阅读说明：本技术 矢量脱靶量参数的测量方法、装置、电子设备和存储介质 (Method and device for measuring vector miss distance parameter, electronic equipment and storage medium ) 是由 魏国华 任金隆 王文静 王旭 于 2021-04-26 设计创作，主要内容包括：本发明提供一种矢量脱靶量参数的测量方法、装置、电子设备和存储介质,包括：对M路接收天线接收的每一路模拟雷达回波进行预处理,得到M路数字有效回波数据,其中,所述每一路模拟雷达回波均由发射天线发射出的脉冲调制信号经过与靶交会过程中的被测目标反射得到,M为大于3的正整数；对所述M路数字有效回波数据采用最大似然估计器处理,输出所述被测目标在与所述发射天线最近距离处的矢量定位参数；基于所述矢量定位参数确定所述被测目标的矢量脱靶量参数。本发明提供的方法、装置、电子设备和存储介质,能实现高精度和抗噪性能好的矢量脱靶量参数测量。(The invention provides a method and a device for measuring vector miss distance parameters, electronic equipment and a storage medium, wherein the method comprises the following steps: preprocessing each path of simulated radar echo received by the M paths of receiving antennas to obtain M paths of digital effective echo data, wherein each path of simulated radar echo is obtained by reflecting a pulse modulation signal transmitted by a transmitting antenna by a measured target in a target intersection process, and M is a positive integer greater than 3; processing the M paths of digital effective echo data by adopting a maximum likelihood estimator, and outputting vector positioning parameters of the measured target at the position closest to the transmitting antenna; and determining the vector miss amount parameter of the detected object based on the vector positioning parameter. The method, the device, the electronic equipment and the storage medium provided by the invention can realize the vector miss distance parameter measurement with high precision and good noise resistance.)

1. A method for measuring vector miss distance parameters is characterized by comprising the following steps:

preprocessing each path of simulated radar echo received by the M paths of receiving antennas to obtain M paths of digital effective echo data, wherein each path of simulated radar echo is obtained by reflecting a pulse modulation signal transmitted by a transmitting antenna by a measured target in a target intersection process, and M is a positive integer greater than 3;

processing the M paths of digital effective echo data by adopting a maximum likelihood estimator, and outputting vector positioning parameters of the measured target at the position closest to the transmitting antenna;

and determining the vector miss amount parameter of the detected object based on the vector positioning parameter.

2. The method for measuring vector miss distance parameters according to claim 1, wherein the preprocessing is performed on each path of analog radar echo received by M paths of receiving antennas to obtain M paths of digital effective echo data, and specifically includes:

sequentially carrying out A/D conversion sampling, orthogonal down-conversion and CPI framing processing based on accumulated time intervals on each path of analog radar echo received by the M paths of receiving antennas to obtain digital framing of each path of analog radar echo at each range gate;

and framing each path of analog radar echo by using the digital, respectively determining the corresponding echo signal-to-noise ratio of different range gates by using a target detection algorithm of fast Fourier transform, and determining the echo data with the maximum signal-to-noise ratio of the gates as effective echo data.

3. The method for measuring vector miss distance parameters according to claim 1, wherein each of the simulated radar echoes is obtained by a pulse modulation signal transmitted by a transmitting antenna and reflected by the target to be measured, and specifically comprises:

and each path of simulated radar echo is determined based on a pulse modulation signal transmitted by a transmitting antenna and the motion parameters of the measured target, wherein the motion parameters comprise a real-time position and a real-time speed.

4. The method for measuring vector miss distance parameters according to claim 3, wherein each of the simulated radar echoes is determined based on a pulse modulation signal transmitted by a transmitting antenna and motion parameters of the target to be measured, the motion parameters including a real-time position and a real-time velocity, and specifically includes:

the radar echo r received by the mth receiving antenna at the time t is determined by the following formula_m(t)：

q_t＝[x(t),y(t),z(t)]^T,x(t)＝x₀+(L₀-V₀t)cosαcosβ,

y(t)＝y₀+(L₀-V₀t)sinαcosβ,z(t)＝z₀+(L₀-V₀t)sinβ,

Wherein alpha is_mSimulating the amplitude, tau, of the radar echo for the mth path_m(t) is the time delay that the pulse modulation signal transmitted by the transmitting antenna passes through the measured target and then reaches the mth receiving antenna, and the pulse modulation signal transmitted by the transmitting antenna is s (t), f_cA carrier frequency of s (t), u (t) is a square wave, rect (t) is a standard unit momentShape function, T_pIs the pulse width, | · the luminance₂Is the Euclidean norm, c is the propagation velocity of the electromagnetic wave, n_m(t) is zero mean and varianceOf additive white Gaussian noise, p₀As three-dimensional coordinates, p, of said transmitting antenna_mIs the three-dimensional coordinate of the m-th receiving antenna, q_tIs the three-dimensional coordinate of the measured target time t, q₀Is off-target, and q₀＝[x₀,y₀,z₀]^TAnd alpha and beta are the deviation angle and inclination angle of trajectory, V, respectively, of the measured object₀Is the constant velocity scalar of the measured object, L₀The distance r from the initial moment of the measured target to the off-target point₀A vector positioning parameter xi of the object to be detected at the nearest distance to the transmitting antenna for the distance of the object to be detected to the transmitting antenna at the off-target point is [ r₀,V₀,L₀,α,β,z₀]^T；

In determining the echo signal r_mAfter (t), discretizing the echo signal to obtain an echo model as follows:

wherein the content of the first and second substances,n is 1,2, N is a positive integer, and T is a repetition interval time of a transmission pulse of the transmitting antenna;

to r_m(t_n) Performing matrixing expression, specifically as follows:

r_m＝U_m(β_m⊙1_N)+n_m，m＝1,2,...,M,

r_m＝[r_m(0),r_m(1),...,r_m(N-1)]^T，n_m＝[n_m(0),n_m(1),...,n_m(N-1)]^T，

wherein, (.)^TDenotes the transpose operator, 1_NAn all 1 vector representing dimension Nx 1, an_mIs a phase matrix, beta_mIs the amplitude that contains the baseband amplitude.

5. The method for measuring vector miss distance parameters according to claim 4, wherein the processing of the M paths of digital effective echo data by using a maximum likelihood estimator and outputting the vector positioning parameters of the target to be measured at the closest distance from the transmitting antenna specifically comprises:

obtaining a relational expression among the M paths of digital effective echo data, digital additive white Gaussian noise and a digital pulse modulation signal with preset time delay based on the signal model of each path of analog radar echo;

determining a likelihood function of the M digital effective echoes based on the relation;

and determining the motion parameter of the measured target when the likelihood function is maximum as the vector positioning parameter of the measured target at the nearest distance of the transmitting antenna.

6. The method for measuring vector miss distance parameters according to claim 5, wherein the obtaining of the relational expression between the M paths of digital effective echo data, the digital additive white Gaussian noise and the digital pulse modulation signal with the preset time delay based on the signal model of each path of simulated radar echo specifically comprises:

the likelihood function f (r) of the M digital effective echoes is expressed by the following formula:

wherein the content of the first and second substances,the digital additive white Gaussian noise n_m～CN(0,Γ_m)，

Correspondingly, the determining the motion parameter of the measured target when the likelihood function is maximum is a vector positioning parameter of the measured target at the nearest distance of the transmitting antenna, and specifically includes:

determining an optimization model when the value of f (r) is maximum based on the expression of the likelihood function f (r) as follows:

wherein the content of the first and second substances,is composed ofThe real part of (2);

solving the optimization model, and determining the vector positioning parameter [ r ] of the measured target at the nearest distance of the transmitting antenna₀,V₀,L₀,α,β,z₀]^T。

7. The method according to claim 5 or 6, wherein the determining the motion parameter of the target to be measured when the likelihood function is maximum is a vector positioning parameter of the target to be measured at a closest distance from the transmitting antenna, specifically includes:

determining an upper boundary and a lower boundary of a parameter xi to be searched for by a target miss distance based on the upper boundary, the lower boundary and a preset initial value xi_iniRandomly determining xi of grid points in a plurality of vector positioning parameter spaces₁,Ξ₂,...,Ξ_g,...,Ξ_GG is the total number of grid points 1, 2.,;

any grid point xi_gAccording to the echo signal model, a theta is obtained_mSubstituting the data into the expression of a preset likelihood estimator to carry out parameter optimization to obtain C (xi)_g)；

Selecting the largest numerical value of C (xi)_g) Determining the xi corresponding to the first order_gThe final vector is the estimate of the positioning parameter.

8. A vector miss distance parameter measuring apparatus, comprising:

the device comprises a preprocessing unit, a target detection unit and a target detection unit, wherein the preprocessing unit is used for preprocessing each path of analog radar echo received by M paths of receiving antennas to obtain M paths of digital effective echo data, each path of analog radar echo is sent by a pulse modulation signal sent by a transmitting antenna through reflection of a detected target in a target intersection process, and M is a positive integer greater than 3;

the likelihood estimator unit is used for processing the M paths of digital effective echo data by adopting a maximum likelihood estimator and outputting vector positioning parameters of the measured target at the position closest to the transmitting antenna;

and the coordinate conversion unit is used for determining the vector miss distance parameter of the measured object based on the vector positioning parameter.

9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program performs the steps of the method of measuring a vector miss distance parameter according to any of claims 1 to 7.

10. A non-transitory computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of measuring a vector miss distance parameter according to any one of claims 1 to 7.

Technical Field

The invention relates to the technical field of microwave measurement, in particular to a method and a device for measuring vector miss distance parameters, electronic equipment and a storage medium.

Background

The performance of a high-precision aggressive weapon is generally embodied in a target encountering section in a concentrated manner, the miss distance measurement utilizes parameter data of the target encountering section to analyze error factors of a weapon system, plays a key role in identifying and evaluating the performance of the aggressive weapon and is one of core contents of a firing range measurement task. With the improvement of the hitting precision of the offensive weapon, higher requirements are put forward on the measuring precision of the miss distance measuring equipment of the firing ground.

The Doppler radar off-target measurement technology based on electromagnetic waves is not influenced by light and weather, and the like, and is deeply researched and widely applied at home and abroad. The Doppler radar miss distance measuring technology utilizes Doppler effect measurement to obtain a time function of the radial speed of a target and a phase difference time function between receiving antennas, and corresponding vector miss distance parameters are obtained through the price comparison calculation of the time function and a theoretical function. The vector miss-target measurement accuracy depends on the estimation accuracy of Doppler frequency and phase difference, and the traditional FFT-based digital spectrum analysis and the modern high-resolution spectrum analysis method are successively applied to the Doppler frequency estimation in miss-target measurement, so that the estimation accuracy of Doppler frequency and phase difference is improved to a certain extent.

In the process of target shooting intersection, the relative speed of the target and the radar is high, the change of the radar relative to the line-of-sight angle of the target can reach 90 degrees within 1-2 seconds or even shorter time, the angular speed and the angular acceleration are high, the radial speed component of the target changes quickly, and the radar echo signal presents the characteristic of serious instability. In the vector off-target measurement technology based on Doppler frequency and phase difference, data framing is carried out on radar echo signals, short-time stationary assumption is carried out on the formed data frames, and segmented radar echo data are approximated to be sine waves with constant amplitude and constant frequency, so that estimation of Doppler frequency and phase difference observed quantity is obtained. In the processing, the frame-dividing short-time stable hypothesis has deviation with an actual echo signal model, and the frame-dividing time is too short, so that the number of data points in each section is too small, and the randomness error of parameter estimation is increased; the framing time is too long, so that systematic errors in parameter estimation due to short-time stationary assumptions are increased.

However, at present, there is no scheme for measuring vector miss distance parameters, which can improve the anti-noise performance while realizing high-precision measurement, and therefore, how to measure vector miss distance parameters with high precision and good anti-noise performance is still a problem to be solved by those skilled in the art.

Disclosure of Invention

The invention provides a method, a device, electronic equipment and a storage medium for measuring vector miss distance parameters, which are used for solving the problem that no vector miss distance parameter measuring scheme can improve the anti-noise performance while realizing high-precision measurement at present.

The invention provides a method for measuring vector miss distance parameters, which comprises the following steps:

preprocessing each path of simulated radar echo received by the M paths of receiving antennas to obtain M paths of digital effective echo data, wherein each path of simulated radar echo is obtained by reflecting a pulse modulation signal transmitted by a transmitting antenna by a measured target in a target intersection process, and M is a positive integer greater than 3;

processing the M paths of digital effective echo data by adopting a maximum likelihood estimator, and outputting vector positioning parameters of the measured target at the position closest to the transmitting antenna;

and determining the vector miss amount parameter of the detected object based on the vector positioning parameter.

According to the method for measuring the vector miss distance parameter provided by the invention, preprocessing each path of analog radar echo received by M paths of receiving antennas to obtain M paths of digital effective echo data specifically comprises the following steps:

sequentially carrying out A/D conversion sampling, orthogonal down-conversion and CPI framing processing based on accumulated time intervals on each path of analog radar echo received by the M paths of receiving antennas to obtain digital framing of each path of analog radar echo at each range gate;

and framing each path of analog radar echo by using the digital, respectively determining the corresponding echo signal-to-noise ratio of different range gates by using a target detection algorithm of fast Fourier transform, and determining the echo data with the maximum signal-to-noise ratio of the gates as effective echo data.

According to the method for measuring the vector miss distance parameter provided by the invention, each path of simulated radar echo is obtained by the reflection of a pulse modulation signal transmitted by a transmitting antenna through the target to be measured, and the method specifically comprises the following steps:

and each path of simulated radar echo is determined based on a pulse modulation signal transmitted by a transmitting antenna and the motion parameters of the measured target, wherein the motion parameters comprise a real-time position and a real-time speed.

According to the method for measuring the vector miss distance parameter provided by the invention, each path of simulated radar echo is determined based on a pulse modulation signal transmitted by a transmitting antenna and the motion parameter of the measured target, the motion parameter comprises a real-time position and a real-time speed, and the method specifically comprises the following steps:

the radar echo r received by the mth receiving antenna at the time t is determined by the following formula_m(t)：

q_t＝[x(t),y(t),z(t)]^T,x(t)＝x₀+(L₀-V₀t)cosαcosβ,

y(t)＝y₀+(L₀-V₀t)sinαcosβ,z(t)＝z₀+(L₀-V₀t)sinβ,

Wherein alpha is_mSimulating the amplitude, tau, of the radar echo for the mth path_m(t) is the time delay that the pulse modulation signal transmitted by the transmitting antenna passes through the measured target and then reaches the mth receiving antenna, and the pulse modulation signal transmitted by the transmitting antenna is s (t), f_cIs the carrier frequency of s (T), u (T) is the square wave, rect (T) is the standard unit square function, T_pIs the pulse width, | · the luminance₂Is the Euclidean norm, c is the propagation velocity of the electromagnetic wave, n_m(t) is zero mean and varianceOf additive white Gaussian noise, p₀As three-dimensional coordinates, p, of said transmitting antenna_mIs the three-dimensional coordinate of the m-th receiving antenna, q_tIs the three-dimensional coordinate of the measured target time t, q₀Is off-target, and q₀＝[x₀,y₀,z₀]^TAnd alpha and beta are the deviation angle and inclination angle of trajectory, V, respectively, of the measured object₀Is the constant velocity scalar of the measured object, L₀The distance r from the initial moment of the measured target to the off-target point₀A vector positioning parameter xi of the object to be detected at the nearest distance to the transmitting antenna for the distance of the object to be detected to the transmitting antenna at the off-target point is [ r₀,V₀,L₀,α,β,z₀]^T；

In determining the echo signal r_mAfter (t), discretizing the echo signal to obtain an echo model as follows:

wherein the content of the first and second substances,n is a positive integer, and T is the repetition interval time of the emission pulse of the emission antenna;

to r_m(t_n) Performing matrixing expression, specifically as follows:

r_m＝U_m(β_m⊙1_N)+n_m，m＝1,2,...,M,

r_m＝[r_m(0),r_m(1),...,r_m(N-1)]^T，n_m＝[n_m(0),n_m(1),...,n_m(N-1)]^T，

wherein, (.)^TDenotes the transpose operator, 1_NAn all 1 vector representing dimension Nx 1, an_mIs a phase matrix, beta_mIs the amplitude that contains the baseband amplitude.

According to the method for measuring the vector miss distance parameter provided by the invention, the processing of the M-path digital effective echo data by adopting the maximum likelihood estimator and the output of the vector positioning parameter of the measured target at the position closest to the transmitting antenna specifically comprise:

obtaining a relational expression among the M paths of digital effective echo data, digital additive white Gaussian noise and a digital pulse modulation signal with preset time delay based on the signal model of each path of analog radar echo;

determining a likelihood function of the M digital effective echoes based on the relation;

and determining the motion parameter of the measured target when the likelihood function is maximum as the vector positioning parameter of the measured target at the nearest distance of the transmitting antenna.

According to the method for measuring the vector miss distance parameter provided by the invention, the relation among the M paths of digital effective echo data, digital additive white gaussian noise and digital pulse modulation signals with preset time delay is obtained based on the signal model of each path of analog radar echo, and the method specifically comprises the following steps:

the likelihood function f (r) of the M digital effective echoes is expressed by the following formula:

wherein the content of the first and second substances,the digital additive white Gaussian noise n_m～CN(0,Γ_m)，

Correspondingly, the determining the motion parameter of the measured target when the likelihood function is maximum is a vector positioning parameter of the measured target at the nearest distance of the transmitting antenna, and specifically includes:

determining an optimization model when the value of f (r) is maximum based on the expression of the likelihood function f (r) as follows:

wherein the content of the first and second substances,is composed ofThe real part of (2);

solving the optimization model, and determining the vector positioning parameter [ r ] of the measured target at the nearest distance of the transmitting antenna₀,V₀,L₀,α,β,z₀]^T。

According to the method for measuring vector miss distance parameters provided by the present invention, the determining the motion parameter of the measured object when the likelihood function is maximum is a vector positioning parameter of the measured object at the nearest distance of the transmitting antenna, specifically includes:

determining an upper boundary and a lower boundary of a parameter xi to be searched for by a target miss distance based on the upper boundary, the lower boundary and a preset initial value xi_iniRandomly determining xi of grid points in a plurality of vector positioning parameter spaces₁,Ξ₂,...,Ξ_g,...,Ξ_GG is the total number of grid points 1, 2.,;

any grid point xi_gAccording to the echo signal model, a theta is obtained_mSubstituting the data into the expression of a preset likelihood estimator to carry out parameter optimization to obtain C (xi)_g)；

Selecting the largest numerical value of C (xi)_g) Determining the xi corresponding to the first order_gThe final vector is the estimate of the positioning parameter.

The invention also provides a measuring device of vector miss distance parameters, comprising:

the device comprises a preprocessing unit, a target detection unit and a target detection unit, wherein the preprocessing unit is used for preprocessing each path of analog radar echo received by M paths of receiving antennas to obtain M paths of digital effective echo data, each path of analog radar echo is sent by a pulse modulation signal sent by a transmitting antenna through reflection of a detected target in a target intersection process, and M is a positive integer greater than 3;

the likelihood estimator unit is used for processing the M paths of digital effective echo data by adopting a maximum likelihood estimator and outputting vector positioning parameters of the measured target at the position closest to the transmitting antenna;

and the coordinate conversion unit is used for determining the vector miss distance parameter of the measured object based on the vector positioning parameter.

The invention also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the steps of the method for measuring the vector miss distance parameter.

The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method for measuring a vector miss amount parameter as described in any one of the above.

The vector miss distance parameter measuring method, the vector miss distance parameter measuring device, the electronic equipment and the storage medium provided by the invention are characterized in that each path of analog radar echo received by M paths of receiving antennas is preprocessed to obtain M paths of digital effective echo data, wherein each path of analog radar echo is obtained by a pulse modulation signal transmitted by a transmitting antenna and reflected by a measured target in a target crossing process, and M is a positive integer greater than 3; processing the M paths of digital effective echo data by adopting a maximum likelihood estimator, and outputting vector positioning parameters of the measured target at the position closest to the transmitting antenna; and determining the vector miss amount parameter of the detected object based on the vector positioning parameter. Because the multi-channel echo signals received continuously in real time are preprocessed through analog-to-digital conversion, down sampling and the like to obtain effective echo digital signals, each channel of analog radar echo is represented by pulse modulation signals transmitted by a transmitting antenna and motion parameters of a measured target, and then M channels of digital effective echo data are processed by using a maximum likelihood estimator. Therefore, the method, the device, the electronic equipment and the storage medium provided by the embodiment of the invention can realize the vector off-target parameter measurement with high precision and good noise resistance.

Drawings

In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

FIG. 1 is a schematic flow chart of a method for measuring vector miss distance parameters according to the present invention;

fig. 2 is a schematic diagram of an antenna layout according to the present invention;

FIG. 3 is a vector miss distance parameter r provided by the present invention₀An estimated root mean square error is along with a signal-to-noise ratio variation experiment result graph;

FIG. 4 is a vector miss distance parameter V provided by the present invention₀An estimated root mean square error is along with a signal-to-noise ratio variation experiment result graph;

FIG. 5 is a vector miss distance parameter L provided by the present invention₀An estimated root mean square error is along with a signal-to-noise ratio variation experiment result graph;

FIG. 6 is a graph of the root mean square error of the vector miss distance parameter α estimation according to the present invention as a result of a signal-to-noise ratio variation experiment;

FIG. 7 is a graph of the root mean square error of the vector miss distance parameter β estimation varying with the signal to noise ratio;

FIG. 8 is a vector miss distance parameter x provided by the present invention₀An estimated root mean square error is along with a signal-to-noise ratio variation experiment result graph;

FIG. 9 shows the vector miss distance parameter y provided by the present invention₀An estimated root mean square error is along with a signal-to-noise ratio variation experiment result graph;

FIG. 10 shows a vector miss distance parameter z provided by the present invention₀An estimated root mean square error is along with a signal-to-noise ratio variation experiment result graph;

FIG. 11 is a schematic structural diagram of a vector miss distance parameter measuring device provided in the present invention;

fig. 12 is a schematic physical structure diagram of an electronic device provided in the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

At present, no vector miss amount parameter measurement scheme can improve the anti-noise performance while realizing high-precision measurement. The following describes a method for measuring vector miss distance parameters according to the present invention with reference to fig. 1 to 10. Fig. 1 is a schematic flow chart of a method for measuring a vector miss distance parameter provided by the present invention, as shown in fig. 1, the method includes:

step 110: preprocessing each path of analog radar echo received by the M paths of receiving antennas to obtain M paths of digital effective echo data, wherein each path of analog radar echo is obtained by a pulse modulation signal transmitted by a transmitting antenna through reflection of a measured target in a target intersection process, and M is a positive integer greater than 3.

Specifically, the method for measuring the vector miss distance parameter provided by the invention is implemented in an antenna array measuring system formed by arranging a transmitting antenna and a plurality of receiving antennas in the target surrounding environment.

Assuming that a radio vector miss distance measurement system based on an active radar comprises a receiving array consisting of a transmitting antenna and M receiving antennas to measure a relative movement track of a target at a target intersection section, fig. 2 is an antenna layout schematic diagram provided by the invention, the antenna layout is shown in fig. 2, a hollow circle in fig. 2 represents a unique transmitting antenna in the system, M solid circles surrounding the side of the hollow circle represent corresponding M receiving antennas, and the M receiving antennas form an antenna array, wherein the three-dimensional coordinate of the transmitting antenna is p₀＝[0,0,0]^TMth receiving antenna p_mHas a three-dimensional coordinate of p_m＝[x_m,y_m,z_m]^T(M ═ 1,2, …, M). Therefore, the system is based on that a transmitting antenna transmits a pulse modulation signal, the modulation signal is received by each receiving antenna after meeting a bullet which gradually approaches a target, and the relative motion of the bullet target at the bullet target meeting section is modeled as a speed V₀So that the coordinates of the bullet during the movement can be determinedTo be expressed by the following formula:

x(t)＝x₀+(L₀-V₀t)cosαcosβ

y(t)＝y₀+(L₀-V₀t)sinαcosβ

z(t)＝z₀+(L₀-V₀t)sinβ

wherein, as shown in fig. 1, the vector positioning parameter of the measured object at the nearest distance from the transmitting antenna during the target meeting process is defined as the off-target point q₀＝[x₀,y₀,z₀]^TAnd alpha and beta are respectively the deviation angle and inclination angle of trajectory, r₀Is the distance, L, between the target object and the transmitting antenna when the target object is off-target₀And the distance between the initial moment of the measured target and the off-target point is obtained.

Under the condition that the running of the detected target near the target is preset to be a uniform straight line, the vector miss amount parameter of the detected target can be obtained only by determining the position and the speed of one point on the motion track near the target.

Because each path of simulated radar echo is reflected by the pulse modulation signal transmitted by the transmitting antenna through the target to be measured, the echo signal received by each receiving antenna can be characterized by the pulse modulation signal transmitted by the transmitting antenna and the motion parameter of the target to be measured.

The transmitting antenna in the system transmits a pulse modulated signal represented by the following formula:

wherein f is_cFor the carrier frequency, u (t) is a rectangular wave defined by the formula:

wherein rect (T) is a standard unit rectangular function, T_pIs the pulse width;

assuming that the time and frequency in the system are synchronous, the echo received by the mth receiving antenna under the narrow-band estimation and reflected from the measured object in the process of meeting the target can be represented by the following formula:

wherein n is_m(t) is zero mean and variance σ_m ²Of additive white Gaussian noise, alpha_mIs the amplitude, τ_m(t) is the transmission time length from the transmitting antenna to the mth receiving antenna after the reflection of the measured object in the target meeting process, and is represented by the following formula:

wherein p is₀As three-dimensional coordinates, p, of said transmitting antenna_mIs the three-dimensional coordinate of the m-th receiving antenna, q_tIs the three-dimensional coordinate of the measured target moment t in the process of intersecting with the target, | · caldenafil₂Is the euclidean norm and c is the propagation velocity of the electromagnetic wave.

Based on the received theoretical model for simulating radar echo, the expression mode of effective digital radar echo can be further obtained, and the echo data acquired by different distance units in discrete time can be represented by the following formula:

wherein the content of the first and second substances,t is the pulse interval time beta when the transmitting antenna transmits the pulse modulation signal_mFor the amplitude of the echo signal, letThe above equation can be represented in a more compact form as follows:

r_m＝U_m(β_m⊙1_N)+n_mequation 1

Wherein r is_m＝[r_m(0),r_m(1),...,r_m(N-1)]^T,

n_m＝[n_m(0),n_m(1),...,n_m(N-1)]^T

Wherein, (.)^TDenotes the transpose operator, U_mIs a phase matrix, 1_NAn all 1 vector representing dimension N × 1, an |, indicates a Hadamard product operator.

From the above equation, it can be concluded: the measurement problem for the vector miss amount parameter can be ascribed to a simple problem model as follows: determining the trajectory of the measured object based on the collected samples of the echo signals received by the N groups of M receiving antennas, namely determining the following vector miss distance parameter [ r₀,V₀,L₀,α,β,z₀]^T。

And 120, processing the M paths of digital effective echo data by using a maximum likelihood estimator, and outputting vector positioning parameters of the detected target at the position closest to the transmitting antenna.

Specifically, based on the problem model constructed in step 110 and the actually collected actual data of each receiving antenna, the actually collected data can be substituted into the problem model and processed by using the maximum likelihood estimator, and the vector miss amount parameter [ r ] to be solved by the problem model can be output₀,V₀,L₀,α,β,z₀]^TNamely the vector positioning parameter of the measured target at the nearest distance from the transmitting antenna.

And step 130, determining the vector miss distance parameter of the detected object based on the vector positioning parameter.

Specifically, since the position of the transmitting antenna is known, the position of the target to be measured with respect to the target, that is, the miss amount parameter, can be estimated based on the relative position of the target to the transmitting antenna and the actual position of the target to be measured.

The method for measuring the vector miss distance parameter obtains M paths of digital effective echo data by preprocessing each path of simulated radar echo received by M paths of receiving antennas, wherein each path of simulated radar echo is obtained by reflecting a pulse modulation signal transmitted by a transmitting antenna with a measured target in a target crossing process, and M is a positive integer greater than 3; processing the M paths of digital effective echo data by adopting a maximum likelihood estimator, and outputting vector positioning parameters of the measured target at the position closest to the transmitting antenna; and determining the vector miss amount parameter of the detected object based on the vector positioning parameter. Because the multi-channel echo signals received continuously in real time are preprocessed through analog-to-digital conversion, down sampling and the like to obtain effective echo digital signals, each channel of analog radar echo is represented by pulse modulation signals transmitted by a transmitting antenna and motion parameters of a measured target, and then M channels of digital effective echo data are processed by using a maximum likelihood estimator. Therefore, the method provided by the embodiment of the invention can realize the vector miss distance parameter measurement with high precision and good noise resistance.

Based on the above embodiment, in the method, the preprocessing is performed on each path of analog radar echo received by the M paths of receiving antennas to obtain M paths of digital effective echo data, and specifically includes:

sequentially carrying out A/D conversion sampling, orthogonal down-conversion and CPI framing processing based on accumulated time intervals on each path of analog radar echo received by the M paths of receiving antennas to obtain digital framing of each path of analog radar echo at each range gate;

and framing each path of analog radar echo by using the digital, respectively determining the corresponding echo signal-to-noise ratio by using a target detection algorithm of fast Fourier transform for different range gates, and selecting the signal-to-noise ratio of the gates to determine effective echo data.

Specifically, an analog signal preprocessing device is connected below each receiving antenna, and is used for processing each received analog radar echo to obtain corresponding digital effective echo data, and the processing of the preprocessing device sequentially includes the following operations: storing radar echoes subjected to A/D sampling and orthogonal down-conversion according to wave gates (with the wave gate number L being 0,1, … and L-1) at a given recording moment, framing data according to a certain accumulation time interval CPI, performing fast Fourier transform on the ith data frame (I being 0,1, … and I-1) wave gate by wave gate to perform target detection to obtain the echo signal-to-noise ratio (SNR) of each wave gate corresponding to the ith frame_ilFor SNR_il(L ═ 0,1, …, L-1) sorting, selecting echo data of the gate with the largest signal-to-noise ratio of the first frame as effective echo data of the first data frame, and finally obtaining all effective echo data received by the M-path receiving antennas

Based on the above embodiment, in the method, each path of simulated radar echo is sent out by a pulse modulation signal sent by a transmitting antenna through reflection of the target to be measured, and specifically includes:

and each path of simulated radar echo is determined based on a pulse modulation signal transmitted by a transmitting antenna and the motion parameters of the measured target, wherein the motion parameters comprise a real-time position and a real-time speed.

In particular, this definition is used to further embody the mathematical model construction of the echo, the transmitting antenna in the present system transmitting a pulse modulated signal represented by the following formula:

wherein f is_cFor the carrier frequency, u (t) is a rectangular wave defined by the formula:

wherein rect (T) is a standard unit rectangular function, T_pIs the pulse width;

assuming that the time and the frequency in the system are synchronous, the echo received by the mth receiving antenna under the narrow-band estimation and reflected from the measured target can be represented by the following formula:

wherein n is_m(t) is zero mean and variance σ_m ²Of additive white Gaussian noise, alpha_mFor the amplitude of the echo signal, τ_m(t) is a transmission time period from the reflection of the electromagnetic wave from the transmitting antenna through the measured object to the mth receiving antenna, and is represented by the following formula:

wherein p is₀As three-dimensional coordinates, p, of said transmitting antenna_mIs the three-dimensional coordinate of the m-th receiving antenna, q_tIs the three-dimensional coordinate of the measured target moment t, | · | | non-woven phosphor₂Is the euclidean norm and c is the propagation velocity of the electromagnetic wave.

Based on the above embodiment, in the method, each path of simulated radar echo is determined based on a pulse modulation signal transmitted by a transmitting antenna and a motion parameter of the target to be measured, where the motion parameter includes a real-time position and a real-time speed, and specifically includes:

determining the radar return received by the mth receiving antenna at the time t by the following formulaWave r_m(t)：

q_t＝[x(t),y(t),z(t)]^T,x(t)＝x₀+(L₀-V₀t)cosαcosβ,

y(t)＝y₀+(L₀-V₀t)sinαcosβ,z(t)＝z₀+(L₀-V₀t)sinβ,

Wherein alpha is_mSimulating the amplitude, tau, of the radar echo for the mth path_m(t) is the time delay that the pulse modulation signal transmitted by the transmitting antenna passes through the measured target and then reaches the mth receiving antenna, and the pulse modulation signal transmitted by the transmitting antenna is s (t), f_cIs the carrier frequency of s (T), u (T) is the square wave, rect (T) is the standard unit square function, T_pIs the pulse width, | · the luminance₂Is the Euclidean norm, c is the propagation velocity of the electromagnetic wave, n_m(t) is zero mean and varianceOf additive white Gaussian noise, p₀As three-dimensional coordinates, p, of said transmitting antenna_mIs the three-dimensional coordinate of the m-th receiving antenna, q_tIs the three-dimensional coordinate of the measured target time t, q₀Is off-target, and q₀＝[x₀,y₀,z₀]^TAnd alpha and beta are the deviation angle and inclination angle of trajectory, V, respectively, of the measured object₀Is the constant velocity scalar of the measured object, L₀The distance r from the initial moment of the measured target to the off-target point₀A vector positioning parameter xi of the object to be detected at the nearest distance to the transmitting antenna for the distance of the object to be detected to the transmitting antenna at the off-target point is [ r₀,V₀,L₀,α,β,z₀]^T；

In determining the echo signal r_mAfter (t), discretizing the echo signal to obtain an echo model as follows:

wherein the content of the first and second substances,n is a positive integer, and T is the repetition interval time of the emission pulse of the emission antenna;

to r_m(t_n) Performing matrixing expression, specifically as follows:

r_m＝U_m(β_m⊙1_N)+n_m，m＝1,2,...,M,

r_m＝[r_m(0),r_m(1),...,r_m(N-1)]^T，n_m＝[n_m(0),n_m(1),...,n_m(N-1)]^T，

wherein, (.)^TDenotes the transpose operator, 1_NAn all 1 vector representing dimension Nx 1, an_mIs a phase matrix, beta_mIs the amplitude that contains the baseband amplitude.

Specifically, the above constructed signal model is the mathematical model construction method of the echo, which has been described above, and after the simulation of the echo signal is described, a discretized process is then given here, and then written here in the form of a matrix expression, that is, the echo signal model is completely described. Examples are as follows:

after the echo signal is obtained, the echo signal is discretized to obtain an echo model as follows

Wherein the content of the first and second substances,n is a positive integer, and T is the repetition interval time of the emission pulse of the emission antenna;

further, written as a matrix, i.e.

r_m＝U_m(β_m⊙1_N)+n_m，m＝1,2,...,M,

r_m＝[r_m(0),r_m(1),...,r_m(N-1)]^T，n_m＝[n_m(0),n_m(1),...,n_m(N-1)]^T，

Wherein, (.)^TDenotes the transpose operator, 1_NAn all 1 vector representing dimension Nx 1, an_mIs a phase matrix, beta_mIs the amplitude that contains the baseband amplitude.

Based on the above embodiment, in the method, the processing the M channels of digital effective echo data by using the maximum likelihood estimator, and outputting the vector positioning parameter of the target to be measured at the closest distance from the transmitting antenna specifically includes:

obtaining a relational expression among the M paths of digital effective echo data, digital additive white Gaussian noise and a digital pulse modulation signal with preset time delay based on the signal model of each path of analog radar echo;

determining a likelihood function of the M digital effective echoes based on the relation;

and determining the motion parameter of the measured target when the likelihood function is maximum as the vector positioning parameter of the measured target at the nearest distance of the transmitting antenna.

In particular, for the needThe acquisition of echo data by an approaching bullet in the target space position region to be considered needs to consider the interested space, namely, the acquisition of the state parameters of the detected target in the process of meeting with the target is started from the position which is 200 meters or 150 meters away from the target. Therefore, the vector miss amount parameter xi of the target is obtained by processing and estimating effective echo data in all the acquired data frames₀,V₀,L₀,α,β,z₀]^TFirstly, determining an interested target space position area and dividing proper grid points, then constructing a relational expression among the M paths of digital effective echo data, digital additive white Gaussian noise and a digital pulse modulation signal with preset time delay for the target grid points, and then carrying out subsequent calculation for determining a likelihood function of the M paths of digital effective echoes based on the relational expression; and determining the motion parameter of the measured target when the likelihood function is maximum as the vector positioning parameter of the measured target at the nearest distance of the transmitting antenna.

Based on the above embodiment, in the method, obtaining a relation between the M channels of digital effective echo data, the digital additive white gaussian noise, and the digital pulse modulation signal with the preset time delay based on the signal model of each channel of analog radar echo specifically includes:

the likelihood function f (r) of the M digital effective echoes is expressed by the following formula:

wherein the content of the first and second substances,the digital additive white Gaussian noise n_m～CN(0,Γ_m)，

Correspondingly, the determining the motion parameter of the measured target when the likelihood function is maximum is a vector positioning parameter of the measured target at the nearest distance of the transmitting antenna, and specifically includes:

determining an optimization model when the value of f (r) is maximum based on the expression of the likelihood function f (r) as follows:

wherein the content of the first and second substances,is composed ofThe real part of (2);

solving the optimization model, and determining the vector positioning parameter [ r ] of the measured target at the nearest distance of the transmitting antenna₀,V₀,L₀,α,β,z₀]^T。

Specifically, based on the constructed mathematical model of the received echo signal simulation data, the construction of the discretized mathematical model is performed, wherein the key point is that the emission interval of the pulse modulation signal is considered, the emission interval is taken as the discretized unit time, and meanwhile, for the echo data collected by different distance units, the discretized unit time is substituted and processed to obtain the following discretization formula:and finally, on the basis of the above formulas, combining the formulas in the form of sequences into a more compact mathematical matrix model:

r_m＝U_m(β_m⊙1_N)+n_m，m＝1,2,...,M,

r_m＝[r_m(0),r_m(1),...,r_m(N-1)]^T，n_m＝[n_m(0),n_m(1),...,n_m(N-1)]^T，

wherein, (.)^TDenotes the transpose operator, 1_NAn all 1 vector representing dimension Nx 1, an_mIs a phase matrix, beta_mIs the amplitude that contains the baseband amplitude.

Based on the above embodiment, in the method, the determining the motion parameter of the measured target when the likelihood function is maximum is a vector positioning parameter of the measured target at a closest distance from the transmitting antenna, specifically includes:

determining an upper boundary and a lower boundary of a parameter xi to be searched for by a target miss distance based on the upper boundary, the lower boundary and a preset initial value xi_iniRandomly determining xi of grid points in a plurality of vector positioning parameter spaces₁,Ξ₂,...,Ξ_g,...,Ξ_GG is the total number of grid points 1, 2.,;

any grid point xi_gAccording to the echo signal model, a theta is obtained_mSubstituting the data into the expression of a preset likelihood estimator to carry out parameter optimization to obtain C (xi)_g)；

Selecting the largest numerical value of C (xi)_g) Determining the xi corresponding to the first order_gThe final vector is the estimate of the positioning parameter.

In particular, from the formula r_m＝U_m(β_m⊙1_N)+n_mIt can be seen that the vector off-target quantity parameter xi ═ r₀,V₀,L₀,α,β,z₀]^TIs included in the echo signal r_mIn (1), consider additive white Gaussian noise n_m～CN(0,Γ_m) Let theta_m＝U_m(β_m⊙1_N) Then the likelihood function of the echo data can be expressed as:

wherein the content of the first and second substances,

maximizing the above equation yields a maximum likelihood estimator, equivalent to minimizing g (r):

further, g (r) can be simplified as follows:

wherein the content of the first and second substances,represented as a get solid part operation. As can be seen from the above-mentioned formula,is the euclidean norm of the echo data,is a constant value, both of which do not contribute to the minimization of g (r), and thus the vector off-target parameter can be found at the partial maximum of the sum of the real parts:

the calculation mode for determining the vector miss distance of the measured object based on the vector positioning parameters obtained in the foregoing is shown as follows:

by solving forThe coordinates of the off-target point can be obtained as follows,

wherein the content of the first and second substances,the two values can be calculated by the miss point, but the false miss point value can be easily and quickly eliminated by calculating the cost function values of the two values, and finally the estimation of the vector miss point parameter is obtained.

It can be seen that the cost function is relatively complex, and the dimension of the parameter to be estimated is 6, which makes it difficult for the cost function to find the global optimal solution, and therefore, the parameter value obtained by the traditional vector miss amount estimation is selected as the initial value of the cost function, so as to converge to the global solution. Table 1 is a flow description table of the algorithm, and the flow diagram of the algorithm is shown in table 1:

TABLE 1 Algorithm flow

The algorithm of the scheme provided by the invention is verified through numerical simulation, based on the antenna layout provided by fig. 2, table 2 is an antenna coordinate layout table, the specific antenna coordinates are shown in table 2,

TABLE 2 antenna coordinate layout

Carrier frequency is 2.2GHz, sampling interval is 0.02ms, and off-target point seating is realizedMark q₀＝[-7.26，6.19，3]^TAmount of miss r₀10m, target speed V₀1000m/s, a ballistic deflection angle and a ballistic inclination angle of 60 DEG, respectively, beta of 30 DEG, and an initial tangential distance L₀Taking 500 Monte Carlo simulations under different SNR (signal to noise ratio) conditions as 40m, and FIG. 3 shows the vector miss amount parameter r provided by the present invention₀The estimated root mean square error is shown in the experimental result chart along with the change of the signal-to-noise ratio, and FIG. 4 is a vector miss amount parameter V provided by the invention₀The estimated root mean square error is shown in the experimental result chart along with the change of the signal-to-noise ratio, and FIG. 5 is a vector miss amount parameter L provided by the invention₀FIG. 6 is a graph of the variation of RMS error with SNR for the estimation of the parameter α of the vector miss distance, FIG. 7 is a graph of the variation of RMS error with SNR for the estimation of the parameter β of the vector miss distance, and FIG. 8 is a graph of the variation of the parameter x of the vector miss distance₀The estimated root mean square error is shown in the experimental result chart along with the change of the signal-to-noise ratio, and FIG. 9 is a vector miss amount parameter y provided by the invention₀The estimated root mean square error is shown in the experimental result chart along with the change of the signal-to-noise ratio, and FIG. 10 is a vector miss amount parameter z provided by the invention₀The estimated root mean square error is shown in fig. 3-fig. 10 with the experimental result graph of signal-to-noise ratio variation, and in the statistical results, compared with the traditional vector off-target amount measurement algorithm, the estimation accuracy of the algorithm on the vector off-target amount parameters is higher under different signal-to-noise ratios, and it can be seen that with the reduction of the signal-to-noise ratio, the estimation accuracy of the parameters of the traditional measurement method has an obvious threshold effect, but the method provided by the invention has no threshold effect, still obtains higher estimation accuracy under the condition of low signal-to-noise ratio, and is closer to the cramer-to-mero boundary.

The present invention provides a vector miss distance parameter measuring device, and the vector miss distance parameter measuring device described below and the vector miss distance parameter measuring method described above can be referred to in correspondence.

Fig. 11 is a schematic structural diagram of a vector miss distance parameter measuring apparatus provided in the present invention, as shown in fig. 11, including a preprocessing unit 1110, a likelihood estimator unit 1120, and a coordinate scaling unit 1130;

the preprocessing unit 1110 is configured to preprocess each path of analog radar echo received by M paths of receiving antennas to obtain M paths of digital effective echo data, where each path of analog radar echo is sent by a pulse modulation signal sent by a transmitting antenna through reflection of a target to be detected in a target crossing process, and M is a positive integer greater than 3;

the likelihood estimator unit 1120 is configured to apply maximum likelihood estimator processing to the M channels of digital effective echo data, and output a vector positioning parameter of the target to be detected at a position closest to the transmitting antenna;

the coordinate conversion unit 1130 is configured to determine a vector miss amount parameter of the measured object based on the vector positioning parameter.

The vector miss distance parameter measuring device provided by the invention obtains M paths of digital effective echo data by preprocessing each path of simulated radar echo received by M paths of receiving antennas, wherein each path of simulated radar echo is obtained by a pulse modulation signal emitted by a transmitting antenna and reflected by a measured target in a target crossing process, and M is a positive integer greater than 3; processing the M paths of digital effective echo data by adopting a maximum likelihood estimator, and outputting vector positioning parameters of the measured target at the position closest to the transmitting antenna; and determining the vector miss amount parameter of the detected object based on the vector positioning parameter. Because the multi-channel echo signals received continuously in real time are preprocessed through analog-to-digital conversion, down sampling and the like to obtain effective echo digital signals, each channel of analog radar echo is represented by pulse modulation signals transmitted by a transmitting antenna and motion parameters of a measured target, and then M channels of digital effective echo data are processed by using a maximum likelihood estimator. Therefore, the device provided by the embodiment of the invention can realize the vector miss distance parameter measurement with high precision and good noise resistance.

On the basis of the foregoing embodiment, in the apparatus, the preprocessing is performed on each path of analog radar echo received by the M-path receiving antennas to obtain M paths of digital effective echo data, and specifically includes:

sequentially carrying out A/D conversion sampling, orthogonal down-conversion and CPI framing processing based on accumulated time intervals on each path of analog radar echo received by the M paths of receiving antennas to obtain digital framing of each path of analog radar echo at each range gate;

and framing each path of analog radar echo by using the digital, respectively determining the corresponding echo signal-to-noise ratio of different range gates by using a target detection algorithm of fast Fourier transform, and determining the echo data with the maximum signal-to-noise ratio of the gates as effective echo data.

On the basis of the above embodiment, in the apparatus, each of the simulated radar echoes is obtained by reflecting a pulse modulation signal transmitted by a transmitting antenna by the target to be measured, and specifically includes:

and each path of simulated radar echo is determined based on a pulse modulation signal transmitted by a transmitting antenna and the motion parameters of the measured target, wherein the motion parameters comprise a real-time position and a real-time speed.

On the basis of the above embodiment, in the apparatus, each path of simulated radar echo is determined based on a pulse modulation signal transmitted by a transmitting antenna and a motion parameter of the target to be measured, where the motion parameter includes a real-time position and a real-time speed, and specifically includes:

the radar echo r received by the mth receiving antenna at the time t is determined by the following formula_m(t)：

q_t＝[x(t),y(t),z(t)]^T,x(t)＝x₀+(L₀-V₀t)cosαcosβ,

y(t)＝y₀+(L₀-V₀t)sinαcosβ,z(t)＝z₀+(L₀-V₀t)sinβ,

Wherein alpha is_mSimulating the amplitude, tau, of the radar echo for the mth path_m(t) is the time delay that the pulse modulation signal transmitted by the transmitting antenna passes through the measured target and then reaches the mth receiving antenna, and the pulse modulation signal transmitted by the transmitting antenna is s (t), f_cIs the carrier frequency of s (T), u (T) is the square wave, rect (T) is the standard unit square function, T_pIs the pulse width, | · the luminance₂Is the Euclidean norm, c is the propagation velocity of the electromagnetic wave, n_m(t) is zero mean and varianceOf additive white Gaussian noise, p₀As three-dimensional coordinates, p, of said transmitting antenna_mIs the three-dimensional coordinate of the m-th receiving antenna, q_tIs the three-dimensional coordinate of the measured target time t, q₀Is off-target, and q₀＝[x₀,y₀,z₀]^TAnd alpha and beta are the deviation angle and inclination angle of trajectory, V, respectively, of the measured object₀Is the constant velocity scalar of the measured object, L₀The distance r from the initial moment of the measured target to the off-target point₀A vector positioning parameter xi of the object to be detected at the nearest distance to the transmitting antenna for the distance of the object to be detected to the transmitting antenna at the off-target point is [ r₀,V₀,L₀,α,β,z₀]^T；

In determining the echo signal r_mAfter (t), discretizing the echo signal to obtain an echo model as follows:

wherein the content of the first and second substances,n is a positive integer, and T is the repetition interval time of the emission pulse of the emission antenna;

to r_m(t_n) Performing matrixing expression, specifically as follows:

r_m＝U_m(β_m⊙1_N)+n_m，m＝1,2,...,M,

r_m＝[r_m(0),r_m(1),...,r_m(N-1)]^T，n_m＝[n_m(0),n_m(1),...,n_m(N-1)]^T，

wherein, (.)^TDenotes the transpose operator, 1_NAn all 1 vector representing dimension Nx 1, an_mIs a phase matrix, beta_mIs the amplitude that contains the baseband amplitude.

On the basis of the foregoing embodiment, in the apparatus, the processing the M channels of digital effective echo data by using a maximum likelihood estimator, and outputting a vector positioning parameter of the target to be measured at a position closest to the transmitting antenna specifically includes:

obtaining a relational expression among the M paths of digital effective echo data, digital additive white Gaussian noise and a digital pulse modulation signal with preset time delay based on the signal model of each path of analog radar echo;

determining a likelihood function of the M digital effective echoes based on the relation;

and determining the motion parameter of the measured target when the likelihood function is maximum as the vector positioning parameter of the measured target at the nearest distance of the transmitting antenna.

On the basis of the foregoing embodiment, in the apparatus, the obtaining, based on the signal model of each path of analog radar echo, a relational expression between the M paths of digital effective echo data, the digital additive white gaussian noise, and the digital pulse modulation signal with the preset time delay specifically includes:

the likelihood function f (r) of the M digital effective echoes is expressed by the following formula:

wherein the content of the first and second substances,the digital additive white Gaussian noise n_m～CN(0,Γ_m)，

Correspondingly, the determining the motion parameter of the measured target when the likelihood function is maximum is a vector positioning parameter of the measured target at the nearest distance of the transmitting antenna, and specifically includes:

determining an optimization model when the value of f (r) is maximum based on the expression of the likelihood function f (r) as follows:

wherein the content of the first and second substances,is composed ofReal part ofDividing;

solving the optimization model, and determining the vector positioning parameter [ r ] of the measured target at the nearest distance of the transmitting antenna₀,V₀,L₀,α,β,z₀]^T。

On the basis of the foregoing embodiment, in the apparatus, the determining the motion parameter of the target to be measured when the likelihood function is maximum is a vector positioning parameter of the target to be measured at a closest distance from the transmitting antenna, specifically includes:

determining an upper boundary and a lower boundary of a parameter xi to be searched for by a target miss distance based on the upper boundary, the lower boundary and a preset initial value xi_iniRandomly determining xi of grid points in a plurality of vector positioning parameter spaces₁,Ξ₂,...,Ξ_g,...,Ξ_GG is the total number of grid points 1, 2.,;

any grid point xi_gAccording to the echo signal model, a theta is obtained_mSubstituting the data into the expression of a preset likelihood estimator to carry out parameter optimization to obtain C (xi)_g)；

Selecting the largest numerical value of C (xi)_g) Determining the xi corresponding to the first order_gThe final vector is the estimate of the positioning parameter.

Fig. 12 is a schematic physical structure diagram of an electronic device provided in the present invention, and as shown in fig. 12, the electronic device may include: a processor (processor)1210, a communication Interface (Communications Interface)1220, a memory (memory)1230, and a communication bus 1240, wherein the processor 1210, the communication Interface 1220, and the memory 1230 communicate with each other via the communication bus 1240. Processor 1210 may invoke logic instructions in memory 1230 to perform a method of measuring vector miss amount parameters, the method comprising: preprocessing each path of simulated radar echo received by the M paths of receiving antennas to obtain M paths of digital effective echo data, wherein each path of simulated radar echo is obtained by reflecting a pulse modulation signal transmitted by a transmitting antenna by a measured target in a target intersection process, and M is a positive integer greater than 3; processing the M paths of digital effective echo data by adopting a maximum likelihood estimator, and outputting vector positioning parameters of the measured target at the position closest to the transmitting antenna; and determining the vector miss amount parameter of the detected object based on the vector positioning parameter.

In addition, the logic instructions in the memory 1230 may be implemented in software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as a stand-alone product. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform the method for measuring vector miss distance parameters provided by the above methods, the method comprising: preprocessing each path of simulated radar echo received by the M paths of receiving antennas to obtain M paths of digital effective echo data, wherein each path of simulated radar echo is obtained by reflecting a pulse modulation signal transmitted by a transmitting antenna by a measured target in a target intersection process, and M is a positive integer greater than 3; processing the M paths of digital effective echo data by adopting a maximum likelihood estimator, and outputting vector positioning parameters of the measured target at the position closest to the transmitting antenna; and determining the vector miss amount parameter of the detected object based on the vector positioning parameter.

In yet another aspect, the present invention also provides a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method for measuring vector miss distance parameters provided by performing the above methods, the method comprising: preprocessing each path of simulated radar echo received by the M paths of receiving antennas to obtain M paths of digital effective echo data, wherein each path of simulated radar echo is obtained by reflecting a pulse modulation signal transmitted by a transmitting antenna by a measured target in a target intersection process, and M is a positive integer greater than 3; processing the M paths of digital effective echo data by adopting a maximum likelihood estimator, and outputting vector positioning parameters of the measured target at the position closest to the transmitting antenna; and determining the vector miss amount parameter of the detected object based on the vector positioning parameter.

The above-described server embodiments are only illustrative, and the units described as separate components may or may not be physically separate, and components displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.