CN111211826B - Recursive structure beamforming method and device - Google Patents

Abstract

The present invention relates to a recursive structure beamforming method and device. The method includes: acquiring frequency-domain beam parameter information of a desired beam, and converting the frequency-domain beam parameter information into time-domain expected recursive filter parameters by using a space-time equivalent algorithm , input the time-domain expected recursive filter parameters into the FDATOOL filter design tool, and obtain the filter coefficients of the recursive filter. The filter coefficients include zero coefficients and pole coefficients. The zero coefficients are used as weighting coefficients and the pole coefficients are used as feedback coefficients. The beam response formula is obtained to obtain the beam forming formula, and based on the beam forming formula, the desired beam is designed to improve the resolution of the beam and form the desired beam more efficiently.

Description

Recursive structure beamforming method and device

technical field

The present invention relates to the technical field of beamforming, in particular to a recursive structure beamforming method and device.

Background technique

Beamforming can be simply understood as weighting or delay-weighted summing of the received signals of each element of the array, and its output forms different gains for different directions. The technology of digitally implementing filtering in the baseband is called digital beamforming, which is a space domain The main form of filtering, so the key technology of beamforming is the determination of weighting coefficients. At present, the selection of weighting coefficients in most beamforming technologies is accomplished by means of time-domain non-recursive filter coefficients.

However, there are many problems with this technology. The spectrum of the non-recursive filter has side lobe interference, and the stop band ripple will affect the signal reception. The number of antenna elements used is large, and the formed beam is not enough in bandwidth. Ideal, the resolution is not high, resulting in poor beamforming.

Contents of the invention

In view of this, the object of the present invention is to provide a recursive structure beamforming method and device.

To achieve the above object, the present invention adopts the following technical solutions:

In one aspect: A recursive structural beamforming method comprising:

Obtain the frequency domain beam parameter information of the desired beam;

Using a space-time equivalence algorithm, converting the frequency-domain beam parameter information into time-domain expected recursive filter parameters;

The time-domain expected recursive filter parameters are input to the FDATOOL filter design tool to obtain the filter coefficients of the recursive filter, and the filter coefficients include zero coefficients and pole coefficients;

Substituting the zero coefficient as a weighting coefficient and the pole coefficient as a feedback coefficient into a beam response formula respectively to obtain a beam forming formula;

Based on the beamforming formula, the desired beam is designed.

Optionally, the space-time equivalence algorithm described above is used to transform the frequency-domain beam parameter information into time-domain expected recursive filter parameters, including:

Detecting wavelength information and angle information of the frequency domain beam parameter information;

Inverse Fourier transform is performed on the wavelength information and the angle information to obtain the time domain expected recursive filter parameters.

Optionally, before forming the desired beam based on the beamforming formula, the above further includes:

acquiring phase information of the frequency-domain beam parameter information;

performing an inverse Fourier transform on the phase information to obtain time-domain phase information of the beam parameter information;

Putting the time-domain phase information into a beam response formula to obtain an adjusted beamforming formula as the beamforming formula.

Optionally, designing the desired beam based on the beamforming formula described above includes:

Determine the number of array elements and the spacing between array elements through the beamforming formula;

An antenna array is constructed according to the number of array elements and the distance between array elements, so as to design the desired beam.

Optionally, the above-mentioned determination of the number of array elements and the spacing between array elements through the beamforming formula also includes:

adjusting the phase of the output signal of the desired beam direction to be in phase;

determining a maximum value of the in-phase output signal;

Based on the maximum value, the weighting coefficient and the feedback coefficient, the number of array elements and the distance between array elements are determined.

Optionally, the recursive structure beamforming method described above further includes:

The beamforming formula is sent to a service field, so that the service field constructs an antenna array according to the beamforming formula, and the service field includes the aviation field and the positioning and tracking field.

In another aspect: a recursive structure beamforming apparatus comprising:

An acquisition module, configured to acquire frequency-domain beam parameter information of a desired beam;

A conversion module, configured to convert the frequency-domain beam parameter information into time-domain desired recursive filter parameters by using a space-time equivalence algorithm;

Calculation module, is used for inputting described time-domain expectation recursive filter parameter to FDATOOL filter design tool, obtains the filter coefficient of recursive filter, and described filter coefficient comprises zero point coefficient and pole coefficient;

A determining module, configured to substitute the zero coefficients as weighting coefficients and the pole coefficients as feedback coefficients into beam response formulas to obtain beamforming formulas; design the desired beam based on the beamforming formulas.

Optionally, the conversion module described above is specifically used for:

Detecting wavelength information and angle information of the frequency domain beam parameter information;

Inverse Fourier transform is performed on the wavelength information and the angle information to obtain the time domain expected recursive filter parameters.

Optionally, the determination module described above is specifically used for:

Determine the number of array elements and the spacing between array elements through the beamforming formula;

An antenna array is constructed according to the number of array elements and the distance between array elements, so as to design the desired beam.

Optionally, the recursive structure beamforming device described above further includes:

A sending module, configured to send the beamforming formula to a service field, so that the service field constructs an antenna array according to the beamforming formula, and the service field includes the aviation field and the positioning and tracking field.

The present invention adopts a recursive structure beamforming method and device, and completes the selection of weighting coefficients for beamforming by means of time-domain recursive filter coefficients. There is no redundant sidelobe and sidelobe interference in the frequency spectrum of the time-domain recursive filter. It effectively eliminates the defects of sidelobe interference in the original technology. By utilizing the characteristics of zero poles, under the same circumstances, the recursive structure beamforming will use fewer array elements than the non-recursive structure beamforming, which can effectively suppress sidelobes and Forming an extremely narrow beam with relatively higher resolution and better spatial filtering effect, thus greatly improving the beamforming technology, which can be used to distinguish adjacent signals to improve anti-interference ability to form more efficiently desired beam.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

FIG. 1 is a flowchart of a recursive structure beamforming method provided by an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a beamforming array;

Fig. 3 is another flow chart of the recursive structure beamforming method provided by the embodiment of the present invention;

Fig. 4 is a schematic structural diagram of a recursive structure beamforming device provided by an embodiment of the present invention.

Detailed ways

In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below. Apparently, the described embodiments are only some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other implementations obtained by persons of ordinary skill in the art without making creative efforts fall within the protection scope of the present invention.

FIG. 1 is a flowchart of a recursive structure beamforming method provided by an embodiment of the present invention.

As shown in Figure 1, a recursive structure beamforming method provided in this embodiment includes the following steps:

S11. Obtain frequency-domain beam parameter information of a desired beam.

The beam required by the user is defined as the desired beam. The formation of the desired beam includes a series of parameters. Different beams can be obtained by setting different parameters. Therefore, the desired beam can be accurately designed by obtaining the beam parameter information of the desired beam. The specific manner of acquisition is not explicitly limited in this embodiment, and may be input by the user, or parameter information automatically calculated according to needs, as long as the beam parameter information corresponding to the desired beam can be effectively obtained.

S12. Using a space-time equivalence algorithm, transform the beam parameter information in the frequency domain into expected recursive filter parameters in the time domain.

Taking the non-recursive filter as an example to illustrate the space-time equivalence, the beam response expression is as follows:

Among them, N is the number of array elements, λ is the wavelength, d is the array element spacing, θ is the signal transmission/reception angle, and w is the weighting coefficient.

FIR filter time domain expression:

The discrete Fourier transform (DTFT) of the FIR filter is as follows:

Where T is the sampling period.

Comparing formulas (1) and (3), we can get the space-time correspondence as follows:

Sinθ/λ<->f d<->T w _i <->h(i) (4)

The corresponding Sinθ/λ is called the spatial frequency of the incident signal, the array element spacing d is called the spatial sampling period, 1/d is called the spatial sampling frequency, DTFT obtains the spectrum of h(f), and the beam response obtains w, g is about the spectrum of the spatial frequency Sinθ/λ, and then the direction diagram about the incident angle θ can be obtained. To make the direction map of w on θ∈[-π/2,π/2] have good direction selectivity is equivalent to making h(i) in the case of f∈[-1/ λ,1/λ] has good frequency selectivity, which is the basic description of space-time equivalence in beamforming.

The space-time equivalence is verified by simulation. For example, if the wavelength of the incident signal is 0.5m, the incident angle is 0, and the distance between the elements of the uniform linear array is 0.25m, the beam formed by the array in the incident direction is equivalent to that at a sampling rate of 4Hz. case, construct a low-pass time-domain filter. Use FDATOOL to design a time-domain low-pass filter, and use the corresponding filter coefficients as the weighting coefficients of beamforming to obtain the spectrum of h(i) and the pattern of w _i respectively. Based on the above derivation and simulation analysis, the space-time equivalence is established, and the selection of beamforming weight coefficients can be obtained through the filter coefficients of the time-domain filter.

Therefore, to transform the frequency-domain beam parameter information into the time-domain expectation recursive filter parameters, firstly detect the wavelength information and angle information of the frequency-domain beam parameter information, perform inverse Fourier transform on the wavelength information and angle information, and obtain the time-domain expectation Recursive filter parameters. Thus, the frequency domain parameters of beamforming are successfully transformed into corresponding time domain parameters, which facilitates obtaining beams more directly.

S13. Input the parameters of the time-domain expected recursive filter into the FDATOOL filter design tool to obtain the filter coefficients of the recursive filter.

Filter coefficients include zero coefficients and pole coefficients. The zero point can change the proportional relationship of each mode in the output, and the pole determines the motion mode of the system and determines the stability of the system. After obtaining the parameters of the filter, directly input the parameters into the FDATOOL filter design tool to obtain the filter coefficients of the filter. The obtained process is automatically output by the system, and only the corresponding parameters need to be input.

S14. Substituting the zero point coefficient in the filter coefficients as the weighting coefficient and the pole coefficient in the filter coefficients as the feedback coefficient into the beam response formula respectively to obtain the beam forming formula.

Since the basic expression of the beam response formula of the recursive filter is certain, the obtained zero coefficients are used as weighting coefficients, and the pole coefficients are brought into the beam response formula as feedback coefficients to obtain the beam forming formula.

When it is necessary to consider adjusting the phase of the beam, corresponding phase processing needs to be done. First, the phase information of the beam parameter information in the frequency domain is obtained, and the phase information is inversely Fourier transformed to obtain the time domain phase information of the beam parameter information, and the time domain The phase information is brought into the beam response formula to obtain the adjusted beamforming formula. As the beamforming formula, considering the problem of adjusting the beam phase makes the final desired beam more accurate.

S15. Design a desired beam based on a beamforming formula.

The beamforming formula is obtained by the above steps, and the number of array elements and the spacing between the array elements are determined through the beamforming formula, and the antenna array is constructed according to the number of array elements and the spacing between the array elements to design the desired beam. The number of array elements and the spacing between array elements are determined through the beamforming formula, specifically, the phase of the output signal in the desired beam direction is adjusted to be in phase, the maximum value of the output signal in phase is determined, and the array is determined based on the maximum value, weighting coefficient and feedback coefficient. Number of elements and element spacing. After determining the number of array elements and the spacing between array elements, the antenna array can be accurately constructed so that the design can obtain the desired beam.

The above steps are the entire detailed process of obtaining the desired beam. In order to express it more clearly, it is described again through reverse thinking. According to the space-time equivalence, the selection of the weighting coefficient of the beamforming is the filtering of the recursive filter get the coefficients.

Recursive filter time domain expression:

The discrete Fourier transform (DTFT) of the recursive filter is as follows:

Where T is the sampling period.

The recursive beam response formula is as follows:

Depend on

have to:

Among them, N and M are the number of array elements, λ is the wavelength, d is the distance between array elements, θ is the signal transmission/reception angle, w is the weighting coefficient, and g is the feedback coefficient.

Comparing (6), (7) to space-time equivalence:

w _i <->h _i (f) g _k <->h _k (f) g ₀ <->1

Considering the need to adjust the beam phase, change the recursive beam response to the following form:

Where Δφ _B is the phase.

Then the corresponding beam response formulas in the two cases are obtained, and the process of finally designing the desired beam is clearly introduced through the forward and reverse methods.

Fig. 2 is a schematic structural diagram of a beamforming array.

As shown in Figure 2, the beamforming of the array is described in detail by way of example, where the received signal is s(t), the output signal is y(t), the distance between array elements is d, and the phases of the three array elements are respectively 0 _{. _ _ _ _ _ _ _ _} After the phase adjustment and the phase AND of the feedback signal, the received signal is multiplied by the weighting coefficient to obtain the final output signal. The corresponding detailed calculation formula is as follows:

This embodiment adopts a recursive structure beamforming method, and completes the selection of weighting coefficients for beamforming by means of time-domain recursive filter coefficients. There is no redundant sidelobe and sidelobe interference in the time-domain recursive filter spectrum, which is effective It effectively eliminates the defects of sidelobe interference in the original technology. By utilizing the characteristics of zero poles, under the same circumstances, the recursive structure beamforming will use fewer array elements than the non-recursive structure beamforming, which can effectively suppress sidelobes and form Extremely narrow beam with relatively higher resolution and better spatial filtering effect, thus greatly improving the beamforming technology, which can be used to distinguish adjacent signals to improve anti-interference ability to form expectations more efficiently beam.

Carry out a simulation test on the designed beam response formula, set the parameters as sampling rate 4 Hz, sampling period 0.25 seconds, signal wavelength 0.5 meters, incident angle π/6, array element spacing 0.25 meters, time domain filter center frequency 0 Hz, The number of sampling points is 600/3000/30000, and the initial phase is -π/6. The simulation test was carried out with 600, 3000 and 30000 sampling points respectively, and the test results are shown in Table 1;

Table 1

Construct a time-domain recursive filter according to the set simulation parameters, obtain the recursive filter coefficients, and replace the corresponding filter coefficients with the beamforming weighting coefficients. When the number of sampling points is 600 points, 3000 points and 30000 points, the simulation results are Beam pattern. Transform the obtained beam amplitude diagram from the unit of Hertz to decibel. Through the vertical comparison, it can be seen that the beamforming of the recursive filter form has an extremely narrow beam, and the resolution is effectively improved compared with the beamforming of the non-recursive filter form. . Comparing the beams at adjacent angles, it is found that the recursive filter form beamforming can distinguish beams at adjacent intervals. Due to the characteristics of the recursive filter structure itself, the obtained beam response does not have side lobes, so the 60db bandwidth is analyzed here instead of the peak side lobe ratio performance index analysis.

For example, design two signals with very close incident angles to test the effect of spatial filtering.

Set the number of simulation sampling points N to be 3000, the input signal to be a sine wave, the frequency of the received signal S1 to be 10HZ, the frequency of the interference signal S2 to be 30HZ, the incoming wave direction θ ₀ to be 0, and the interference direction θ ₁ to be 10 ^-12 π/6.

Set the number of sampling points N to 30000 points, the input signal is in the form of linear frequency modulation continuous wave, the frequency of the received signal S1 intermediate frequency signal is 0, the frequency of S2 intermediate frequency signal is 100HZ, the linear modulation frequency k is 0.01, the incoming wave direction θ ₀ is 0, and the interference direction θ ₁ is 10 ^-12 π/6.

The recursive filter beamforming is simulated with the given conditional parameters. The incident angles are θ ₀ and θ ₁ respectively. The incident signals S1 and S2 are sinusoidal signals and chirp continuous wave signals with different frequencies. After the input signal is beam-formed by a recursive filter, a waveform diagram is obtained, and the signal before and after filtering is Fourier transformed to obtain a corresponding spectrum diagram. It can be seen from the analysis that regardless of the form of the input signal, the waveform of the signal S1 in the direction of arrival is almost completely indiscriminately output, while the signal S2 in the interference direction is filtered. It can be seen intuitively from the spectrum that only one frequency is retained after filtering, thus recursive The spatial filtering effect of the type filter beamforming is verified. When the number of sampling points is 30,000, the resolution can reach 5.236e ^-13 . If more sampling points are added and the time domain filter coefficient is improved, the spatial domain filtering effect can be further improved.

For example, designing different signal wavelengths and analyzing the constant beamwidth stability of recursive structure beamforming.

Set the number of sampling points to 3000, the phase direction to 0, the array element spacing to 0.5m, and the spacing-to-wavelength ratio to increase from 0.455 to 0.5 at intervals of 0.005 to form 10 different wavelengths. The time domain filter parameters and other array parameter settings are the same as The parameters of the above simulation tests are the same. Recursive beam response plots formed at different wavelengths. It can be seen from the simulation results that the main lobe bandwidth of the recursive beam response will change at different wavelengths, and the bandwidth will also increase with the increase of the wavelength. But this change is very small, the order of magnitude of the change is 10 ^-8 , which is approximately negligible, so it can be confirmed that the recursive structure beamforming has constant beamwidth stability.

The technology of digitally implementing filtering in the baseband is called digital beamforming (DBF), which is the main form of spatial filtering. The key to beamforming lies in the selection of weighting coefficients. Through space-time equivalence, the design of beamforming weighting coefficients can be It is transformed into the design of filtering parameters of the time-domain filter. Recursive structural beamforming uses fewer array elements than non-recursive structural beamforming, which can effectively suppress side lobes and form extremely narrow beams, while having relatively higher resolution and better spatial filtering effects.

Fig. 3 is another flow chart of the recursive structure beamforming method provided by the embodiment of the present invention.

As shown in Figure 3, a recursive structure beamforming method of this embodiment includes the following steps:

S21. Obtain frequency-domain beam parameter information of a desired beam.

S22. Using a space-time equivalence algorithm, transform the beam parameter information in the frequency domain into expected recursive filter parameters in the time domain.

S23. Input the parameters of the time-domain expected recursive filter into the FDATOOL filter design tool to obtain filter coefficients of the recursive filter.

S24. Substitute the zero point coefficient in the filter coefficients as the weighting coefficient and the pole coefficient in the filter coefficients as the feedback coefficient into the beam response formula respectively to obtain the beam forming formula.

S25. Design a desired beam based on a beamforming formula.

Steps S21-S25 have been described in detail in the above embodiments, and will not be described in this embodiment, and can be understood with reference to the above embodiments.

S26. Send the beamforming formula to the service domain.

The beamforming formula is sent to the service domain, so that the service domain constructs the antenna array according to the beamforming formula, and the service domain includes the aviation domain and the positioning and tracking domain. After the beamforming formula is obtained, it can be applied to various fields to enable better communication and transmission, such as the control of the attitude of the spacecraft, the identification and tracking of the target imaging and positioning system, etc., which can be more convenient for people to use. More considerable application prospects.

Based on the same general inventive concept, the present invention also protects a recursive structure beamforming device.

Fig. 4 is a schematic structural diagram of a recursive structure beamforming device provided by an embodiment of the present invention.

As shown in Figure 4, a recursive structure beamforming device in this embodiment includes:

An acquisition module 10, configured to acquire frequency-domain beam parameter information of a desired beam;

The transformation module 20 is used to transform the frequency-domain beam parameter information into time-domain expected recursive filter parameters by using a space-time equivalence algorithm;

Calculation module 30, is used for inputting time-domain expected recursive filter parameter to FDATOOL filter design tool, obtains the filter coefficient of recursive filter, and filter coefficient comprises zero point coefficient and pole coefficient;

The determining module 40 is configured to substitute the zero coefficient as the weighting coefficient and the pole coefficient as the feedback coefficient into the beam response formula to obtain the beam forming formula; and design the desired beam based on the beam forming formula.

A recursive structure beamforming device in this embodiment uses time-domain recursive filter coefficients to complete the selection of weighting coefficients for beamforming. There is no redundant sidelobe and sidelobe interference in the time-domain recursive filter spectrum, which is effective It effectively eliminates the defects of sidelobe interference in the original technology. By utilizing the characteristics of zero poles, under the same circumstances, the recursive structure beamforming will use fewer array elements than the non-recursive structure beamforming, which can effectively suppress sidelobes and form Extremely narrow beam with relatively higher resolution and better spatial filtering effect, thus greatly improving the beamforming technology, which can be used to distinguish adjacent signals to improve anti-interference ability to form expectations more efficiently beam.

Further, on the basis of the above embodiments, the conversion module 20 in this embodiment is specifically used for:

Detect wavelength information and angle information of beam parameter information in the frequency domain;

Inverse Fourier transform is performed on the wavelength information and angle information to obtain the parameters of the time-domain expected recursive filter.

Further, on the basis of the above embodiments, the recursive structure beamforming device in this embodiment further includes:

The adjustment module is specifically used to obtain the phase information of the frequency-domain beam parameter information; perform inverse Fourier transform on the phase information to obtain the time-domain phase information of the beam parameter information; bring the time-domain phase information into the beam response formula to obtain the adjusted beamforming formula, as the beamforming formula.

Further, on the basis of the above embodiments, the determination module 40 in this embodiment is specifically used for:

Adjust the phase of the output signal in the desired beam direction to be in phase; determine the maximum value of the output signal in phase; determine the number of array elements and the spacing between array elements based on the maximum value, weighting coefficient and feedback coefficient; construct the antenna according to the number of array elements and the spacing between array elements array to design the desired beam.

Further, on the basis of the above embodiments, the recursive structure beamforming device in this embodiment further includes:

The sending module is configured to send the beamforming formula to the service field, so that the service field constructs an antenna array according to the beamforming formula, and the service field includes the aviation field and the positioning and tracking field.

It can be understood that, the same or similar parts in the above embodiments can be referred to each other, and the content that is not described in detail in some embodiments can be referred to the same or similar content in other embodiments.

It should be noted that, in the description of the present invention, terms such as "first" and "second" are only used for description purposes, and should not be understood as indicating or implying relative importance. In addition, in the description of the present invention, unless otherwise specified, the meaning of "plurality" means at least two.

Any process or method descriptions in flowcharts or otherwise described herein may be understood to represent modules, segments or portions of code comprising one or more executable instructions for implementing specific logical functions or steps of the process , and the scope of preferred embodiments of the invention includes alternative implementations in which functions may be performed out of the order shown or discussed, including substantially concurrently or in reverse order depending on the functions involved, which shall It is understood by those skilled in the art to which the embodiments of the present invention pertain.

It should be understood that various parts of the present invention can be realized by hardware, software, firmware or their combination. In the embodiments described above, various steps or methods may be implemented by software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented by any one or combination of the following techniques known in the art: Discrete logic circuits, ASICs with suitable combinational logic gates, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

Those of ordinary skill in the art can understand that all or part of the steps carried by the methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium. During execution, one or a combination of the steps of the method embodiments is included.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing module, each unit may exist separately physically, or two or more units may be integrated into one module. The above-mentioned integrated modules can be implemented in the form of hardware or in the form of software function modules. If the integrated modules are implemented in the form of software function modules and sold or used as independent products, they can also be stored in a computer-readable storage medium.

The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, and the like.

In the description of this specification, descriptions referring to the terms "one embodiment", "some embodiments", "example", "specific examples", or "some examples" mean that specific features described in connection with the embodiment or example , structure, material or characteristic is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention, those skilled in the art can make the above-mentioned The embodiments are subject to changes, modifications, substitutions and variations.

Claims (8)

1. A recursive structural beamforming method, characterized in that, comprising: Obtain the frequency domain beam parameter information of the desired beam; Using the space-time equivalence algorithm, the information of the beam parameters in the frequency domain is transformed into the expected recursive filter in the time domain Beam parameters, specifically: first detect the wavelength information and angle information of the beam parameter information in the frequency domain, perform inverse Fourier transform on the wavelength information and angle information, and obtain the time domain expected recursive filter parameters; The time-domain expected recursive filter parameters are input to the FDATOOL filter design tool to obtain the filter coefficients of the recursive filter, and the filter coefficients include zero coefficients and pole coefficients; Substituting the zero coefficients as weighting coefficients and the pole coefficients as feedback coefficients into beams respectively Response formula, get the beamforming formula; Based on the beamforming formula, the desired beam is designed. 2. The recursive structure beamforming method according to claim 1, wherein, before designing the desired beam based on the beamforming formula, further comprising: acquiring phase information of the frequency-domain beam parameter information; performing an inverse Fourier transform on the phase information to obtain time-domain phase information of the beam parameter information; Putting the time-domain phase information into a beam response formula to obtain an adjusted beamforming formula as the beamforming formula. 3. The recursive structure beamforming method according to claim 1, wherein said designing said desired beam based on said beamforming formula comprises: Determine the number of array elements and the spacing between array elements through the beamforming formula; An antenna array is constructed according to the number of array elements and the distance between array elements, so as to design the desired beam. 4. The recursive structure beamforming method according to claim 3, wherein the determination of the number of array elements and the spacing between array elements through the beamforming formula further includes: adjusting the phase of the output signal of the desired beam direction to be in phase; determining a maximum value of the in-phase output signal; Based on the maximum value, the weighting coefficient and the feedback coefficient, the number of array elements and the distance between array elements are determined. 5. The recursive structure beamforming method according to claim 1, further comprising: sending the beamforming formula to a serving domain so that the serving domain is formed according to the beamforming The formula constructs the antenna array, and the service field includes the aviation field and the location tracking field. 6. A recursive structure beamforming device, characterized in that, comprising: An acquisition module, configured to acquire frequency-domain beam parameter information of a desired beam; A conversion module, configured to convert the frequency domain beam parameter information into a time domain by using a space-time equivalence algorithm Domain expectation recursive filter parameters, specifically: firstly detect the wavelength information and angle information of the frequency domain beam parameter information, perform inverse Fourier transform on the wavelength information and angle information, and obtain the time domain expectation recursive filter parameters; A calculation module, configured to input the time-domain expected recursive filter parameters into the FDATOOL filter design tool to obtain filter coefficients of the recursive filter, the filter coefficients including zero coefficients and pole coefficients; A determination module, configured to use the zero coefficient as a weighting coefficient and the pole coefficient as a feedback system The numbers are respectively substituted into the beam response formula to obtain the beamforming formula; based on the beamforming formula, the design The desired beam. 7. The recursive structure beamforming device according to claim 6, wherein the determining module is specifically used for: Determine the number of array elements and the spacing between array elements through the beamforming formula; An antenna array is constructed according to the number of array elements and the distance between array elements, so as to design the desired beam. 8. The recursive structure beamforming device according to claim 6, further comprising: A sending module, configured to send the beamforming formula to a service field, so that the service field constructs an antenna array according to the beamforming formula, and the service field includes the aviation field and the positioning and tracking field.