CN111273278A - Four-channel millimeter wave digital sum-difference monopulse precision tracking system - Google Patents
Four-channel millimeter wave digital sum-difference monopulse precision tracking system Download PDFInfo
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Abstract
The invention provides a four-channel millimeter wave digital sum-difference monopulse precision tracking system, and aims to provide an anti-interference monopulse tracking system capable of quickly intercepting and precisely tracking. The invention is realized by the following technical scheme: the four-way superheterodyne linear receiver obtains intermediate frequency echo signals, intermediate frequency digital sum and difference are completed through the signal processing module, three-channel monopulse sum and difference sum, azimuth difference and pitch difference branches for realizing target detection, interception and distance closed-loop tracking are formed, and obtained distance, angle error and speed information of a target are sent to the digital stable tracking servo system and the data processing module; the digital stable tracking servo system utilizes the target distance and the angle error information to realize the angle closed-loop tracking of the target, acquires the target angle information in real time and sends the target angle information to the data processing module and the signal processing module; and the data processing module performs fusion and filtering processing on the received target distance, real-time angle, angle error and speed information to obtain real-time high-precision parameters of the target.
Description
Technical Field
The invention relates to a four-channel millimeter wave digital sum-difference monopulse precision tracking system.
Background
With the emergence of various targets such as airplanes, missiles and accurate guidance bombs, the medium-precision tracking radar gradually fails to meet the tracking measurement requirements of a weapon system, so that the precision tracking radar born in the 50 th of the 20 th century is promoted. Typical precision tracking and measuring radars employ monopulse technology, which can simultaneously provide all beams required for sensitivity to angular errors, and simultaneously compare the outputs of the beams on a single radar pulse, thereby eliminating the effect of time-varying echo amplitudes that is inevitable in scanning and beam-switching technologies. Monopulse is a radar angle measurement technique, also called simultaneous multibeam technique, and was originally proposed to overcome the low tracking accuracy of the beam switching technique in radar tracking applications. Nowadays, the monopulse tracking and measuring radar is widely applied to the fields of various kinds of target field tests and space target detection. The monopulse technology simultaneously forms two unit beams which are symmetrical about an axis, the two unit beams simultaneously receive echo signals of a target, and angular error information is obtained by comparing the received echo signals to generate error signals, so that errors caused by the fluctuation of the radar echo signal strength at different moments are avoided, and the measurement precision is improved. Conventional single pulse techniques may be divided into amplitude comparison single pulses, phase comparison single pulses and sum and difference comparison single pulses. The amplitude comparison monopulse is a technology for obtaining two unit beams which are symmetrical relative to a visual axis by designing a monopulse feed source and determining a target angle by depending on a direct amplitude ratio of the two beams, and the maximum directions of the two beams are deviated from the visual axis and are symmetrical relative to the visual axis. When the target signal (incoming wave) is located on the antenna axis, the signal amplitudes they receive are the same since the two element beams (Beam) are symmetric about the axis. When the target signal deviates from the axis of the antenna, the phase centers of the two unit beams are superposed, so that the phases of the received signals of the two unit beams are the same. Because the target signal travels the same distance when it reaches the two element beams, but it reaches the two element beams at different positions, the received amplitudes of the two element beams are different, and thus the amplitudes of the received signals are different. Wherein the two element beams are derived by a known left and right beam offset, which can be predicted. By "single pulse" it is meant that the determination can be based on a single pulse rather than a beam sequence or a complete conical sweep, and thus the tracking rate is higher and more accurate. Another advantage is that the temporal variation of the echoes can be neglected based on receiving the target echo in all four channels simultaneously. Single pulse tracking uses two to four simultaneous beams stacked in elevation and side-by-side. Single pulse tracking techniques may use phase or amplitude comparisons to accomplish the tracking task. Monopulse is therefore the first tracking method of most modern radars not only because it is very accurate, but it is also very difficult to spoof. While tracking by a single pulse is very accurate, full performance can only be achieved if and only one target is tracked. When there are multiple targets or multipath reflections within the radar resolution unit, the accuracy of monopulse tracking will be severely affected. Monopulse radar is a type of precision tracking radar. It has higher angle measurement precision, resolution and data rate, but the equipment is more complicated. The traditional monopulse radar generally obtains simultaneous multi-beam by symmetrically placing multiple feed sources on the focal plane of an antenna. The method has high requirements on the design of a monopulse feed source and the design of a radio frequency channel behind each feed source, and has the advantages of complex design, time consumption and high cost. The traditional single pulse technology forms needed multiple beams by means of a four-horn feed source, a five-horn feed source, a twelve-horn feed source and a multi-mode horn feed source introduced in the single pulse feed source. However, these methods are expensive in design, complex in structure, difficult to manufacture, and only one target can be tracked at the same time. The traditional monopulse radar is basically a mechanical scanning radar, and the application range and the cost reduction of the monopulse radar are greatly limited by the complicated and expensive monopulse feed source design and the heavy electromechanical servo system. With the development of array-based digital beam forming technology, monopulse beams are no longer limited to feeding through complex and expensive antenna feed designs. The DBF technology is used, so that the system has self-adaptive adjustment capability, and better spatial filtering and self-adaptive anti-interference performance can be realized. In addition, as long as the practical engineering realization condition allows, after the array unit signals received by the same receiving array are processed in parallel by using different weighting vectors, digital beams with different directions can be obtained, so that the simultaneous tracking of multiple targets becomes possible. Digital Beam Forming (DBF) techniques allow more flexibility in antenna beam forming. The DBF technology is used, so that the system has self-adaptive adjustment capability, and better spatial filtering and self-adaptive anti-interference performance can be realized. The digital beam forming technology is a new technology developed on the basis of an array antenna and a signal processing module, and is also one of the key technologies of the modern array radar. The digital beam forming technology retains all information of antenna array unit signals in a digital form, so that the array signals can be processed by advanced digital signal processing module technology and methods to obtain the excellent performance of beams. The DBF means to implement the transmitting and receiving beams of the antenna by using the digital signal processing module, which forms the flexibly controllable transmitting and receiving beams by applying the digital signal processing module technology to the baseband after performing down-conversion processing on the received high-frequency signals, and this technology is to change the beam direction and shape by digitally weighting the array signals on the basis of the array antenna, and form nulls in the interference direction according to the adaptive adjustment weighting coefficients of the external environment to achieve the purpose of suppressing the interference. Modern radars are increasingly tasked with the task that the radar may encounter clutter such as terrain, sea waves, cloud rain, and metal foil from enemies during operation. The clutter is divided into stationary clutter and moving clutter. In the process of receiving echo signals by a radar, the existence of clutter signals plays a role in interfering the detection and extraction of useful signals. The detection and extraction of the useful signal may be interfered with by the presence of the clutter signals. The target angle error information is obtained at least through one scanning period, and radar echo pulses at different moments need to be compared. Due to various reasons, the intensity of the radar echo signal fluctuates at different moments, so that the tracking accuracy of the tracking radar of the system is limited, and a tracking error is generated. In order to overcome the influence of the fluctuation of the echo amplitude of the target on the angular error, the production of a precise tracking radar is promoted. A digital monopulse tracking system proposed in recent years can effectively solve the problems of the traditional analog monopulse radar, and the digital beam forming technology based on the array antenna enables monopulse not to be designed only through an antenna feed source, and the digital monopulse tracking system realizes digital monopulse and difference beam by a digital signal processing module method at a baseband after proper antenna array design, down conversion and array signal acquisition to generate angle error information. The digital monopulse system is more applied to the array radar with multiple channels and multiple units. Due to the influence of device power and atmospheric conditions, the range of the millimeter wave radar is limited to a certain extent, and the traditional digital beam forming algorithm is assumed to track the target without interference, so that the tracking accuracy is influenced when main lobe or side lobe interference exists. Ideally, although the channels are assumed to be uniform when forming the single pulse and the difference beam, the performance of the antenna system is greatly reduced when the channels are not uniform. For a general beam forming algorithm, when a beam points in different directions, the beam width may change, thereby affecting the aiming pointing direction of a poor beam.
In a single-pulse tracking system, a phase difference exists between a difference signal and a sum signal due to relative phase shift of a sum channel, and in synchronous demodulation, the sum signal is used as a reference to perform frequency phase control, so that finally demodulated azimuth and pitch errors are cross-coupled, and phase calibration is required. The common phase calibration method is that a servo system finds a signal center, and finally achieves the purpose of reducing cross coupling through deviating an azimuth pitch axis and setting a phase shift value and a slope, so that automatic tracking is realized. The main functions of the traditional tracking radar are to accurately measure the coordinates and the track of a target in real time and accurately predict the future position of the target; in addition to the above functions, modern tracking radars also require high-resolution measurement, target feature measurement, target imaging and target identification of multiple targets under severe electromagnetic environment conditions. The single-pulse angle tracking system can comprise three schemes of three channels, two channels and single-channel single pulse according to channel classification; the method can be divided into three schemes of amplitude method, phase method and difference method according to different angle measuring methods. The angle tracking precision of the monopulse radar is much higher, the cone scanning radar can obtain angle error information only after at least one cone scanning period, target amplitude fluctuation noise is also superposed on a cone scanning modulation signal (angle error signal) to form interference in the period, the bandwidth of the automatic gain control circuit cannot be too wide, so that the influence of the target amplitude fluctuation noise cannot be eliminated, and the amplitude fluctuation noise in a certain bandwidth near the cone scanning frequency can enter an angle tracking system to cause angle measurement error. On the premise of not reducing cost-to-efficiency ratio, how to integrate digital technologies such as digital beam forming and the like into a millimeter wave conventional system tracking radar is necessary to design a precision tracking system which is all-weather, high in precision, small in size, light in weight, and good in anti-interference, anti-low altitude penetration and four-resistance capabilities.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a four-channel millimeter wave digital sum-difference monopulse precision tracking system which is all-weather, high in precision, small in size, light in weight, high in precision, high in reliability, strong in viability, good in anti-interference, anti-low altitude penetration and four-resistance, and has the functions of rapid interception and precision tracking.
The above object of the present invention can be achieved by the following measures: a four-channel millimeter wave digital sum-difference monopulse precision tracking system, comprising: millimeter wave Ka wave band flat plate slot array antenna, frequency synthesizer, four ways super heterodyne linear receiver, digital stable tracking servo system, signal processing module, data processing module and modularization power, its characterized in that: the millimeter wave Ka-band flat plate slot array antenna is connected with a frequency synthesizer through a full-coherent solid-state T/R component, the full-coherent solid-state T/R component is electrically connected with a four-way superheterodyne linear receiver, and a data processing module and a digital stable tracking servo system are interconnected through a signal processing module; a frequency synthesizer for generating a modulation signal RF by using a frequency selected by the clock and control signalsExcitation(RFout) And sends a transmit-receive calibration signal, RF, to the fully coherent solid state T/R moduleoutAfter power amplification is carried out on the full-coherent solid-state T component, the full-coherent solid-state T component is radiated into the air through a millimeter wave Ka-band flat plate slot array antenna; echo signal RF of an airborne targetinReceiving the signal by a millimeter wave Ka-band flat plate slot array antenna, sending the signal to a full-coherent solid-state R component, amplifying the signal by amplitude limiting and low noise, outputting the amplified signal to a four-way superheterodyne linear receiver, and performing secondary mixing, amplification and filtering to obtain an intermediate frequency echo signal IFinSending the signals to a signal processing module, performing digital intermediate frequency receiving, digital sum difference and analog-to-digital conversion, adjusting the amplitude and phase characteristics of a channel in real time by utilizing a channel equalization technology, completing channel correction and forming weight coefficients required by the digital sum difference, realizing receiving digital beam forming and typical three-channel monopulse sum difference sum, azimuth difference and pitch difference branches, completing target interception and tracking processing, obtaining the distance, angle error and speed information of a target, and sending the target distance, angle error and speed information to a digital stable tracking servo system and a data processing module; the digital stable tracking servo system comprises a power driving unit and a calculation control unit, and is used for completing angle closed-loop tracking on a target by utilizing target distance and angle error information through a pitching motor, a pitching rotary transformer module, an orientation motor and an orientation rotary transformer module which are connected with the target, and sending target angle information acquired in real time to a data processing module and a signal processing module; and the data processing module introduces attitude information, guide information and control information, fuses and filters the received target distance, real-time angle, angle error and speed information, and acquires and outputs target real-time high-precision parameters of a geodetic coordinate system.
Compared with the prior art, the invention has the following beneficial effects:
small size, light weight, high precision, high reliability and strong survival ability. According to the four-channel millimeter wave digital sum-difference monopulse precision tracking system, a four-channel millimeter wave digital sum-difference monopulse precision tracking system consisting of a millimeter wave Ka-band flat plate slot antenna, a frequency synthesizer, a four-way superheterodyne linear receiver, a digital stable tracking servo system, a signal processing module, a data processing module and a modular power supply is adopted, on one hand, the millimeter wave Ka-band flat plate slot antenna is adopted, low-loss feeder network design and precision machining processes are used, the miniaturization, high-gain and high-efficiency of the radar antenna are realized, the shorter wavelength can reduce the size requirement of components, and a compact system is obtained; the antenna gain is inversely proportional to the square of the wavelength, the aperture of the millimeter wave antenna with the same antenna gain is smaller, and the characteristics of small system volume and light weight are realized. On the other hand, the system adopts the channel equalization technology to adjust the amplitude phase characteristic of the channel in real time to solve the problem of feeder phase consistency, and the complexity of the millimeter wave monopulse radar feeder system is simplified; the signal processing module unit adopting the digital beam forming technology realizes the function of the intermediate frequency signal monopulse sum-difference device, thereby saving the part of a simulation radio frequency multi-horn sum-difference processor in the traditional monopulse tracking radar system, solving the engineering application problems of a series of millimeter wave radars such as high design cost, complex structure, difficult processing and manufacturing and the like of the millimeter wave multi-mode horn feed source, further realizing the characteristics of small volume and light weight of the system, and improving the reliability of the system. The system adopts a planar slotted array antenna with a millimeter wave Ka waveband, the narrow beam reduces the chance that an interference machine injects energy into the main beam, the sensitivity of the radar to interference can be reduced, and the radar is not easily interfered by electrons; the solid-state transmitter with peak power only in the magnitude of dozens of watts is adopted, so that the radar has low interception performance, and the battlefield viability of the system is improved. A digital stable tracking servo system is adopted to control rapid spiral scanning to automatically capture a tracking target, so that the capture time is short; the influence of nonlinear factors such as friction, moment imbalance, external disturbance and the like on the motor drive control stability is overcome by adopting a multi-closed-loop self-adaptive correction technology of a digital stable tracking servo system, and the angular tracking precision of the system is improved. Engineering practices show that angular tracking accuracy (azimuth, elevation) can reach as high as one-fiftieth of its beam width.
Aiming at the possible fixed clutter and dynamic clutter in the working process of the radar, the MTI filter with the band stop notch positioned near the zero frequency is adopted to align the central frequency of the clutter spectrum, the dynamic clutter of Doppler frequency shift is suppressed, and the notch of the MTI filter is aligned with the average Doppler frequency position of the clutter to obtain a good suppression effect. The detection performance of the radar in a complex and variable environment is improved by utilizing an MTI technology with better inhibition capability on stationary clutter.
All-weather work. The frequency synthesizer utilizes a modulation signal with the frequency selected by a clock and a control signal, performs power amplification through a full-coherent solid-state T component, and radiates the signal into the air through a millimeter wave Ka-band flat plate slotted array antenna; the four-channel millimeter wave digital sum-difference monopulse precision tracking system works in a millimeter wave Ka waveband and is adjacent to a centimeter waveband, and compared with infrared and laser equipment, the four-channel millimeter wave digital sum-difference monopulse precision tracking system has the advantages of being good in transmission characteristic of penetrating smoke, dust, rain and fog and capable of working in all weather. The system adopts a single-pulse tracking system, ensures to obtain high-precision tracking performance, is assisted by program guide and real-time data guide functions, improves the reliability of the system and ensures higher measurement and control quality. The system has strong robustness, quick response and stable tracking process.
Fast capture and precise tracking. According to the invention, the signal processing module is adopted to interconnect the data processing module, the digital stable tracking servo system and the frequency synthesizer, on one hand, under the characteristics of small volume and light weight, the digital stable tracking servo system is adopted to control the rapid spiral scanning to automatically capture a tracking target, the capture time is short, the multi-closed-loop self-adaptive correction technology of the digital stable tracking servo system is adopted to overcome the influence of nonlinear factors such as friction, moment imbalance and external disturbance on the motor drive control stability, the capture is rapid, and the angular tracking precision of the system is improved; on the other hand, the narrow-beam millimeter wave Ka-band flat plate slot antenna is adopted to reduce the multipath influence, improve the low-altitude tracking capability and realize the functions of quick interception and precise tracking of the system. The four-channel millimeter wave digital sum-difference monopulse precision tracking system provides real-time high-precision parameters of the target by completing quick interception and precision tracking of the target in the air. The control effect of the inertial velocity stabilizing loop is improved through the digital stable tracking servo system. Engineering practice shows that the system has good dynamic and static performance indexes and good control effect.
Drawings
FIG. 1 is a block diagram of the working principle of the four-channel millimeter wave digital sum-difference single pulse precision tracking system of the present invention.
Fig. 2 is a functional block diagram of the four-channel digital sum difference beamforming of fig. 1.
Fig. 3 is a diagram of an implementation of amplitude and phase correction for the receive channel of fig. 1.
Fig. 4 is a schematic diagram of four-channel digital sum difference beamforming in fig. 1, wherein a) is a schematic diagram of a four-channel antenna beam arrangement, and b) is a schematic diagram of an XYZ spatial rectangular coordinate system of beam reception signals of the digital sum difference beamforming process.
Detailed Description
See fig. 1. In an embodiment described below, a four-channel millimeter wave digital sum-difference monopulse precision tracking system includes: adopt radar antenna array face, frequency synthesizer, four ways superheterodyne linear receiver, digital stable tracking servo, signal processing module, data processing module and the modularization power of millimeter wave Ka band plate crack, wherein: the millimeter wave Ka-band flat plate slot array antenna is connected with a frequency synthesizer through a full-coherent solid-state T/R component, the full-coherent solid-state T/R component is electrically connected with a four-way superheterodyne linear receiver, and a data processing module and a digital stable tracking servo system are interconnected through a signal processing module; a frequency synthesizer for generating a modulation signal RF by using a frequency selected by the clock and control signalsExcitation(RFout) And sends a transmit-receive calibration signal, RF, to the fully coherent solid state T/R moduleoutAfter power amplification is carried out on the full-coherent solid-state T component, the full-coherent solid-state T component is radiated into the air through a millimeter wave Ka-band flat plate slot array antenna; echo signal RF of an airborne targetinReceiving the signal by a millimeter wave Ka-band flat plate slot array antenna, sending the signal to a full-coherent solid-state R component, amplifying the signal by amplitude limiting and low noise, outputting the amplified signal to a four-way superheterodyne linear receiver, and performing secondary mixing, amplification and filtering to obtain an intermediate frequency echo signal IFinSending the data to a signal processing module, performing digital intermediate frequency receiving, digital sum difference and analog-to-digital conversion, adjusting the amplitude and phase characteristics of a channel in real time by utilizing a channel equalization technology, completing channel correction and forming weight coefficients required by the digital sum difference, realizing receiving digital beam forming and typical three-channel monopulse sum difference sum, azimuth difference and pitch difference branches, completing target interception and tracking processing, obtaining information of a target such as distance, angle error and speed, and sending the information of the target such as the distance, angle error and speed to a digital stable tracking servo system and a data processing module; digital stable tracking servo system comprising power driving unit and calculation control unit, using target distance and angle errorThe difference information is used for completing angle closed-loop tracking of the target through a pitching motor, a pitching rotary transformer module, an orientation motor and an orientation rotary transformer module which are connected with the difference information, and the target angle information acquired in real time is sent to a data processing module and a signal processing module; and the data processing module introduces attitude information, guide information and control information, fuses and filters the received target distance, real-time angle, angle error and speed information, and acquires and outputs target real-time high-precision parameters of a geodetic coordinate system.
The signal processing module performs zero intermediate frequency processing on four intermediate frequency signals from a four-way superheterodyne linear receiver in the process of receiving echo signals by a radar, inhibits the saturation of a receiving channel by Manual Gain Control (MGC) or Automatic Gain Control (AGC), inhibits clutter by an MTI filter, and processes pulse pressure and constant false alarm and accumulation detection to realize the functions of target detection, interception and distance closed-loop tracking.
The modular power supply provides various power supplies required for the system. The data processing module provides a human-computer interface for system work, has the functions of tracking and processing maneuvering targets, completes the scheduling functions of system events such as interception, tracking and the like, effectively carries out reasonable control on the working parameters and modes of the system, and adapts to the changing environment. The data processing module performs fusion and filtering processing on information such as target distance, real-time angle, angle error, speed and the like, and the acquisition of real-time high-precision parameters of the target comprises the following steps: distance, azimuth, pitch, velocity, etc.
The radar antenna array surface of the millimeter wave Ka-band flat plate slotted array antenna is divided into 4 quadrants, each quadrant is divided into 16 sub-arrays, each sub-array mainly comprises a plane array, a coupling waveguide and a feed network, and radiation waveguides among the sub-arrays share a short circuit plate adopting a box beam structure.
The 4 sub-arrays of the radar antenna array surface are respectively and electrically connected with the 4 full-coherent solid-state T/R components, the radio-frequency signals sent by the full-coherent solid-state T components are radiated to the space, echo signals are received and sent to the full-coherent solid-state R components, and a receiving and sending detection signal channel is provided. The full-coherent solid-state T/R component is connected with a millimeter wave Ka-band flat plate slotted array antenna, a four-way superheterodyne linear receiver and a frequency synthesizer, and mainly completes high-power radio-frequency pulse signal amplification to feed the antenna to radiate outwards, amplitude limiting and low-noise amplification are performed on echo signals, and reception of the echo signals is completed.
The four-way superheterodyne linear receiver is electrically connected with the full-coherent solid-state T/R component, the frequency synthesizer and the signal processing module, a target echo signal is received by 4 sub-arrays of a radar antenna array face and is sent to the 4 full-coherent solid-state R components, and the target echo signal is subjected to amplitude limiting and low-noise amplification and then is sent to the four-way superheterodyne linear receiver for secondary mixing, amplification and filtering to obtain an intermediate-frequency echo signal.
The frequency synthesis synthesizer is connected with the full-phase-coherent solid-state T/R component, the four-way superheterodyne linear receiver, the signal processing module and the data processing module, and mainly provides a high-stability local oscillator, a phase-coherent transmission excitation signal, a reference signal and a test signal for the four-channel millimeter wave digital sum-difference monopulse precision tracking system.
The digital stable tracking servo system comprises a power driving unit and a calculation control unit, completes angle closed-loop tracking on a target by utilizing target distance and angle error information through a pitching motor, a pitching rotation module, an orientation motor and an orientation rotation module which are connected with the target, and sends target angle information acquired in real time to a data processing module and a signal processing module; and the data processing module introduces attitude information, guide information and control information, fuses and filters the received target distance, real-time angle, angle error and speed information, and acquires and outputs target real-time high-precision parameters of a geodetic coordinate system.
See fig. 2. The formation of four-channel digital sum difference beams is an important process in a four-channel millimeter wave digital sum difference monopulse precision tracking system and is mainly completed by a signal processing module. The beam forming has two modes of simulation and digital, in brief, the power synthesis of the simulation and difference beams is completed by adopting a simulation device; the digital mode is to digitize the signal and then weight the digital signal with the required amplitude and phase to realize the sum and difference beams required by the single pulse calculation. Target echo signal RF received by 4 sub-arrays of millimeter wave Ka-band flat plate slot array antenna array surfaceinAmplitude limiting and low-noise amplification are carried out through 4 full-coherent solid-state R components, and then the amplified signals are sent to four-way superheterodyne linearityThe receiver performs image rejection mixing, low noise amplification, numerical control attenuation, secondary mixing and intermediate frequency amplification to obtain an intermediate frequency echo signal IFinThe method comprises the steps that an intermediate frequency echo signal is subjected to analog-to-digital conversion through an analog-to-digital converter AD in a signal processing module to be a digital intermediate frequency signal, then channel correction and intermediate frequency digital sum difference are completed through DDC digital down-conversion and amplitude phase correction, a weight coefficient required by the digital sum difference is formed, digital sum and difference beam forming is achieved, a required azimuth difference △ A is obtained through a formed azimuth difference beam, a sum sigma is obtained through the formed sum beam, a pitch difference △ E is obtained through the formed pitch difference beam, the azimuth difference △ A and the sigma and pitch difference △ E are subjected to pulse pressure, MTI filtering and amplitude phase calculation through an MTI filter connected with a sum branch, an azimuth branch and a pitch difference branch, angle error calculation and target detection are completed, azimuth and pitch angle error information of a target are obtained.
See fig. 3. The amplitude and phase errors of the channels have important influence on the performance of beam forming, the amplitude and phase consistency correction of the receiving channels of the four-channel millimeter wave digital sum and difference single pulse precision tracking system is mainly completed by a signal processing module, and a multi-frequency point amplitude and phase real-time correction method is adopted. And respectively carrying out FFT external calibration and primary FFT internal calibration (development process) under the conditions of the same frequency, environment and the like so as to determine the internal and external field correction coefficients. Under other environmental conditions, new channel amplitude-phase errors can be obtained only by performing channel FFT internal calibration (during service). The method comprises the steps that a standard radio frequency correction signal generated by a frequency synthesizer is transmitted to a four-way superheterodyne linear receiver through a full-phase coherent solid-state R component to obtain an intermediate frequency correction signal, a signal processing module respectively passes through 4 fast Fourier transform FFT modules connected with parallel channels to perform fast Fourier transform FFT operation to obtain the amplitude and phase values of each channel, when the amplitude and phase consistency of the channels is corrected, the fast Fourier transform FFT module searches for the maximum value of the four channels to find the maximum value of each channel of the four channels, the calibration operation of multiplying the correction coefficients of each channel in FFT is performed, the calibration coefficients are compared with the maximum value of the standard channel to obtain the correction coefficients of the four channels, and finally, the real-time correction of the amplitude and phase consistency among the.
See fig. 4. The radar forms four groups of sub-beams with the same shape at the front end of a four-way superheterodyne linear receiver, and after amplification and filtering of a receiving channel, sum and difference signals required by the radar are synthesized in a signal processing module by adopting a digital beam forming technology.
The arrangement of the antenna sub-beams is shown as a), the positions of the four sub-beams are respectively shown as XYZ space rectangular coordinate system shown as b), the four sub-beams are positioned at 1, 2, 3 and 4 points of the XYZ space rectangular coordinate system, and incident waves are in the direction of the antenna beam with the origin O according to the wavelength lambda (m), the pitch angle theta (radian) relative to the X axis and the azimuth angle theta (radian) relative to the Y axis
And a respective antenna elevation beam width θ3dBAnd antenna azimuth beam width
Obtaining a Gaussian function approximate mathematical expression of the directional diagram of the unidirectional antenna:
wherein, k is the difference beam normalized slope of the monopulse radar, and k is 1.4. Taking in simulation
The distance between the phase centers of the sub-beams is l (m) (1, 3 or the distance between 1 and 2), which brings the wave path difference relative to the origin O, and further generates the phase difference, which is obtained according to the formula α of the phase difference α ═ Δ R · 2 pi/λ, and the wave path difference is calculated according to the geometric knowledge and then substituted, so that the phase differences of the four sub-beams relative to the origin O can be obtained:
the antenna patterns forming the four sub-beams are respectively:
where Δ R is the wave path difference and l is the spacing between the phase centers of the four sub-beams.
The four sub-beams received by the signal processing module pass through a digital processing network to obtain beam directional pattern functions of sum, azimuth difference and elevation difference
Respectively as follows:
and subsequent angle error calculation can be carried out after the sum and difference wave beams are formed.
The foregoing is directed to the preferred embodiment of the present invention and it is noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and substance of the invention, and these modifications and improvements are also considered to be within the scope of the invention.
Claims (10)
1. A four-channel millimeter wave digital sum-difference monopulse precision tracking system, comprising: millimeter wave Ka wave band flat plate slot array antenna, frequency synthesizer, four ways super heterodyne linear receiver, digital stable tracking servo system, signal processing module, data processing module and modularization power, its characterized in that: the millimeter wave Ka-band flat plate slot array antenna is connected with a frequency synthesizer through a full-coherent solid-state T/R component, the full-coherent solid-state T/R component is electrically connected with a four-way superheterodyne linear receiver, and a data processing module and a digital stable tracking servo system are interconnected through a signal processing module; a frequency synthesizer for generating a modulation signal RF by using a frequency selected by the clock and control signalsExcitation(RFout) And sends a transmit-receive calibration signal, RF, to the fully coherent solid state T/R moduleoutAfter power amplification is carried out on the full-coherent solid-state T component, the full-coherent solid-state T component is radiated into the air through a millimeter wave Ka-band flat plate slot array antenna; echo signal RF of an airborne targetinReceiving the signal by a millimeter wave Ka-band flat plate slot array antenna, sending the signal to a full-coherent solid-state R component, amplifying the signal by amplitude limiting and low noise, outputting the amplified signal to a four-way superheterodyne linear receiver, and performing secondary mixing, amplification and filtering to obtain an intermediate frequency echo signal IFinSending the signals to a signal processing module, performing digital intermediate frequency receiving, digital sum difference and analog-to-digital conversion, adjusting the amplitude and phase characteristics of a channel in real time by utilizing a channel equalization technology, completing channel correction and forming weight coefficients required by the digital sum difference, realizing receiving digital beam forming and typical three-channel monopulse sum difference sum, azimuth difference and pitch difference branches, completing target interception and tracking processing, obtaining the distance, angle error and speed information of a target, and sending the target distance, angle error and speed information to a digital stable tracking servo system and a data processing module; a digital stable tracking servo system comprising a power driving unit and a calculation control unit, a pitching motor connected with the target distance and angle error information through the target distance and angle error information,The pitching rotary transformer module, the azimuth motor and the azimuth rotary transformer module complete angle closed-loop tracking of the target, and the target angle information acquired in real time is sent to the data processing module and the signal processing module; and the data processing module introduces attitude information, guide information and control information, fuses and filters the received target distance, real-time angle, angle error and speed information, and acquires and outputs target real-time high-precision parameters of a geodetic coordinate system.
2. The four-channel millimeter wave digital sum-difference monopulse precision tracking system of claim 1, wherein: the signal processing module performs zero intermediate frequency processing on four intermediate frequency signals from the four-way superheterodyne linear receiver in the process of receiving echo signals by the radar, suppresses saturation of a receiving channel by using a manual gain control MGC or an automatic gain control AGC, suppresses clutter by using an MTI filter, and performs processing and accumulation detection on pulse pressure and constant false alarm so as to realize functions of target detection, interception and distance closed-loop tracking.
3. The four-channel millimeter wave digital sum-difference monopulse precision tracking system of claim 1, wherein: the antenna array surface of the millimeter wave Ka-band flat plate slot array antenna is divided into 4 quadrants, each quadrant is divided into 16 sub-arrays, each sub-array is composed of a plane array, a coupling waveguide and a feed network, and radiation waveguides among the sub-arrays share a short circuit plate adopting a box girder structure.
4. The four-channel millimeter wave digital sum-difference monopulse precision tracking system of claim 1, wherein: and the target echo signal is received by 4 sub-arrays of a radar antenna array surface and sent to 4 full-coherent solid-state R components, and is subjected to amplitude limiting and low-noise amplification and then sent to a four-way superheterodyne linear receiver for secondary mixing, amplification and filtering to obtain an intermediate-frequency echo signal.
5. The four-channel millimeter wave digital sum-difference monopulse precision tracking system of claim 4, wherein: target echo signal received by 4 sub-arrays of millimeter wave Ka-band flat plate slot array antenna array surfaceHorn RFinAmplitude limiting and low-noise amplification are carried out on the 4 full-coherent solid-state R components, and then the amplified signals are sent to a four-way superheterodyne linear receiver to carry out image rejection mixing, low-noise amplification, numerical control attenuation, secondary mixing and intermediate-frequency amplification to obtain intermediate-frequency echo signals IFinThe intermediate frequency echo signal is subjected to analog-to-digital conversion by an analog-to-digital converter AD in the signal processing module to be a digital intermediate frequency signal, then is subjected to direct digital down-conversion and amplitude-phase correction by a direct digital controller DDC to complete channel correction and intermediate frequency digital sum-difference to form a weight coefficient required by the digital sum-difference, so that digital sum-difference beam forming is realized, a required azimuth difference △ A is obtained by utilizing a formed azimuth difference beam, a sum sigma is obtained by utilizing the formed sum beam, a pitch difference △ E is obtained by utilizing the formed pitch difference beam, the azimuth difference △ A and the sigma and pitch difference △ E are subjected to pulse pressure, MTI filtering and amplitude-phase calculation through an MTI filter connected with a sum branch, an azimuth difference branch and a pitch difference branch, so that angle error calculation and target detection are completed, and azimuth and pitch angle error information of.
6. The four-channel millimeter wave digital sum-difference monopulse precision tracking system of claim 1, wherein: a standard radio frequency correction signal generated by a frequency synthesizer is transmitted to a four-way superheterodyne linear receiver through a full-phase-coherent solid-state R component to obtain an intermediate frequency correction signal, and a signal processing module carries out Fast Fourier Transform (FFT) operation through Fast Fourier Transform (FFT) modules connected with 4 parallel channels respectively to obtain the amplitude and phase value of each channel.
7. The four-channel millimeter wave digital sum-difference monopulse precision tracking system of claim 6, wherein: when receiving channel amplitude and phase consistency correction, the fast Fourier transform FFT module searches for the maximum value of the four channels, finds the maximum value of each channel of the four channels, carries out calibration operation of multiplying correction coefficients on each channel in FFT, compares the calibration operation with the maximum value of a standard channel to obtain the correction coefficients of the four channels, and finally realizes real-time correction of the amplitude and phase consistency among the channels.
8. The four-channel millimeter wave digital sum and difference of claim 1The single-pulse precision tracking system is characterized in that: the radar forms four groups of sub-beams with the same shape at the front end of a four-way superheterodyne linear receiver, and after amplification and filtering of a receiving channel, sum and difference signals required by the radar are synthesized in a signal processing module by adopting a digital beam forming technology; the four sub-beams are positioned at 1, 2, 3 and 4 points of an XYZ space rectangular coordinate system, and incident waves are in the antenna beam direction of an origin O according to the wavelength lambda (m), the pitch angle theta relative to the X axis and the azimuth angle relative to the Y axis
And a respective antenna elevation beam width θ3dBAnd antenna azimuth beam width
Obtaining a Gaussian function approximate mathematical expression of the directional diagram of the unidirectional antenna:
and k is the normalized slope of the difference beam of the single pulse radar.
9. The four-channel millimeter wave digital sum-difference monopulse precision tracking system according to claim 8, wherein the phase differences of the four sub-beams with respect to the origin O are obtained according to the formula α ═ ar · 2 pi/λ of phase difference α:
the antenna patterns forming the four sub-beams are respectively:
where Δ R is the wave path difference and l is the spacing between the phase centers of the four sub-beams.
10. The four-channel millimeter wave digital sum-difference monopulse precision tracking system of claim 9, wherein: the four sub-beams received by the signal processing module are subjected to sum and difference beam forming through a digital processing network and then subjected to subsequent angle error calculation, and sum, azimuth difference and elevation difference beam directional diagram functions
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