CN114609605B - Subarray echo data matching angle measurement method based on maximum likelihood - Google Patents
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Abstract
The invention discloses a subarray echo data matching angle measurement method based on maximum likelihood, which utilizes radar subarray echo sampling data to obtain a covariance inverse matrix between channels; weighting the subarray echo data by using an inverse matrix, and extracting target information from the weighted echo data; and finally, matching the target information with the guide vector to finally obtain the angle information of the target. In order to avoid the problem of large calculation amount of engineering realization, the method is realized by two steps of rough angle measurement and fine angle measurement. And a foundation is laid for subsequent trace point processing and target tracking through accurate angle measurement.
Description
Technical Field
The invention relates to the technical field of wireless communication, in particular to a subarray echo data matching angle measuring method based on maximum likelihood.
Background
The array signal processing means that a group of sensors capable of sensing spatial propagation signals and transmitting in a certain form are distributed on different positions in space according to a certain sequence to form a sensor array, and the sensor array receives the spatial propagation signals, so that discrete data of spatial incident signals are obtained.
The purpose of array signal processing is to make the beam former enhance the interesting or needed useful signal and simultaneously suppress the undesired interference and noise components by performing specific processing on the incident signal received by the antenna array, so as to effectively obtain the characteristic information of the needed signal and perform performance analysis.
The adaptive beam forming is one of important contents for array signal processing, can automatically measure clutter and interference characteristics of a working environment, analyze the action mode of main interference, automatically adopt a corresponding anti-interference scheme, and can adaptively adjust working parameters along with the change of the environment to achieve certain optimal performance.
However, in phased array radars, particularly multi-function phased array radars, the array typically contains hundreds to thousands of array elements. If array element-level digital beam forming is carried out on the large array, each receiving channel comprises an amplifying device, a mixing device and an analog-to-digital conversion device, so that the system overhead is greatly increased, and meanwhile, the consistency among the channels is poor due to the excessive number of the channels. Thus, for large arrays, a subarray structure is often used, which reduces hardware cost and complexity of engineering implementation. The subarray level self-adaptive processing has the advantages of small calculated amount, high convergence speed, less hardware equipment of a receiving system and the like. Therefore, the adaptive digital beamforming research at the sub-array level is one of the key technologies of the phased array radar.
The angle measurement is a basic task of a radar system, and the radar system undertakes a guidance or precise tracking task, and the angle measurement and tracking of a target are required to be realized with higher precision. At present, the relevant literature of the angle measurement function aiming at the subarray echo data is few, and the research in the field is still in a weak link. Therefore, it is necessary to pay attention to and enhance the goniometric study on the subarray echo data.
Disclosure of Invention
In view of the problems in the prior art, the present invention aims to provide a subarray echo data matching angle measurement method based on maximum likelihood, which is implemented by two steps of rough angle measurement and fine angle measurement. And a foundation is laid for subsequent trace point processing and target tracking through accurate angle measurement.
The technical scheme adopted by the invention is as follows:
a subarray echo data matching angle measurement method based on maximum likelihood is disclosed, wherein radar subarray echo sampling data is utilized to obtain covariance inverse matrix between channels; weighting the subarray echo data by using an inverse matrix, and extracting target information from the weighted echo data; and finally, traversing the target information and the guide vector to obtain a correlation coefficient, and taking an angle corresponding to the maximum value of the correlation coefficient as an angle measurement result of the target.
Further, the method takes the following subarray echo data as a calculation basis:
setting the subarray echo data asDimension ofI.e. the square number of the sub-array level isThe number of pitches is。
Further, the method comprises:
Wherein,in order to select the sub-array echo data samples,which represents the transpose of the conjugate,Iis a unit array.
Further, the weighting the sub-array echo data by the inverse matrix is as follows:
Further, the extracting target information of the weighted echo data is: set a target atA distance door, then
Further, the method comprises:
roughly measuring the angle of the target;
1) setting a search range of the angle rough measurement,
direction dimension,For the azimuth dimension, the maximum value of the search range, the pitch dimension,Searching the maximum value of the range for the pitch dimension;searching step length for the angle rough measurement;
2) calculating a steering vector corresponding to the angle rough measurement search angle
whereinjIs a unit of an imaginary number, and is,is the carrier frequency, and is,andsearch range for traversing rough measurement angleAndthe corresponding angle of the angle is set to be,andis an index of the distance between the two objects,is shown asReference array elements of the individual sub-arrays areThe distance in the axial direction relative to the reference array elements of the original array,is relative toThe distance in the axial direction, d is the distance between the azimuth dimension and the pitch dimension array element;
3) calculating the correlation coefficient between the guide vector of the angle rough measurement and the target information, and defining the correlation coefficient as
4) taking the angle corresponding to the maximum value of the correlation coefficient of the angle rough measurement as a rough measurement angle result
Wherein,is the angle rough measurement result, namely the angle rough measurement resultThe angle corresponding to the medium maximum value.
Further enter oneThe method comprises the following steps: carrying out fine measurement on the angle of the target; the result of the rough measurement is used as the basis of the azimuth dimension searching range and the pitch dimension searching range, and the angle is used for accurately measuring the searching step lengthAnd performing traversal calculation as a search step length, and taking an angle corresponding to the maximum value of the angle precision measurement correlation coefficient as a precision angle measurement result.
Further, setting the angle precision measurement search range as
Angle fine measurement to obtain coarse measurement resultOn the basis of the search range of the orientation dimensionPitch dimension search range:;and searching step length for angle precision measurement.
The beneficial results are that:
the invention provides a subarray echo data matching angle measurement method based on maximum likelihood, which provides technical support for the subarray echo data angle measurement field and improves the weak current situation of the current adaptive beam forming angle measurement field; meanwhile, in order to avoid the problem of large calculation amount of engineering realization, the method is realized by two steps of rough angle measurement and fine angle measurement. And a foundation is laid for subsequent trace point processing and target tracking through accurate angle measurement.
Drawings
FIG. 1 is a schematic diagram of subarray division;
FIG. 2 is a screenshot of an interference sample selection interface;
FIG. 3 is a screenshot of a result interface after weighting of the subarray echo data by the inverse matrix;
FIG. 4 is a schematic diagram of the result of coarse angle measurement of the subarray echo data;
FIG. 5 is a schematic diagram of the accurate angle measurement result of the subarray echo data;
FIG. 6 is a graph showing the variation of the sub-array SNR with the angle measurement result of the sub-array echo data in the embodiment;
fig. 7 shows antenna patterns after the sub-array echo data are synthesized into beams.
Detailed Description
The technical solution of the present invention will be explained with reference to the accompanying drawings. The described embodiments and their description are intended to be illustrative of the invention and should not be construed as restrictive.
The embodiment discloses a subarray echo data matching angle measurement method based on maximum likelihood, radar subarray level echo sampling data are utilized, covariance inverse matrixes among channels are obtained, information of a target is extracted from weighted echo data and matched with a guide vector, and finally target angle information is obtained. In order to avoid the problem of large calculation amount of engineering realization, the method is realized by two steps of rough angle measurement and fine angle measurement. And a foundation is laid for subsequent trace point processing and target tracking through accurate angle measurement. The method specifically comprises the following steps:
suppose the subarray echo data isDimension ofI.e. the square number of the sub-array level isThe number of pitches is;
Step 1: selecting a subarray echo data sample with the length of the sample beingL
And 3, step 3: weighting the subarray echo data with an inverse matrix
And 4, step 4: extracting target information
And 5: coarse angle measurement of subarray echo data
Setting angular rough measurement search range
Orientation dimension,For the azimuth dimension, the maximum value of the search range, the pitch dimension,Searching the maximum value of the range for the pitch dimension;step length is searched for angle rough measurement and can be set to be 0.2 degrees;
calculating a steering vector corresponding to the search angle
Wherein,is the carrier frequency, and is,andneeds to traverse the angle rough measurement search rangeAndthe corresponding angle is set to be the same as the angle,andis a distance index, the former being expressed asReference array elements of the individual sub-arrays areDistance in the axial direction with respect to the reference array element of the original array, the latter with respect to the reference array elementAnd d is the distance between the azimuth dimension and the pitch dimension array element.
Calculating correlation coefficient between guide vector of angle coarse measurement and target information
Taking the angle corresponding to the maximum value of the phase relation number as the angle measurement result
Step 6: accurate angle measurement of subarray echo data
Setting the search range of angle precision measurement
Azimuth dimension search range:pitch dimension search range:;the angle searching step length during accurate angle measurement can be set to be 0.01 degree;
calculating a steering vector corresponding to the search angle
WhereinjIs the unit of an imaginary number,andneed to traverse the precision angle search rangeAndroughly measuring other parameters of the corresponding angle at the same angle, wherein d is the spacing between the azimuth dimension and the pitch dimension array element;
calculating correlation coefficient between guide vector and target information
Taking the angle corresponding to the maximum value of the phase relation number as the final angle measurement result
The specific embodiment is as follows:
the azimuth is 32 array elements, the pitching is 64 array elements, and the azimuth pitching interval is half wavelength; the azimuth and elevation (8 × 16) array elements are combined into 1 sub-array, and as shown in fig. 1, the number of sub-arrays is 4 × 4= 16. 2 pressed disturbances, wherein the disturbance azimuth and the pitching angle are (2.2, -1.8) ° (2.5, 1.7) ° (1-2.8), and the disturbance ratio is 30-40 dB, as shown in Table 1; the target is at the 468 th range gate and the subarray is divided as shown in FIG. 1.
TABLE 12 interference parameter information
Number of interferences | Azimuth (°) | Angle of pitch (°) |
1 | 2.2 | -1.8 |
2 | -2.5 | 1.7 |
The results of the sub-array echo data angle measurement embodiment are embodied according to the basic operation steps:
step 1: a subarray echo data sample is selected, with a sample length of 64, see fig. 2.
And step 3: the subarray echo data is weighted with an inverse matrix and the echo results are shown in figure 3.
And 4, step 4: echo data of 16 subarrays are extracted from the echoes and are marked as tar _ info. Specific values are shown in Table 2.
TABLE 2 tar _ info values
Subarray channel number echo data
1 7.57-0.08i 9 5.72-5.36i
2 9.04+3.32i 10 12.28-1.48i
3 5.62+7.36i 11 9.84+1.79i
4 4.73+9.27i 12 6.22+5.45i
5 8.78-1.50i 13 6.90-7.27i
6 10.95+2.53i 14 5.21-1.80i
7 8.50+5.93i 15 8.12+1.26i
8 6.59+6.22i 16 9.84+2.62i
And 5: setting the azimuth dimension (-2.5: 0.2: 2.5) DEG and the pitch dimension (-2: 0.2: 2) DEG of an angle search range by coarsely measuring the angle of the subarray echo data; calculating steering vectors corresponding to the search angles, e.g., -2.5, -2) DEG for the first azimuth and pitch anglesThe dimensions are shown in Table 3.
1 0.54+0.07i 9 -0.32-0.99i
2 -0.22-1.13i 10 -1.06+0.68i
3 -0.25+0.92i 11 1.24+0.08i
4 0.60+0.22i 12 -0.07-0.79i
5 0.26-0.96i 13 -0.58+0.20i
6 -1.25+0.06i 14 0.06+0.91i
7 0.81+0.85i 15 0.53-0.77i
8 0.57-0.72i 16 -0.45-0.12i
Calculating correlation coefficient between steering vector corresponding to azimuth and pitch angle (-2.5, -2) and target information
After traversing all the azimuth angles and the pitch angles in the rough angle measurement, carrying out normalization processing, and takingThe angle corresponding to the maximum is the raw angle measurement result, see fig. 4.
The results of the rough angle measurement were (0.5, -0.6) °.
Step 6: accurate angle measurement of subarray echo data
Setting azimuth dimension (0.3:0.01:0.7) degree and pitch dimension (-0.8:0.01: minus 0.4) degree of an angle search range;
at the moment, the corresponding angle range of the guide vector is a precise angle measurement range, the other steps are the same as the rough angle measurement, and finally the angle is obtainedThe angle corresponding to the maximum value is the accurate angle measurement result, as shown in fig. 5, the accurate angle measurement result is (0.47, -0.55) °, and the angle measurement result is consistent with the target real result (0.48, -0.55).
Fig. 6 shows that the interference is 40dB, and the angle measurement result changes with the sub-array SNR. It can be seen that when the target SNR is low, the error of the angle measurement result is large, and as the SNR increases, the angle measurement result continuously tends to and finally converges to the true value.
The technical solution of the present invention is not limited to the limitations of the above-mentioned specific embodiments, and all technical modifications made according to the technical solution of the present invention fall within the scope of the present invention.
Claims (3)
1. A subarray echo data matching angle measurement method based on maximum likelihood is characterized in that subarray echo sampling data are utilized to obtain covariance inverse matrixes among channels; weighting the subarray echo data by using an inverse matrix, and extracting target information from the weighted subarray echo data; finally, traversing the target information and the guide vector to obtain a correlation coefficient, and taking an angle corresponding to the maximum value of the correlation coefficient as a target angle measurement result;
the method takes the following subarray echo data as a calculation basis:
setting the subarray echo data asDimension ofI.e. the square number of the sub-array level isThe number of pitches is;
The method comprises the following steps: calculating covariance matrix of subarray echo dataAnd inverse covariance matrix:
Wherein,in order to select a subarray echo data sample, the length of the sample is L,which represents the transpose of the conjugate,Iis a unit array;
the weighting of the sub-array echo data by the inverse matrix is as follows:
the extraction of target information from the weighted subarray echo data is as follows: set a target atA distance door, then
the method comprises the following steps:
roughly measuring the angle of the target;
setting a search range of the angle rough measurement,
direction dimension,For the azimuth dimension, the maximum value of the search range, the pitch dimension,Searching the maximum value of the range for the pitch dimension;searching step length for the angle rough measurement;
calculating a steering vector corresponding to the angle rough measurement search angle
wherein,jis the unit of an imaginary number,is the carrier frequency, and is,andsearch range for traversing rough measurement angleAndthe corresponding angle of the angle is set to be,andis an index of the distance between the two objects,is shown asReference array elements of the individual sub-arrays areThe distance in the axial direction relative to the reference array elements of the original array,is relative toThe distance in the axial direction, d is the distance between the azimuth dimension and the pitch dimension array element;
calculating the correlation coefficient between the guiding vector of the angle rough measurement and the target information, and defining as
taking the angle corresponding to the maximum value of the correlation coefficient of the angle rough measurement as a rough measurement angle result
2. The maximum likelihood-based subarray echo data matching goniometry method of claim 1, wherein the method comprises: carrying out fine measurement on the angle of the target; the result of the rough measurement is used as the basis of the azimuth dimension searching range and the pitch dimension searching range, and the angle is used for accurately measuring the searching step lengthAnd performing traversal calculation as a search step length, and taking an angle corresponding to the maximum value of the angle precision measurement correlation coefficient as a precision angle measurement result.
3. The maximum likelihood-based subarray echo data matching angle measurement method of claim 2, wherein the angle precision measurement search range is set to
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