CN102707270A - Automatic estimation method for antenna pattern relative to high-frequency ground wave radar - Google Patents
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Abstract
The invention provides an automatic estimation method for an antenna pattern relative to high-frequency ground wave radar. The method comprises the following steps of: selecting single arrival angle echo spectral points with higher signal-to-noise ratios than a predetermined signal-to-noise ratio from radar echo signals; modifying a current antenna pattern by utilizing the amplitude ratios and the arrival angles of various selected signal arrival angle echo signal spectral points to obtain a modified antenna pattern; judging whether the modified antenna pattern is converged relative to the current antenna pattern; if the modified antenna pattern is converged relative to the current antenna pattern, taking the modified antenna pattern as the obtained antenna pattern; and if the modified antenna pattern is not converged relative to the current antenna pattern, repeating the modifying step by taking the modified antenna pattern as the current antenna pattern. By the method provided by the invention, each antenna pattern is estimated from the radar echo signals in a soft computing mode completely; the conventional measurement mode which adopts an additional transponder or beacon equipment is abandoned; and the complexity and the operating cost of a high-frequency ground wave radar system are reduced greatly.
Description
Technical Field
The invention belongs to the technical field of high-frequency radars, and particularly relates to a method for automatically estimating a relative antenna directional diagram of a high-frequency ground wave radar by utilizing recursive calculation without any external cooperative calibration source.
Background
The high-frequency ground wave radar has been widely researched and successfully applied to the measurement of marine surface dynamics parameters (such as flow, wind and wave) due to the unique over-the-horizon and all-weather detection capability, and can detect moving targets such as ships and airplanes in real time. The receiving antenna array of the existing high-frequency ground wave radar can be divided into two types, one type is a phase control array, such as a uniform linear array formed by whip antennas; the other is a compact amplitude-controlled array, such as a monopole/cross-loop ternary antenna array. The latter has better flexibility and adaptability due to easy erection of antenna and very small occupied area, and the portable radar adopting monopole/cross-loop ternary antenna array in the existing high-frequency ground wave radar product internationally occupies most share at present. The monopole/crossed loop ternary antenna array is designed to be a common phase center, and the arrival angle is obtained by using the amplitude response of echo signals on each antenna. The monopole/crossed loop ternary antenna array brings great practical advantages for the radar, but the problem of direction setting is also introduced in the actual operation environment of the radar, namely, an antenna directional diagram is almost always influenced by the surrounding non-ideal electromagnetic environment to generate distortion, and therefore the estimation error of the arrival angle is caused. Amplitude-directional systems are more susceptible to directional distortion than phase-directional systems, which is also a cost of antenna aperture reduction. It has been reported in the literature that the directional error caused by antenna pattern distortion can exceed 10 degrees when angle-of-arrival estimation is performed using an ideal antenna pattern rather than an actual antenna pattern[1]Therefore, the actual antenna pattern must be known and used in a directional algorithm (e.g., multiple signal classification, MUSIC) to reduce this error during radar operation.
The conventional antenna pattern acquisition method is to make far-field measurements on it. A high-frequency ground wave radar SeaSinde produced by the United states CODAR company adopts a ship-borne transponder, resides and measures the amplitude of response signals received by each antenna channel of the radar in each different direction on a distance ring of a radio wave far field area, and combines with GPS (global positioning system) equipment on a ship to recordCalculating the longitude and latitude coordinates of the antenna pattern[2]. In this method, the received reply signal appears as a virtual point target echo at a distance corresponding to the delay time selected by the user. The transponder needs receiving and delay forwarding functions, and in order to reduce the additional cost caused by using the transponder, the Chinese patent publication No. CN 100501425C, entitled patent of high-frequency chirp radar directional diagram measuring method, discloses a method for performing far field measurement by using an independent single-frequency beacon transmitting device instead of the transponder in a portable high-frequency ground wave radar[3]The single-frequency signal passes through the high-frequency linear frequency modulation radar receiver, and a strip which is distributed in parallel to a distance axis is generated on a distance-Doppler spectrum, so that the integration is carried out on a distance section without marine echo signals or with very weak marine echo energy, and the corresponding beacon intensity can be calculated. The amplitude of the beacon on each antenna channel is combined with the ship direction at the corresponding moment, and then the directional diagram can be calculated. Both methods can effectively measure the actual antenna directional diagram and can be carried out on line before the radar is formally observed or during observation, however, the actual measurement mode increases the complexity and cost of system equipment, the measurement is limited by factors such as time, weather and terrain, and the change of the environment (such as newly repaired buildings, newly grown trees and the like near the antenna) cannot be automatically tracked in time. Clearly, a more desirable approach is to automatically estimate the antenna pattern directly from the ocean echo data through soft calculations.
Reference documents:
[1]D.E.Barrick and B.J.Lipa,“Using Antenna Patterns to Improve the Quality of SeaSonde HFRadar Surface Current Maps,”Current Measurement,1999.Proceedings of the IEEE Sixth Working Conferenceon,Mar.1999,5-8.
[2]CODAR Ocean Sensors Ltd.,User’s guide for
Radial Site Antenna PatternMeasurement(APM),2001.
disclosure of Invention
The invention aims to provide a method for automatically estimating a relative antenna directional diagram of a high-frequency ground wave radar, so as to remove the dependence of the antenna directional diagram on any cooperative beacon device and reduce the system complexity and the operation cost of the high-frequency ground wave radar.
In order to achieve the purpose, the invention adopts the following technical scheme:
a method for automatically estimating a relative antenna directional diagram of a high-frequency ground wave radar comprises the following steps:
s1, selecting a single arrival angle echo signal spectrum point higher than a certain preset signal-to-noise ratio from the radar echo signals;
s2, modifying the current antenna directional diagram by using the amplitude ratio and the arrival angle of each menu arrival angle echo signal spectrum point to obtain a modified antenna directional diagram, wherein the amplitude ratio is the ratio of the amplitude of the spectrum point on each antenna relative to the amplitude on a reference antenna, and the initial value of the current antenna directional diagram is an ideal antenna directional diagram;
s3, judging whether the corrected antenna directional diagram is converged relative to the current antenna directional diagram, if so, the corrected antenna directional diagram is the obtained relative antenna directional diagram; otherwise, the step S2 is repeated with the corrected antenna pattern as the current antenna pattern.
In step S1, the signal source number of each spectrum point in the radar echo signal is determined by using the characteristic value steepest descent criterion, and the single arrival angle spectrum point is screened out.
In step S2, the step of correcting the current antenna pattern by using the amplitude ratio and the arrival angle of each single arrival angle echo signal spectrum point specifically includes the sub-steps of:
s2-1, calculating the amplitude ratio of each menu arrival angle echo signal spectrum point on each antenna relative to a reference antenna, and calculating the arrival angle of each menu arrival angle echo signal spectrum point according to the current antenna directional diagram by adopting a directional algorithm; the directional algorithm is a multiple signal classification algorithm;
s2-2, uniformly dividing the field angle of the radar coverage area into field angle grids with preset angles as intervals, searching each angle theta in the field angle grids for selected single-arrival-angle echo signal spectrum points with arrival angles falling into angle theta neighborhood, and calculating the amplitude ratio median value of all selected single-arrival-angle echo signal spectrum points in the angle theta neighborhood
S2-3, according to the median value of the amplitude ratio of the single arrival angle spectrum pointAccording to the formula
Correcting the current antenna directional diagram, wherein beta is a learning rate, beta is more than 0 and less than 1,
for the purpose of the current antenna pattern,
is the modified antenna pattern.
In the above step S3, use is made of
Judging whether the corrected antenna directional diagram is converged relative to the current antenna directional diagram, if the corrected antenna directional diagram meets the formula, then converging, wherein Q is the total number of grid points of the field angle grid of the coverage area of the radar, gamma is a preset convergence judgment threshold value,
for the purpose of the current antenna pattern,
for the purpose of the modified antenna pattern,
is composed of
And
mean square error between.
In a received signal received by a high-frequency ground wave radar, a sea echo signal mainly comprises a sea wave scattering signal and a ship echo, wherein first-order peak energy generated by a Bragg (Bragg) scattering effect is dominant. Bragg scattering frequency
Wherein f isBIn Hz, f0Is the radar operating frequency in MHz. Due to the flow field on the ocean surface, Doppler frequency shift caused by radial flow velocity v also exists in each scattering unit
Where λ is the radar wave wavelength. On the same range bin, the Doppler distribution of the first-order peak region received by the wide beam antenna is determined by the velocity profile of each azimuth of the range bin, each spectral point can come from 1 or more arrival angles, and the angle value can be any direction in the coverage area of radar electric waves, so that the directional diagram can be estimated according to the amplitude and the direction of ocean echoes. The reason why the present invention is feasible is also that: (1) a directional diagram closer to an actual antenna directional diagram is used in a directional algorithm (such as a multiple signal classification algorithm, MUSIC) depending on the antenna directional diagram, so that better arrival angle estimation performance can be obtained; (2) the arrival angles of the spectrum points of the strong first-order peak region and the spectrum points of the strong ship in other regions can be any angle in a radar irradiation region, namely all angles have an opportunity to receive strong echo signals used for calculating a directional diagram; (3) the characteristics of the ocean current itself are determinedIn most cases, the radial flow velocity distribution form on the same distance element is simpler, each first-order Doppler spectrum point only corresponds to one arrival angle, and a ship echo spectrum point usually only has one arrival angle. Therefore, the antenna pattern can be automatically estimated in a recursive manner by using the screened strong echo spectrum points from the single angle of arrival (i.e. echo spectrum points higher than a certain preset signal-to-noise ratio in the invention).
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the method completely adopts a soft computing mode to automatically estimate the antenna directional diagram from the radar receiving sea echo, thereby avoiding the increase of system complexity and cost caused by using any additional beacon equipment, GPS, ships and the like;
2. the antenna directional diagram automatic estimation method has high convergence speed, and the time for completing the echo data required by calculation is usually not more than 2 hours;
3. the invention can effectively reduce the system complexity and cost of the high-frequency ground wave radar and greatly improve the working efficiency.
Detailed Description
The key point of the invention is that a directional algorithm depending on an antenna directional diagram is used in the high-frequency ground wave radar to orient the selected single arrival angle echo signal spectrum point to obtain the arrival angle estimated value of each spectrum point, and the arrival angle estimated value of each spectrum point and the amplitude ratio thereof are used for recurrently estimating the relative directional diagram of each antenna relative to a reference antenna. The amplitude ratio is the ratio of the amplitude of the spectral point on each antenna to the amplitude of the reference antenna.
The monopole/cross-loop ternary antenna array is an antenna commonly used by a portable high-frequency ground wave radar, and consists of a monopole antenna and 2 loop antennas, and the method of the invention is explained in detail by taking the monopole/cross-loop ternary antenna array as an example.
First, a procedure of obtaining an arrival angle estimation by orienting each single arrival angle echo signal spectrum point will be described by taking a multiple signal classification Method (MUSIC) in an orientation algorithm as an example.
For a certain single angle-of-arrival echo signal spectrum point a, the output signal vector x (t) of the monopole/cross-loop ternary antenna array is:
x(t)＝a(θ)s(t)+n(t) (1)
wherein,
x(t)＝[x1(t),x2(t),x3(t)]T，xi(t) is the received signal on the antenna with sequence number i, i is 1,2,3, t is time variable;
s (t) is the incident signal at single angle of arrival echo spectrum point a, with angle of arrival θa；
a(θ)＝[a1(θ),a2(θ),a3(θ)]TIs an array steering vector, ai(θ) is the antenna pattern with sequence number i, θ represents any azimuth of the high-frequency ground wave radar detection area, and is an independent variable of the antenna pattern, i is 1,2, and 3;
n (t) is a noise vector, t is a time variable;
the superscript T denotes the transpose operation.
Maximum likelihood estimation R of spatial autocorrelation matrix of antenna array output signal vector x (t)xxComprises the following steps:
wherein,
X＝[x(1),…,x(N)]is an antenna array receiving signal matrix, x (j) ═ x1(j),x2(j),x3(j)]TJ is 1, 2., N, j is a serial number of a specific value of the time variable T, and if T is a sampling interval, T is jT; n is the fast beat number and the superscript H indicates the conjugate transpose operation.
R to formula (2)xxPerforming characteristic decomposition to obtain:
Rxx＝USUH (3)
wherein,
S＝diag[S1,S2,S3]for diagonal arrays of eigenvalues, the eigenvalues are arranged in descending order, i.e. S1＞S2≥S3；U＝[u1,u2,u3]Is equal to the characteristic value S1、S2、S3The corresponding feature vectors constitute a matrix. Then, the MUSIC spatial spectrum p (θ) is:
angle-of-arrival estimation of single angle-of-arrival echo signal spectral point a given by the peak of p (theta)
The actual antenna pattern is always distorted to some extent by the non-ideal antenna electromagnetic environment (e.g., buildings, trees, power lines, etc. near the antenna). Have been reported in the literature[1]Directing with an ideal antenna pattern instead of an actual antenna pattern can result in errors of up to 10 degrees, and therefore an actual pattern rather than an ideal pattern must be employed in the directing algorithm.
Ideal directional diagram a of monopole/crossed loop ternary antenna arrayd(θ) can be expressed as:
here, θ represents an arbitrary azimuth of the high-frequency ground wave radar detection area, and is an independent variable of the antenna pattern.
With the monopole antenna as the reference antenna, what is actually needed is a relative directional diagram of the two loop antennas with respect to the monopole antenna, and the use of the relative directional diagram can eliminate some consistent deformation on each antenna, and at the same time, make the correction calculation simpler.
A modification is made to equation (1):
x(t)＝ar(θ)a1(θ)s(t)+n(t)＝ar(θ)s1(t)+n(t) (6)
wherein,
ar(θ)＝[1,ar2(θ),ar3(θ)]Tis the relative array steering vector and is,
is a relative directional diagram of a loop antenna with the serial number i, theta represents any direction of a high-frequency ground wave radar detection area and is an independent variable of the antenna directional diagram, and i is 2 and 3;
s1(t)＝a1(θ) s (t) is an equivalent incident signal corresponding to the relative antenna pattern (corresponding to model equation (1)).
n (t) is a noise vector, t is a time sequence number;
the superscript T denotes the transpose operation.
Until now, the relative pattern ari(θ) (i ═ 2,3) is obtained by using a method of actual measurement, and obviously, a more attractive method is automatic estimation from received data by soft calculation.
The invention provides a relative antenna directional diagram automatic estimation method, which has the following basic idea: initializing the current antenna directional diagram into an ideal antenna directional diagram, counting the amplitude ratio and the azimuth parameter (namely, the arrival angle) pair of the single arrival angle echo signal spectrum point, correcting the current antenna directional diagram by using the amplitude ratio and the azimuth parameter, and performing next directional calculation by using the corrected antenna directional diagram. The recursive result will eventually converge the antenna pattern to the actual antenna pattern, since using a relative pattern closer to the actual one will result in less directional error.
The specific steps of the specific implementation are as follows:
the first step is as follows: searching echo signal spectrum points higher than a certain preset signal-to-noise ratio (such as 20 dB) in the radar echo signals as candidate echo signal spectrum points;
the second step is that: initialising the current antenna pattern to the ideal antenna pattern, i.e.
Is the initial value of the current directional diagram, ad(θ) is an ideal antenna pattern;
the third step: judging the signal source number of each candidate echo signal spectrum point according to the characteristic value steepest descent criterion, screening out single arrival angle spectrum points, supposing that M single arrival angle spectrum points are screened out, and for the kth single arrival angle spectrum point, the characteristic value of the spatial autocorrelation matrix of the kth single arrival angle spectrum point should meet the requirement
S1，k、S2，k、S3,kCharacteristic value of spatial autocorrelation matrix of single angle of arrival spectrum point with sequence number k, k is 1, …, M;
the fourth step: for M single angle-of-arrival spectrum points, the amplitude ratio and angle-of-arrival parameter pairs are calculated, and the calculation process will be described below by taking the kth single angle-of-arrival spectrum point as an example:
calculating the amplitude ratio g of the single arrival angle spectrum point k on the loop antenna relative to the monopole antennak＝[gk2，gk3]Wherein g isk2、gk3The ratio of the amplitude of the single angle-of-arrival spectrum point k on the two loop antennas to the amplitude of the single-pole antenna is adoptedSignal classification method, calculating the arrival angle theta of a single arrival angle spectrum point k according to the current antenna directional diagramkAnd gives the parameter pair { gk,θk}；
The fifth step: uniformly dividing the field angle of a radar coverage area into field angle grids at intervals of 1 degree, and searching each angle theta in the field angle grids for the arrival angle falling into a certain neighborhood (for example, the 3-degree neighborhood is (theta-3 degrees, theta +3 degrees)]) Calculating the median of the amplitude ratio of all the single arrival angle spectrum points in a certain neighborhood of the angle theta
Respectively representing the median of the amplitude ratios of all single arrival angle spectrum points in a certain neighborhood of theta on the two loop antennas relative to the monopole antenna;
and a sixth step: respectively correcting the current antenna directional diagrams of the two loop antennas according to the following formula:
wherein,
i＝2,3；
beta is the learning rate, beta is more than 0 and less than 1, and a smaller value can be taken to ensure the convergence of beta, for example, beta is 0.2, but the convergence speed is correspondingly slower.
The seventh step: judging the corrected directional diagram according to the following formula
Whether or not to converge, and if so, ending the process
The relative antenna directional diagram is obtained; otherwise, taking the corrected antenna directional diagram as the current antenna directional diagram, and turning to the fourth step.
Wherein,
q is the total number of grid points of the field angle grid of the radar coverage area;
gamma is a preset convergence decision threshold, which may be taken to be 10-4；
Obtaining the directional diagram finally according to the method
And the optimal arrival angle estimation performance can be obtained by replacing an ideal directional diagram in a subsequent directional algorithm. Each step of recursion in the estimation method is carried out on a certain distance segment in one field (coherent accumulation time) of data in sequence, and the final calculation node is obtained by utilizing multi-field dataAnd (5) fruit.
The invention is not limited to the monopole/crossed loop ternary antenna array system, but can be applied to any multi-element antenna array system with orientation capability, and can obtain better directional diagram estimation performance in an array (such as a linear array or a circular array) with a certain space caliber (namely, incident signals have space phase difference on different array elements).
Claims (4)
1. A method for automatically estimating a relative antenna directional pattern of a high-frequency ground wave radar is characterized by comprising the following steps:
s1, selecting a single arrival angle echo signal spectrum point higher than a certain preset signal-to-noise ratio from the radar echo signals;
s2, modifying the current antenna directional diagram by using the amplitude ratio and the arrival angle of each menu arrival angle echo signal spectrum point to obtain a modified antenna directional diagram, wherein the amplitude ratio is the ratio of the amplitude of the spectrum point on each antenna relative to the amplitude on a reference antenna, and the initial value of the current antenna directional diagram is an ideal antenna directional diagram;
s3, judging whether the corrected antenna directional diagram is converged relative to the current antenna directional diagram, and if so, determining the corrected antenna directional diagram as the obtained antenna directional diagram; otherwise, the step S2 is repeated with the corrected antenna pattern as the current antenna pattern.
2. The method according to claim 1, wherein said method comprises:
in step S1, the signal source number of each spectrum point in the radar echo signal is determined by using the characteristic value steepest descent criterion, and the single arrival angle spectrum point is screened out.
3. The method according to claim 1, wherein said method comprises:
in step S2, the step of correcting the current antenna pattern by using the amplitude ratio and the arrival angle of each single-arrival-angle echo signal spectrum point further includes the sub-steps of:
s2-1, calculating the amplitude ratio of each menu arrival angle echo signal spectrum point on each antenna relative to a reference antenna, and calculating the arrival angle of each menu arrival angle echo signal spectrum point according to the current antenna directional diagram by adopting a directional algorithm;
s2-2, uniformly dividing the field angle of the radar coverage area into field angle grids with preset angles as intervals, searching each angle theta in the field angle grids for selected single-arrival-angle echo signal spectrum points with arrival angles falling into angle theta neighborhood, and calculating the amplitude ratio median value of all selected single-arrival-angle echo signal spectrum points in the angle theta neighborhood
S2-3, according to the median value of the amplitude ratio of the single arrival angle spectrum point
According to the formulaCorrecting the current antenna directional diagram, wherein beta is a learning rate, beta is more than 0 and less than 1,
for the purpose of the current antenna pattern,
is the modified antenna pattern.
4. The method according to claim 1, wherein said method comprises:
in step S3, use is made of
Judging whether the corrected antenna directional diagram is converged relative to the current antenna directional diagram, if the corrected antenna directional diagram meets the formula, then converging, wherein Q is the total number of grid points of the field angle grid of the coverage area of the radar, gamma is a preset convergence judgment threshold value,
for the purpose of the current antenna pattern,
is the modified antenna pattern.
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| CN107526077A (en) * | 2017-08-15 | 2017-12-29 | 武汉大学 | A kind of high inversion method of portable high frequency groundwave radar wave |
| CN107526077B (en) * | 2017-08-15 | 2019-09-10 | 武汉大学 | A kind of high inversion method of portable high frequency groundwave radar wave |
| CN108107278A (en) * | 2017-12-14 | 2018-06-01 | 武汉凡谷电子技术股份有限公司 | The on-site test system and method for reception diagram |
| CN109613503A (en) * | 2018-12-20 | 2019-04-12 | 中国气象科学研究院 | The Calibration Method and device of radar echo signal |
| CN111596144A (en) * | 2020-05-26 | 2020-08-28 | 武汉大学 | Linear frequency modulation radar antenna pattern measuring system and method based on unmanned aerial vehicle |
| CN114442084A (en) * | 2022-01-21 | 2022-05-06 | 哈尔滨工业大学（威海） | Portable high-frequency ground wave radar array, radar system performance analysis method and radar |
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