the reference position i ；
S44: will form an included angle theta i In a one-dimensional array Azi [ i ]]]The storage format of (1) is stored into a central position offset parameter table, wherein i is the serial number of the wave position;
s45: steps 42-44 are repeated until all wave positions have completed the generation of the center position offset parameter table.
6. The method for calculating the azimuth compensation of the high-precision small phased array secondary radar as claimed in claim 5, wherein the step S5 of processing the data by the azimuth compensation calculation specifically comprises the following steps:
s51: acquiring a wave level value, a phase sign bit and an amplitude difference value from an original target decoding;
s52: lookup of center offset table Azi [ i ] according to wave level value]To obtain the angle theta of the wave phase relative to the reference azimuth i ＝Azi[i]；
S53: determining whether the current target is positioned at the left wave bit or the right wave bit of the current wave bit according to the phase sign bit, and accordingly confirming a first index value of a two-dimensional OBA table OBA [ ] [ ] with the left wave bit being 2i and the right wave bit being 2i + 1;
s54: according to the amplitude difference value, confirming a second index value of the two-dimensional OBA table OBA [ ] [ ], so that an azimuth compensation value can be obtained;
s55: according to the wave position central position look-up table value, phase sign position and azimuth compensation value, substituting into compensation calculation formula, calculating to obtain the included angle theta of target relative to reference azimuth calc 。
7. The method for calculating the azimuth compensation of the high-precision small phased array secondary radar as claimed in claim 6, wherein the compensation calculation formula of the step S55 is as follows:
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