阅读说明：本技术 提高数字多波束相控阵天线自跟踪动态目标实时性的方法 (Method for improving self-tracking dynamic target real-time performance of digital multi-beam phased array antenna ) 是由 王文政 于 2019-09-28 设计创作，主要内容包括：本发明提出的一种提高数字多波束相控阵天线实时性自跟踪动态目标的方法,旨在提供一种能改善多波束相控阵天线自跟踪实时性的方法。本发明通过下述技术方案予以实现：在对目标的自跟踪过程中,波控计算机以方位角+俯仰角的波束指向,按网络协议传输50ms/次与数字波束形成单元DBF之间通讯；波束跟踪角速度算法模块计算方位角速度+俯仰角速度,数字波束跟踪惯性单元按照波束指向的运动惯性指向内插1ms一次的波束指向；由数字波束形成单元DBF形成方位差信号与俯仰差信号并送跟踪接收机解出合信号幅度与方位误差电压与俯仰误差电压,并送波控计算机根据合差信号的比值及极性,通过数字跟踪环路得到目标的方位及俯仰角,形成新的波束指向。(The invention provides a method for improving the real-time self-tracking dynamic target of a digital multi-beam phased array antenna, and aims to provide a method capable of improving the self-tracking real-time performance of the multi-beam phased array antenna. The invention is realized by the following technical scheme: in the self-tracking process of the target, the wave control computer points to the beam with azimuth angle and pitch angle, and communicates with the DBF according to network protocol transmission for 50 ms/time; the beam tracking angular velocity algorithm module calculates the azimuth angle velocity and the pitch angle velocity, and the digital beam tracking inertial unit interpolates the beam direction of 1ms once according to the movement inertial direction of the beam direction; the digital beam forming unit DBF forms an azimuth difference signal and a pitch difference signal, the azimuth difference signal and the pitch difference signal are sent to the tracking receiver to be decoded to obtain the amplitude of a combined signal, the azimuth error voltage and the pitch error voltage, and the azimuth error voltage and the pitch error voltage are sent to the wave control computer to obtain the azimuth angle and the pitch angle of a target through the digital tracking loop according to the ratio and the polarity of the combined difference signal, so that a new beam direction is formed.)

1. A method for improving the real-time self-tracking dynamic target of a digital multi-beam phased array antenna is characterized by comprising the following steps: keeping the time interval of a tracking receiver and a wave control computer in the digital multi-beam phased array antenna self-tracking system and the time interval of a communication data packet between the wave control computer and a digital beam forming unit DBF unchanged for 50ms, and transmitting the communication between the wave control computer and the digital beam forming unit DBF for 50 ms/time and the communication between the wave control computer and the digital beam forming unit DBF according to a network protocol in the self-tracking process of a target; a digital beam forming unit DBF is internally provided with a beam tracking angular velocity algorithm module and a digital beam tracking inertial unit, the beam tracking angular velocity algorithm module carries out beam tracking angular velocity to calculate azimuth angle velocity and pitch angle velocity, and the digital beam tracking inertial unit interpolates beam pointing for 1ms according to the movement inertial pointing of beam pointing; in the beam pointing interval of 50ms between two times of wave beam forming DBF controlled by wave control computer, the primary digital wave beam forming unit DBF tracks the pointing angle of the target by using the last two times of wave beams of a wave beam tracking pointing interpolation algorithm module, calculates the rotating angular velocity of the target in the azimuth angle and the pitch angle, and the wave beam forming weight unit increases the refresh rate of the inertial control wave beam pointing of the wave beam pointing of 1ms in the built-in wave beam forming algorithm of the digital signal processor DSP on the primary DBF plate according to the angular velocity, and increases the frequency from 50ms to 1ms once, and outputs high-speed data to transmit 1 ms/secondary wave beam pointing weight.

2. The method of claim 1 for improving the real-time self-tracking dynamic target of a digital multi-beam phased array antenna, characterized in that: the digital multi-beam phased array antenna self-tracking system comprises: the phased array antenna array for providing array receiving/signaling signals to the digital beam forming unit DBF is connected with the digital beam forming unit DBF and the tracking receiver of the wave control computer, so that a digital self-tracking loop of the wave control computer is formed, and the communication between the tracking receiver and the wave control computer and the communication between the wave control computer and the digital beam forming unit DBF are transmitted through a network protocol.

3. The method of claim 1 for improving the real-time self-tracking dynamic target of a digital multi-beam phased array antenna, characterized in that: the digital beam forming unit DBF is composed of a field programmable gate array FPGA connected with a digital signal processor DSP.

4. The method of claim 3 for improving the real-time self-tracking dynamic target of a digital multi-beam phased array antenna, characterized in that: the DSP adds beam tracking angular velocity prediction and beam pointing interpolation before calculating a beam forming weight in the DSP on the digital beam forming unit DBF, interpolates the tracking beam pointing to 1 time/ms by utilizing the inertial motion of the tracking beam pointing, calculates a beam forming weight, the FPGA interpolates the time interval of the tracking beam pointing from 50ms to 1ms by utilizing the characteristic of higher real-time performance of a beam forming algorithm on the DSP according to the beam pointing weight comprising an amplitude weight and a phase weight calculated by the DSP and high-speed data transmission for 1 ms/time, the tracking inertial unit added in the DSP of the beam forming unit is utilized, the DBF in a received difference signal forms an azimuth difference signal and a pitch difference signal to be sent to a tracking receiver, the tracking receiver solves an automatic gain control AGC voltage, an azimuth error voltage and a pitch error voltage, and an angle tracking error signal is transmitted for 50 ms/time by a network protocol and sent to a wave control computer, and the wave control computer obtains the azimuth and the pitch angle of the target through the digital tracking loop according to the ratio and the polarity of the combined difference signal, transmits the network protocol of the beam pointing azimuth and the pitch angle of the target for 50 ms/time and sends the network protocol to the digital beam forming unit DBF to form new beam pointing.

5. The method of claim 1 for improving the real-time self-tracking dynamic target of a digital multi-beam phased array antenna, characterized in that: the beam tracking angular velocity algorithm module judges whether a new beam pointing data packet is received or not by utilizing a beam tracking angular velocity prediction algorithm for tracking beam pointing controlled by a wave control computer, and performs beam tracking angular velocity prediction calculation when a new beam pointing data packet is received; calculating the current azimuth tracking angular velocity theta_E(n) and pitch tracking angular velocity θ_V(n) and using the following calculation formula: calculating azimuth tracking angular velocity theta_E(n)＝[φ_E(n)-φ_E(n-1)]/50, pitch tracking angular velocity θ_V(n)＝[φ_V(n)-φ_V(n-1)]A/50 ((unit: degree/ms))_E(n) is the current beam azimuth pointing, phi_E(n-1) is the last beam azimuth pointing; phi is a_V(n) is the current beam pitch angle pointing, phi_VAnd (n-1) is the last beam pitch angle pointing direction.

6. The method of claim 1 for improving the real-time self-tracking dynamic target of a digital multi-beam phased array antenna, characterized in that: and after the beam tracking angular velocity algorithm module obtains the azimuth tracking angular velocity and the pitch tracking angular velocity, the beam tracking angular velocity and the pitch angular velocity of the target are updated, and the beam is sent to the beam pointing interpolation module.

7. The method of claim 1 for improving the real-time self-tracking dynamic target of a digital multi-beam phased array antenna, characterized in that: the beam tracking pointing interpolation algorithm module firstly judges whether a new beam pointing data packet is received or not, and initializes the beam pointing angle phi of the beam pointing data packet according to the received pointing data when the new beam pointing data packet is received_EAngle phi of pitch_VIs phi is caused to_E＝φ_E0Beam azimuth angle phi of beam pointing data packet_V＝φ_V0And resetting the timer, updating the azimuth angle and pitch angle data pointed by the beam when the timer is restarted, and sending the data to a beam forming weight calculation module.

8. The method of improving the real-time self-tracking dynamic target of a digital multi-beam phased array antenna according to claim 6, wherein: the beam forming weight calculation module increases the tracking beam direction from 1 time/50 ms to 1 time/ms by utilizing the predicted tracking beam angular speed in an interpolation mode; if no new wave beam pointing data packet is received, waiting for receiving new wave beam pointing data, if the predicted tracking wave beam angular velocity is not utilized, judging whether the timer reaches 1ms, and updating the wave beam pointing angle phi according to the current wave beam tracking angular velocity when the timer reaches 1ms and no new wave beam pointing data exists_EAngle phi of pitch_VAngle of beam pointing phi_ETracking azimuth velocity and theta with current beam_ESum, i.e., φ E ═ φ E + θ E, and pitch pointing angle φ_VTracking pitch angle velocity theta with current beam_VSum, i.e. phi_V＝φ_V+θ_VThe unit is: and (4) resetting the timer in degrees/ms, restarting timing, updating azimuth angle and pitch angle data pointed by the wave beam, sending the data to the wave beam forming weight calculation module, returning if the data is not received, judging whether a new wave beam pointing data packet is received again, and repeating the steps.

Technical Field

The invention relates to a method for improving the real-time performance of self-tracking of a digital multi-beam phased array antenna on a dynamic target in the field of aerospace measurement and control.

Background

The target tracking and multiple working parties of phased array antennas, as well as the performance improvement of phased array radars, are to a large extent related to the ability to form multiple beams. Therefore, the self-tracking technology of the beam to the target in the design of the digital multi-beam phased array antenna is a key technology, has great influence on beam pointing, beam gain, side lobes and the like, and even can not normally receive target signals in serious cases. Digital multi-beam antennas are the product of a combination of array antenna technology and digital signal processing technology. The multi-beam phased array antenna is composed of a plurality of arrays of radiating elements, and a beam forming network is used for exciting needed amplitude and phase to array elements so as to form shaped beams with different shapes. Its advantages are flexible control of number and shape of wave beams, and fast scanning of wave beams; but the structure is more complicated and the cost is high. When the multi-beam phased array antenna tracks a target, due to the existence of beam sliding, beam crossing and the like, the dynamic performance test error range and the data precision of the multi-beam phased array antenna need to be tested. The beam pointing accuracy is an important index of the digital array antenna, and the index is used for measuring the error between the direction of a beam formed by the digital array antenna and the target direction and directly determining the tracking, measuring and positioning accuracy of the system. The errors affecting the beam pointing accuracy mainly include unit antenna installation errors, amplitude and phase errors among unit antennas, channel consistency calibration errors and quantization errors in beam forming processing, and the comprehensive action of the factors causes errors on the scanning pointing of beams. In engineering application, the pointing error of a beam needs to be limited within a certain index range, so that certain measures need to be taken to correct and calibrate the pointing error of the beam. The precondition of forming high-quality beams by the array antenna is to control the errors between multi-channel radiated or received signals and maintain the amplitude and phase consistency between channels. Because mutual coupling effect inevitably exists between the antenna unit units, the amplitude and phase inconsistency among channels is caused by the error factors, and the performances of gain, side lobe level, pointing accuracy and the like of an antenna system are influenced. The tracking receiver, DBF and wave control computer are the devices that must be used by the digital beam system. The self-tracking method of the digital multi-beam phased array antenna generally divides an azimuth elevation difference array, and a digital beam forming unit (DBF) forms an azimuth difference signal and an elevation difference signal and sends the azimuth difference signal and the elevation difference signal to a tracking receiver. Then the tracking receiver resolves the amplitude of the combined signal (AGC voltage) and the amplitude of the azimuth and pitch difference signal (azimuth error voltage and pitch error voltage), and sends the signals to the wave control computer. And finally, the azimuth and the pitch angle of the target are obtained by the wave control computer through a digital tracking loop according to the ratio and the polarity of the combined difference signal, and the azimuth and the pitch angle of the target are sent to a digital beam forming unit (DBF) to form new beam pointing. Communication between the tracking receiver and the wave control computer and between the wave control computer and the digital beam forming unit (DBF) is typically carried out via a network protocol. In order to ensure that network data transmission is not blocked, the interval between data packets is generally greater than 50ms, and therefore the interval between two beam pointing of the self-tracking loop is also greater than 50 ms. If the angular velocity of the target relative to the antenna deflection is large, for example, greater than 20 degrees/s, the target deviation angle between the two beam directions of the beam self-tracking is 1 degree at maximum according to the above setting. Therefore, in some application scenarios requiring high real-time antenna self-tracking pointing (for example, applications requiring high tracking accuracy, or a situation where the target deviates from the beam main lobe between two times of beam pointing with a narrow antenna beam) under the condition of a large target dynamic, the self-tracking design is subject to interference from various factors, such as: the antenna self-tracking design can not meet the requirements and an antenna self-tracking system with higher real-time performance needs to be designed.

Because the existing tracking methods are all oriented to specific application environments, an algorithm does not exist, can adapt to all situations, and has a certain application range. The current moving target tracking method is typically divided into four categories: region-based tracking, feature-based tracking, active contour-based tracking, and model-based tracking, such classification approaches summarize most current tracking approaches. The basic idea of the tracking method based on the region is as follows: firstly, a template containing a target area is extracted through image segmentation or artificial extraction in advance, a similarity measure is set, then a target is searched in a sequence image, and the corresponding area when the measure is in an extreme value is used as the target area in a corresponding frame. Because the extracted target template contains complete target information, when the target is not shielded, the method has very high tracking precision and very stable tracking, but usually consumes time, especially when the target area is large, and therefore, the method is generally applied to tracking a small target or a target with poor contrast. The basic idea of the tracking method based on the characteristics is as follows: firstly, extracting some local feature or some local features of the target, and then performing feature matching in the image sequence by using a certain region matching and tracking algorithm, thereby realizing the tracking of the target. The area matching tracking algorithm has the defects that the calculated amount is large, the real-time requirement is difficult to meet, and the basic idea of the tracking method based on the active contour is as follows: the method is characterized in that a moving target is expressed by utilizing a closed curve contour, an energy function is constructed by combining image characteristics and the curve contour, and the curve contour is automatically and continuously updated by solving minimum energy, so that the target is tracked. Compared with a tracking method based on an area, the contour expression has the advantage of reducing complexity, and can be continuously tracked under the condition that a target is partially shielded, but the tracking result of the method is greatly influenced by initialization and is sensitive to noise. The basic idea of the model-based tracking method is as follows: firstly, a model is established for a tracked target through certain priori knowledge, then the tracked target is matched, and the model is updated in real time. Models are typically created using measurements, CAD tools, and computer vision techniques. The method has the advantages that the motion trail of the target can be accurately analyzed, reliable tracking can be realized even under the conditions of target posture change and partial occlusion, the tracking accuracy depends on the accuracy of the model, and accurate models of all moving targets are difficult to obtain in real life. Difficulty is brought to target tracking in a video where a moving target is located, accuracy and stability of detection and tracking of the moving target are affected, and adaptability of the system to different environments is also greatly challenged.

Disclosure of Invention

The invention aims to solve the problems in the self-tracking of the digital multi-beam phased array antenna on a high-dynamic target, and provides a method which is simple and reliable, consumes less hardware resources, can avoid beam pointing lag, improves the target orbit measurement precision and the real-time performance of target self-tracking, and automatically tracks the high-dynamic target in real time.

The technical scheme adopted by the invention for solving the technical problems is as follows: a method for improving the real-time self-tracking dynamic target of a digital multi-beam phased array antenna is characterized by comprising the following steps: keeping the time interval of a tracking receiver and a wave control computer in the digital multi-beam phased array antenna self-tracking system and the time interval of a communication data packet between the wave control computer and a digital beam forming unit DBF unchanged for 50ms, and transmitting the communication between the wave control computer and the digital beam forming unit DBF for 50 ms/time and the communication between the wave control computer and the digital beam forming unit DBF according to a network protocol in the self-tracking process of a target; a digital beam forming unit DBF is internally provided with a beam tracking angular velocity algorithm module and a digital beam tracking inertial unit, the beam tracking angular velocity algorithm module carries out beam tracking angular velocity to calculate azimuth angle velocity and pitch angle velocity, and the digital beam tracking inertial unit interpolates beam pointing for 1ms according to the movement inertial pointing of beam pointing; in the beam pointing interval of 50ms between two times of wave beam forming DBF controlled by wave control computer, the primary digital wave beam forming unit DBF tracks the pointing angle of the target by using the last two times of wave beams of a wave beam tracking pointing interpolation algorithm module, calculates the rotating angular velocity of the target in the azimuth angle and the pitch angle, and the wave beam forming weight unit increases the refresh rate of the inertial control wave beam pointing of the wave beam pointing of 1ms in the built-in wave beam forming algorithm of the digital signal processor DSP on the primary DBF plate according to the angular velocity, and increases the frequency from 50ms to 1ms once, and outputs high-speed data to transmit 1 ms/secondary wave beam pointing weight.

The invention has the beneficial effects that:

and the consumption of hardware resources is low. The invention utilizes the original tracking receiver, DBF and wave control computer, does not increase additional hardware, and in order to ensure the stability of network data transmission, keeps the time interval of communication data packets between the tracking receiver and the wave control computer and between the wave control computer and the DBF unchanged for 50ms, utilizes a built-in beam tracking angular velocity algorithm module in the DSP of a beam forming unit, utilizes a beam tracking inertia unit added in a beam tracking angular velocity prediction algorithm of tracking beam pointing controlled by the wave control computer, interpolates the time interval of the tracking beam pointing from 50ms to 1ms, interpolates the tracking beam pointing to 1 time/ms by utilizing the inertial motion of the tracking beam pointing, and improves the real-time self-tracking performance of the system on a high dynamic target by only improving the beam tracking angular velocity algorithm module in the DSP on a primary DBF plate to realize once pointing interpolation of 1ms, the realization method is simple, the resource occupation is less, the self-adaptability to the movement in the dynamic environment is stronger, the additional equipment amount and the additional hardware are not needed, and the hardware resource and the hardware cost are saved. Therefore, the invention does not need complex equipment and reduces the cost.

Beam pointing lag is avoided. According to the invention, 1 millisecond-time beam pointing inertia control is added in a beam forming algorithm of a primary DBF unit, 1 ms-time beam pointing is interpolated according to the beam pointing movement inertia between two times of beam pointing with the interval of 50ms of DBF controlled by a wave control computer, and finally the beam pointing refresh rate is increased to 1 ms-time, so that the inertia of the beam to target tracking is skillfully utilized, and the beam pointing hysteresis condition caused by too low beam pointing refresh rate is avoided.

And the target rail measurement precision is improved. The invention utilizes the last two times of beams to track the pointing angle of the target in the primary DBF unit, calculates the rotating angular speed of the target in the azimuth angle and the pitch angle, adds 1 millisecond beam pointing inertial control in the beam forming algorithm in the DSP on the primary DBF plate according to the angular speed, improves the beam pointing refresh rate from 50ms to 1ms, avoids the lag difference of the digital beam between the two beam pointing to the target, improves the real-time of the beam to the dynamic target tracking and the track measurement precision of the beam to the target, and can improve the track measurement precision of the target by 50 times.

The real-time performance of target self-tracking is improved. The invention keeps the time interval of the communication data packet between the tracking receiver and the wave control computer and between the wave control computer and the DBF unchanged at 50ms, adds 1 millisecond beam pointing inertial control in the beam forming algorithm of the primary DBF unit, calculates the rotating angular speeds of the target at the azimuth angle and the pitch angle by using the pointing angles of the beam tracking target at the last two times, adds beam tracking angular speed prediction and beam pointing interpolation before calculating the beam forming weight in the DSP on the DBF, adds 1 millisecond beam pointing inertial control in the built-in beam forming algorithm of the DSP, increases the beam pointing refresh rate from 50ms to 1ms once, and improves the stability of the amplitude of the receiving/transmitting signals by using the characteristic of higher real-time performance of the algorithm on the DSP. And the real-time performance of the antenna beam on target self-tracking is further improved. The time interval of beam pointing is reduced, so that the deviation of the target between two times of beam pointing is reduced, the target can be ensured to be always in the main beam range of the antenna, and the stability of receiving/transmitting signals can be improved.

Drawings

The invention is further illustrated with reference to the figures and examples.

FIG. 1 is a flow chart of the digital multi-beam phased array antenna for real-time self-tracking of dynamic targets of the present invention;

fig. 2 is a schematic diagram of a digital multi-beam phased array antenna self-tracking system of the present invention;

FIG. 3 is a flow chart of the algorithm of the beam tracking angular velocity algorithm module of the present invention;

FIG. 4 is a flow chart of the algorithm of the beam tracking and pointing interpolation algorithm module of the present invention.

Detailed Description

See fig. 1. According to the invention, the time interval of a tracking receiver and a wave control computer in the digital multi-beam phased array antenna self-tracking system and the time interval of a communication data packet between the wave control computer and a digital beam forming unit DBF are kept unchanged for 50ms, and in a near-field calibration link or in the self-tracking process of a target, the wave control computer points to a beam with an azimuth angle and a pitch angle and transmits the communication between the wave control computer and the digital beam forming unit DBF for 50 ms/time according to a network protocol; a digital beam forming unit DBF is internally provided with a beam tracking angular velocity algorithm module and a digital beam tracking inertial unit, the beam tracking angular velocity algorithm module carries out beam tracking angular velocity to calculate azimuth angle velocity and pitch angle velocity, and the digital beam tracking inertial unit interpolates beam pointing for 1ms according to the movement inertial pointing of beam pointing; in the beam pointing interval of 50ms between two times of wave beam forming DBF controlled by wave control computer, the primary digital wave beam forming unit DBF tracks the pointing angle of the target by using the last two times of wave beams of a wave beam tracking pointing interpolation algorithm module, calculates the rotating angular velocity of the target in the azimuth angle and the pitch angle, and the wave beam forming weight unit increases the refresh rate of the inertial control wave beam pointing of the wave beam pointing of 1ms in the built-in wave beam forming algorithm of the digital signal processor DSP on the primary DBF plate according to the angular velocity, and increases the frequency from 50ms to 1ms once, and outputs high-speed data to transmit 1 ms/secondary wave beam pointing weight.

See fig. 2. The digital multi-beam phased array antenna self-tracking system comprises: the phased array antenna array for providing array receiving/signaling signals to the digital beam forming unit DBF is connected with the digital beam forming unit DBF and the tracking receiver of the wave control computer, so that a digital self-tracking loop of the wave control computer is formed, and the communication between the tracking receiver and the wave control computer and the communication between the wave control computer and the digital beam forming unit DBF are generally transmitted through a network protocol. In order to ensure that the network data transmission is not blocked, the interval of two beam pointing of the self-tracking loop of the wave control computer is also more than 50 ms. The digital beam forming unit DBF is a field programmable gate array FPGA connected with the digital signal processor DSP. The DSP adds beam tracking angular velocity prediction and beam pointing interpolation before calculating a beam forming weight in the DSP on the digital beam forming unit DBF, interpolates the tracking beam pointing to 1 time/ms by utilizing the inertial motion of the tracking beam pointing, calculates a beam forming weight, the FPGA interpolates the time interval of the tracking beam pointing from 50ms to 1ms by utilizing the characteristic of higher real-time performance of a beam forming algorithm on the DSP according to the beam pointing weight comprising an amplitude weight and a phase weight calculated by the DSP and high-speed data transmission for 1 ms/time, the tracking inertial unit added in the DSP of the beam forming unit is utilized, the DBF in a received difference signal forms an azimuth difference signal and a pitch difference signal to be sent to a tracking receiver, the tracking receiver solves an automatic gain control AGC voltage, an azimuth error voltage and a pitch error voltage, and an angle tracking error signal is transmitted for 50 ms/time by a network protocol and sent to a wave control computer, and the wave control computer obtains the azimuth and the pitch angle of the target through the digital tracking loop according to the ratio and the polarity of the combined difference signal, transmits the network protocol of the beam pointing azimuth and the pitch angle of the target for 50 ms/time and sends the network protocol to the digital beam forming unit DBF to form new beam pointing.

See fig. 3. The beam tracking angular velocity algorithm module judges whether a new beam pointing data packet is received or not by utilizing a beam tracking angular velocity prediction algorithm for tracking beam pointing controlled by a wave control computer, and performs beam tracking angular velocity prediction calculation when a new beam pointing data packet is received; calculating the current azimuth tracking angular velocity theta_E(n) and pitch tracking angular velocity θ_V(n) and using the following calculation formula: calculating azimuth tracking angular velocity theta_E(n)＝[φ_E(n)-φ_E(n-1)]/50, pitch tracking angular velocity θ_V(n)＝[φ_V(n)-φ_V(n-1)]A/50 ((unit: degree/ms))_E(n) is the current beam azimuth pointing, phi_E(n-1) is the last beam azimuth pointing; phi is a_V(n) is the current beam pitch angle pointing, phi_VAnd (n-1) is the last beam pitch angle pointing direction. And after the beam tracking angular velocity algorithm module obtains the azimuth tracking angular velocity and the pitch tracking angular velocity, the beam tracking angular velocity and the pitch angular velocity of the target are updated, and the beam is sent to the beam pointing interpolation module.

Referring to fig. 4, the beam tracking pointing interpolation algorithm module first determines whether a new beam pointing data packet is received, and initializes a beam pointing angle phi of the beam pointing data packet according to the received pointing data when the pointing data packet is received_EAngle phi of pitch_VIs phi is caused to_E＝φ_E0Beam azimuth angle phi of beam pointing data packet_V＝φ_V0Resetting the timer, restarting timing to update azimuth angle and pitch angle data pointed by the beam, sending the data to a beam forming weight calculation module, and increasing the pointed direction of the tracking beam from 1 time/50 ms to 1 time/ms by utilizing the predicted angular speed of the tracking beam in an interpolation mode; if no new wave beam pointing data packet is received, waiting for receiving new wave beam pointing data, if the predicted tracking wave beam angular velocity is not utilized, judging whether the timer reaches 1ms, and when the timer reaches 1ms and no new wave beam pointing data exists, carrying out the following stepsUpdating the beam pointing angle phi according to the current beam tracking angular velocity_EAngle phi of pitch_VAngle of beam pointing phi_ETracking azimuth velocity and theta with current beam_ESum, i.e., φ E ═ φ E + θ E, and pitch pointing angle φ_VTracking pitch angle velocity theta with current beam_VSum, i.e. phi_V＝φ_V+θ_VThe unit is: and (4) resetting the timer in degrees/ms, restarting timing, updating azimuth angle and pitch angle data pointed by the wave beam, sending the data to the wave beam forming weight calculation module, returning if the data is not received, judging whether a new wave beam pointing data packet is received again, and repeating the steps.

While the foregoing has described preferred embodiments of the present invention, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention. It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.