CN115963484A - Vehicle-mounted motion platform self-adaptive digital multi-beam radar and detection method thereof - Google Patents
Vehicle-mounted motion platform self-adaptive digital multi-beam radar and detection method thereof Download PDFInfo
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Abstract
The invention provides a vehicle-mounted motion platform self-adaptive digital multi-beam radar and a detection method thereof.A dynamic attitude sensor transmits the current attitude angle of a vehicle-mounted platform to a signal processing unit; secondly, the encoder sensor can transmit the current pointing angle of the rotary table to the signal processing unit; then the signal processing unit receives the inclination angle data of the vehicle-mounted platform and the encoder sensor and then rotates the space coordinate system to obtain the compensated beam pointing direction; and finally, calculating a weighting matrix formed by the digital wave beams in real time according to the calculated wave beams, performing complex multiplication operation on the signals, and adjusting the direction of the digital wave beams so as to meet the requirement of the wave beam coverage. The invention can effectively solve the problem of inaccurate digital multi-beam pointing caused by shaking of the vehicle-mounted platform, thereby improving the angle measurement precision and the detection probability in the radar motion process.
Description
Technical Field
The invention relates to the technical field of measurement and testing, in particular to a vehicle-mounted motion platform self-adaptive digital multi-beam radar and a detection method thereof.
Background
The digital array radar is the latest development direction of the active phased array radar and the digital radar, and can form beams in a digital mode. The traditional digital multi-beam radar is generally erected at a fixed position, the radar needs to be leveled, the scanning range of the pitching beam is guaranteed to be scanned according to the preset value, and if the radar is not leveled, the digital multi-beam is not directed to the correct direction, so that the angle measurement error is caused.
When the radar is erected on a vehicle, the radar on the vehicle inclines in angle due to the bumpy road surface in the traveling process of the vehicle, so that the original preset beam direction deviates from the beam direction in the space, and the radar angle measurement precision and the beam coverage range are influenced. The inclination of the vehicle platform can be represented by pitch, which refers to the inclination generated by the longitudinal axis of the vehicle platform, and roll, which refers to the inclination generated by the transverse axis of the vehicle platform, and the longitudinal axis is perpendicular to the transverse axis. In order to ensure that the radar beam can still point to an expected correct angle along with the vibration of the platform in the traveling process of the vehicle-mounted platform, the beam pointing direction of the radar needs to be corrected in real time according to the current inclination state of the vehicle-mounted platform.
At present, digital beam forming radars are mainly erected on fixed positions, and the beam weighting matrix used is also fixed. However, this approach has the following disadvantages: firstly, the advantage of flexible beam forming of a DBF system radar is not exerted; secondly, the requirement on erection is high, the radar posture is generally required to be leveled, and once the radar posture is changed by external force, the radar posture can only be leveled again; if the real-time calculation is not carried out according to various angle changes, the method is not suitable for the motion platform. If the radar is installed in a moving platform, the method can cause the problems of inaccurate angle measurement and low detection probability.
In the prior art, for example, in patent application with respect to a stable platform, for example, CN110988801 a, "method and apparatus for adjusting installation angle of radar", the installation angle is adjusted by determining the pitch angle, yaw angle and roll angle of the radar according to the detection result of the target to be detected by the radar, and dynamic adjustment according to a sensor is not performed in real time, which may cause the problems of inaccurate angle measurement and low detection probability.
Therefore, there is a need for a digital multi-beam radar suitable for use with vehicular motion platforms.
Disclosure of Invention
The invention provides a vehicle-mounted motion platform self-adaptive digital multi-beam radar and a detection method thereof, aiming at solving the problems of inaccurate angle measurement and low detection probability of the vehicle-mounted digital multi-beam radar, wherein a dynamic attitude sensor transmits the current attitude angle of a vehicle-mounted platform to a signal processing unit; secondly, the encoder sensor can transmit the current pointing angle of the rotary table to the signal processing unit; then the signal processing unit receives the inclination angle data of the vehicle-mounted platform and the encoder sensor and then rotates the space coordinate system to obtain the compensated beam pointing direction; and finally, calculating a weighting matrix formed by the digital wave beams in real time according to the calculated wave beams, performing complex multiplication operation on the signals, and adjusting the direction of the digital wave beams so as to meet the requirement of the wave beam coverage.
The invention provides a vehicle-mounted motion platform self-adaptive digital multi-beam radar which comprises a vehicle-mounted platform arranged on a vehicle body, a rotary table arranged on the vehicle-mounted platform, a radar, an attitude sensor, an encoder sensor and a signal processing unit, wherein the radar, the attitude sensor and the encoder sensor are arranged on the rotary table, the signal processing unit is electrically connected with the rotary table, the radar, the attitude sensor and the encoder sensor, the radar is a digital multi-beam radar comprising N array element antenna array surfaces, and the array elements are arranged at equal intervals;
the attitude sensor is used for monitoring the inclination angle attitude of the vehicle-mounted motion platform in real time and sending the inclination angle attitude to the signal processing unit, the encoder sensor monitors the pointing angle of the rotary table and sends the pointing angle to the signal processing unit, the signal processing unit receives the inclination angle attitude and the pointing angle and then rotates the beam coordinate system to obtain compensated beam pointing, a beam weighting matrix formed by digital beams is calculated in real time, and the digital beams are obtained after complex multiplication operation is carried out on signals.
The invention provides a detection method of a vehicle-mounted motion platform self-adaptive digital multi-beam radar, which comprises the following steps of;
s1, an attitude sensor monitors the inclination angle attitude of a vehicle-mounted motion platform in real time and sends the inclination angle attitude to a signal processing unit, and an encoder sensor monitors the pointing angle of a rotary table and sends the pointing angle attitude to the signal processing unit;
s2, the signal processing unit judges whether the radar is inclined, if yes, the step S3 is carried out, and if not, the step S7 is carried out;
s3, according to the angle deviation of the longitudinal rocking shaft during radar inclination
The transverse roller angle offset->
Obtaining a rotation matrix L;
s4, obtaining a beam pointing three-dimensional coordinate according to the pointing direction of the current antenna array surface, and multiplying the beam pointing three-dimensional coordinate by the rotation matrix L to obtain a beam coordinate after rotating the coordinate system
Based on beam coordinates &>
Obtaining a pitch angle deviation value of each wave beam
；
S5, the signal processing unit points according to the antenna array surface
And pitch angle offset value pick>
Obtaining compensated beam pointing
；
S6, pointing according to the compensated wave beam
Obtaining a beam weighting matrix W, and performing complex multiplication and accumulation on weighting coefficients and signals in the beam weighting matrix W to obtain digital multi-beams;
s7: and transmitting the digital multi-beam and processing the echo signal, and returning to the step S1.
The invention relates to a vehicle-mounted motion platformAs a preferred mode, in step S2, the method for determining the inclination of the radar is as follows:
not equal to 0 and/or ≠>
≠0。
The invention relates to a detection method of a vehicle-mounted motion platform self-adaptive digital multi-beam radar, which is characterized in that in a preferred mode, in a step S3, a rotation matrix L is as follows:
the invention relates to a detection method of a vehicle-mounted motion platform self-adaptive digital multi-beam radar, which is an optimal mode, and a method for outputting a rotation matrix L comprises the following steps: attitude sensor for offsetting angle of pitch shaft
Sequentially outputting the difference value of the current posture and the previous posture to a register and a subtracter, outputting the difference value to a rotation matrix unit for calculating a pitching value, and enabling a posture sensor to shift the angle of the rolling shaft to be greater or smaller>
The difference value between the current posture and the previous posture is calculated by the subtracter and then is output to a rolling value rotation matrix calculation unit, and the matrix calculation unit fuses output values of the pitching value rotation matrix unit and the rolling value rotation matrix unit and then outputs a rotation matrix L;
wherein ,
is associated with the rotation matrix of the rocker shaft>
A rotation matrix corresponding to the transverse rolling shaft; />
The invention relates to a detection method of a vehicle-mounted motion platform self-adaptive digital multi-beam radar, which is used as a preferred mode,
in the step S4, the process is carried out,
；
wherein the beam coordinate before rotation is
：
The invention relates to a detection method of a vehicle-mounted motion platform self-adaptive digital multi-beam radar, which is used as a preferred mode,
in a step S5, the first step is executed,
, wherein ,
Is the antenna beam ^ h->
The beams are directed.
The invention relates to a detection method of a vehicle-mounted motion platform self-adaptive digital multi-beam radar, which is an optimal mode, and in step S6, a beam weighting matrix
Comprises the following steps:
wherein ,
weighting the beam with a matrix->
Middle and fifth>
Number of beam pairs->
A complex weighting factor, i ≦ m, performed per unit channel>
。
The invention relates to a detection method of a vehicle-mounted motion platform self-adaptive digital multi-beam radar, which is used as a preferred mode,
；
wherein ,
for phase compensation values in the antenna array, is>
Processing signals ^ according to>
Receiving amplitude of array elements of each channel;
wherein d is the spacing of the array elements, and λ is the working wavelength.
The invention relates to a detection method of a vehicle-mounted motion platform self-adaptive digital multi-beam radar, which is used as a preferred mode,in signal processing machine
Each channel receiving signal is>
：
wherein ,
and
Is a first->
Each channel receives two orthogonal components, j is an imaginary number;
wherein ,
for the first phase, in combination with>
The signal spatial phase difference is received for two adjacent receiving units.
A self-adaptive wave digital multi-beam radar of a vehicle-mounted motion platform. The self-adaptive beam radar comprises an antenna array surface with N array elements, a dynamic attitude sensor, an encoder sensor, a rotary table, a signal processing unit and the like, wherein the dynamic attitude sensor transmits the current attitude angle of the vehicle-mounted platform to the signal processing unit; secondly, the encoder sensor can transmit the current pointing angle of the rotary table to the signal processing unit; and the signal processing unit rotates the space coordinate system after receiving the inclination angle data of the vehicle-mounted platform and the encoder sensor to obtain the compensated beam pointing direction. And finally, calculating a weighting matrix formed by the digital wave beams in real time according to the calculated wave beams, performing complex multiplication operation on the signals, and adjusting the direction of the digital wave beams so as to meet the requirement of the wave beam coverage.
The invention has the following advantages:
(1) In the vehicle-mounted motion process, the motion state of the vehicle-mounted platform can be detected in real time by using the dynamic attitude sensor with a high sampling rate, and the beam direction is corrected in real time by the signal processing unit according to the inclination angle state at each moment.
(2) The compensation values of the wave beams corresponding to different array surface directions are different, the encoder sensor with a high sampling rate can transmit the directions of the antenna array surfaces to the signal processing unit in real time, and the signal processing unit calculates the compensation values of the wave beams in real time according to the current array surface directions and the inclination angle state of the vehicle-mounted platform.
(3) When the radar inclines, namely the radar generates pitching and rolling, the signal processing unit receives the pitching and rolling values of the radar measured by the dynamic attitude sensor, and the coordinate transformation matrix is obtained through calculation of the rolling rotation matrix and the pitching rotation matrix; when a transformation matrix is calculated, initial pitch and roll values need to be recorded, then the difference value is made between the current pitch and roll values and the last acquired value, the variation of the current time and the last time is obtained, and iterative operation of the matrix is carried out.
(4) And calculating the three-dimensional coordinate of the beam direction according to the current array plane direction, multiplying the three-dimensional coordinate by a coordinate transformation rotation matrix to obtain the compensated beam direction, dynamically calculating a digital beam forming coefficient in real time according to a compensated beam correction angle, and forming m paths of digital beams meeting the coverage range in elevation, so that the corrected beam direction is pointed to the correct direction and meets the preset beam coverage range.
(5) The method can effectively solve the problem that the digital multi-beam pointing is inaccurate due to shaking of the vehicle-mounted platform, and further improves the angle measurement precision and the detection probability in the radar moving process.
Drawings
FIG. 1 is a schematic diagram of an overall structure of an adaptive digital multi-beam radar of a vehicle-mounted motion platform;
FIG. 2 is a flow chart of a detection method of a vehicle-mounted motion platform adaptive digital multi-beam radar;
FIG. 3 is a schematic diagram of a coordinate rotation calculation unit structure of a detection method of a vehicle-mounted motion platform adaptive digital multi-beam radar;
FIG. 4 is a schematic structural diagram of a beam compensation angle calculation unit of a detection method of a vehicle-mounted motion platform adaptive digital multi-beam radar;
fig. 5 is a schematic structural diagram of a digital multi-beam forming unit of a detection method of a vehicle-mounted motion platform adaptive digital multi-beam radar;
fig. 6 is a beam forming simulation diagram of a detection method of the vehicle-mounted motion platform adaptive digital multi-beam radar.
Reference numerals:
1. a vehicle-mounted platform; 2. A turntable; 3. A radar; 4. An attitude sensor; 5. An encoder sensor; 6. A signal processing unit.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Example 1
As shown in fig. 1, a vehicle-mounted motion platform adaptive digital multi-beam radar comprises a vehicle-mounted platform 1, a turntable 2, a radar 3 provided with N array element antenna array surfaces, a dynamic attitude sensor 4, an encoder sensor 5, a signal processing unit 6 and the like, wherein firstly, the dynamic attitude sensor 4 transmits the current attitude angle of the vehicle-mounted platform to the signal processing unit 6 for processing; secondly, the encoder sensor 5 can transmit the pointing angle of the current antenna array surface of the turntable 2 to the signal processing unit 6; and then the signal processing unit 6 receives the inclination angle data of the vehicle-mounted platform 1 and the encoder sensor 5 and then rotates the space coordinate system to obtain the compensated beam pointing angle. And finally, calculating a weighting matrix formed by the digital beams in real time according to the calculated beams, performing complex multiplication on the signals, and adjusting the directions of the multiple digital beams so as to meet the requirement of the beam coverage.
As shown in fig. 2, a detection method of a vehicle-mounted motion platform adaptive digital multi-beam radar includes the steps of firstly, sampling an inclination angle posture of a vehicle-mounted platform 1 in real time by using a dynamic posture sensor 4, recording 6 a current motion posture of the vehicle-mounted platform 1 by a signal processing unit, and calculating a difference value between the inclination angle posture of the current vehicle-mounted platform 1 and an inclination angle posture at the previous moment; then, acquiring the pointing angle of the current array surface according to the encoder sensor 5; then obtaining a compensated beam pointing angle through coordinate rotation; and finally, configuring the antenna array surface according to the compensated beam pointing angle, so that the antenna beam points to a correct angle.
FIG. 3 is a schematic diagram of a coordinate rotation calculation unit structure, which first caches the angles of a course shaft, a pitch shaft and a roll shaft sampled by a dynamic attitude sensor in real time through a register, calculates the difference between the current tilt angle attitude of a vehicle-mounted platform and the previous tilt angle attitude, and records that the angle differences of the pitch shaft and the roll shaft are respectively as follows:
，
(ii) a Then respectively calculating a rotation matrix in the longitudinal rocking shaft and the transverse rolling shaft>
、
Taking the rotation matrix of the pitch axis and the final calculation result of the whole module as two inputs of a first matrix calculation unit; then, the rotation matrix of the pitching and the rotation matrix of the rolling shaft are used as two inputs of a second matrix calculation unit; therefore, the space attitude of the radar is sequentially rotated around the longitudinal rocking shaft and the transverse rolling shaft.
The final attitude matrix result is:
FIG. 4 is a schematic diagram of a beam compensation angle calculating unit according to the present invention, wherein the encoder sensor can measure the pointing angle of the current antenna array, and the azimuth angle of the current array measured by the encoder sensor is recorded as
(ii) a And inputting the current array surface pointing angle result into a beam pointing three-dimensional coordinate calculation unit to calculate the beam pointing three-dimensional coordinate.
Fig. 5 is a schematic diagram of the digital multi-beam forming unit structure of the present invention, and after obtaining the rotation matrix, the three-dimensional coordinate of the beam pointing direction of the three-dimensional coordinate calculated according to the current array surface pointing direction is multiplied by the coordinate transformation matrix to obtain the compensated beam pointing direction.
Set the beam coordinates as
The transformed beam coordinates are
Coordinates of the object
The calculating method of (2):
according to the coordinates
The value of (c) may result in a pitch angle offset for each beam:
n array elements are arranged at equal intervals, and the interval of the array elements is
Antenna beam on a first basis>
Each beam is directed to->
The antenna beam is adjusted to be ≥ based on the coordinate transformation>
：
The spatial phase difference of the signals received by two adjacent receiving units
：
Entering a signal processor and setting
The individual channel receive signals are represented as:
wherein 
and
Is a first->
Each channel receives two orthogonal components, which can be expressed as:
is provided with the first
The pointing angle of each beam is->
Then, the phase compensation value in the antenna array is:
first, the
Number of beam pairs->
A complex weighting factor of ^ based on the number of unit channels>
Comprises the following steps:
for N units
A wave beam ofThe beam weighting matrix->
Comprises the following steps:
further, real-time updating is performed according to the value of the sensor
To acquire a new weighting matrix->
Each channel and different weighting coefficients are subjected to complex multiplication, and the pointing directions of the multiple digital beams can be adjusted, so that the requirement of the beam coverage range is met.
Fig. 6 is a diagram of a simulation of beam forming according to the present invention, which can form a plurality of digital beams based on a weighting matrix.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (10)
1. The utility model provides a vehicle-mounted motion platform self-adaptation digital multi-beam radar which characterized in that: the radar system comprises a vehicle-mounted platform (1) arranged on a vehicle body, a rotary table (2) arranged on the vehicle-mounted platform (1), a radar (3), an attitude sensor (4), an encoder sensor (5) arranged on the rotary table (2), and a signal processing unit (6) electrically connected with the rotary table (2), the radar (3), the attitude sensor (4) and the encoder sensor (5), wherein the radar (3) is a digital multi-beam radar comprising N array element antenna arrays, and the array elements are arranged at equal intervals;
the attitude sensor (4) is used for monitoring the inclination angle attitude of the vehicle-mounted motion platform in real time and sending the inclination angle attitude to the signal processing unit (6), the encoder sensor (5) monitors the pointing angle of the rotary table (2) and sends the pointing angle to the signal processing unit (6), the signal processing unit (6) receives the inclination angle attitude and the pointing angle, then rotates a beam coordinate system to obtain a compensated beam pointing direction, calculates a beam weighting matrix formed by digital beams in real time, and performs complex multiplication operation on signals to obtain the digital beams.
2. A detection method of a vehicle-mounted motion platform self-adaptive digital multi-beam radar is characterized by comprising the following steps: comprises the following steps;
s1, an attitude sensor (4) monitors the inclination angle attitude of the vehicle-mounted motion platform in real time and sends the inclination angle attitude to a signal processing unit (6), and an encoder sensor (5) monitors the pointing angle of a rotary table (2) and sends the pointing angle attitude to the signal processing unit (6);
s2, the signal processing unit (6) judges whether the radar (3) is inclined, if yes, the step S3 is carried out, and if not, the step S7 is carried out;
s3, according to the angle deviation of the longitudinal rocking shaft when the radar (3) inclines
The transverse roller angle offset->
Obtaining a rotation matrix L;
s4, obtaining a beam pointing three-dimensional coordinate according to the pointing direction of the current antenna array surface, and multiplying the beam pointing three-dimensional coordinate by the rotation matrix L to obtain a beam coordinate after rotating a coordinate system
Based on said beam coordinates &>
Deriving a pitch angle bias value for each beam>
；
S5, the signal processing unit (6) points according to the antenna array surface
And the pitch angle offset value->
Get compensated beam pointing>
；
S6, pointing according to the compensated wave beam
Obtaining a beam weighting matrix W, and performing complex multiplication and accumulation on weighting coefficients and signals in the beam weighting matrix W to obtain digital multi-beams;
s7: and transmitting the digital multi-beam and processing the echo signal, and returning to the step S1.
3. The detection method of the vehicle-mounted moving platform adaptive digital multi-beam radar according to claim 2, characterized in that: in the step S2, the method for judging the inclination of the radar (3) comprises the following steps:
not equal to 0 and/or ≠>
≠0。
4. The detection method of the vehicle-mounted moving platform adaptive digital multi-beam radar according to claim 2, characterized in that: in step S3, the rotation matrix L is:
5. the method for detecting the adaptive digital multi-beam radar of the vehicle-mounted motion platform according to claim 4, characterized in that:
the method for outputting the rotation matrix L comprises the following steps: the attitude sensor (4) shifts the angle of the longitudinal rocking shaft
The attitude deviation is sequentially output to a register and a subtracter, the subtracter calculates the difference value between the current attitude and the previous attitude and then outputs the difference value to a rotation matrix unit for calculating a pitching value, and the attitude sensor (4) offsets the angle of a roll shaft in a mode of being based on or greater than the preset value>
The difference value between the current posture and the previous posture is calculated by the subtracter and then is output to a rolling value rotation matrix calculation unit, and the matrix calculation unit fuses output values of the pitching value rotation matrix unit and the rolling value rotation matrix unit and then outputs a rotation matrix L; />
wherein ,
is associated with the rotation matrix of the rocker shaft>
A rotation matrix corresponding to the transverse rolling shaft;
6. the detection method of the vehicle-mounted moving platform adaptive digital multi-beam radar according to claim 4, characterized in that:
in the step S4, the process is carried out,
；
wherein the beam coordinate before rotation is
：
7. The detection method of the vehicle-mounted moving platform adaptive digital multi-beam radar according to claim 2, characterized in that:
in the step S5, the process is carried out,
, wherein ,
First & -based for an antenna beam>
The beams are directed.
8. The detection method of the vehicle-mounted moving platform adaptive digital multi-beam radar according to claim 2, characterized in that:
in step S6, the beam weighting matrix
Comprises the following steps:
wherein ,
weighting the beam with a matrix->
Middle and fifth>
Number of beam pairs->
A complex weighting factor, i ≦ m, performed per unit channel>
。
9. The detection method of the vehicle-mounted moving platform adaptive digital multi-beam radar according to claim 8, characterized in that:
wherein ,
for phase compensation values in the antenna array, is>
For signal processing>
Receiving the amplitude of the array elements of each channel;
wherein d is the spacing of the array elements, and λ is the working wavelength.
10. The detection method of the vehicle-mounted moving platform adaptive digital multi-beam radar according to claim 9, characterized in that:
in signal processing machine
Each channel receiving signal is>
：
wherein ,
and
Is a first->
Each channel receives two orthogonal components, j is an imaginary number;
wherein ,
is at the beginning of the phase, is taken out>
The signal spatial phase difference is received for two adjacent receiving units. />
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