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A method and apparatus for estimating elevation angle when using a broad search beam such as a cosecant-squared beam is provided. The range of a target detected during a search with a broad beam covering a broad angular search area is determined. Based on the determined range, consecutive beams are

A method and apparatus for estimating elevation angle when using a broad search beam such as a cosecant-squared beam is provided. The range of a target detected during a search with a broad beam covering a broad angular search area is determined. Based on the determined range, consecutive beams are transmitted at increasing search elevation angles in the broad angular search area. Echo signals of the consecutive beams are used to determine an elevation angle estimate for the target.

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What is claimed is: 1. A method for determining target elevation during a radar search comprising: determining the range of any target detected during a search with a broad beam covering a broad angular search area; based on the determined range, transmitting consecutive beams at increasing search

What is claimed is: 1. A method for determining target elevation during a radar search comprising: determining the range of any target detected during a search with a broad beam covering a broad angular search area; based on the determined range, transmitting consecutive beams at increasing search elevation angles in the broad angular search area; and using echo signals of the consecutive beams to determine an elevation angle estimate for the target. 2. The method of claim 1 wherein the broad beam comprises a shaped cosecant-squared beam. 3. The method of claim 1 wherein one of the consecutive beams is a focused beam. 4. The method of claim 1 wherein all but a first one of the consecutive beams are defocused beams. 5. The method of claim 4 wherein the defocused ones of the consecutive beams are defocused by spoiling factors that increase with the increasing elevation search angles. 6. The method of claim 1 wherein transmitting comprises: transmitting a time-multiplexed pulse Doppler waveform which includes a set of transmit bursts, each transmit burst including a number of sub-pulses. 7. The method of claim 6 wherein consecutive groups of sub-pulses in each transmit burst correspond to the consecutive beams. 8. The method of claim 7 wherein corresponding ones of the sub-pulses in each of the transmit bursts of the set have the same carrier frequency and are coherent with each other. 9. The method of claim 8 wherein the different sub-pulses of each transmit burst have different carrier frequencies. 10. The method of claim 8 wherein the sub-pulses of each group of each transmit burst have different frequencies and corresponding ones of the sub-pulses in different groups for different beams can have the same carrier frequency. 11. The method of claim 9 wherein all but a first one of the consecutive beams are defocused. 12. The method of claim 9 wherein all of the consecutive beams are defocused beams. 13. The method of claim 4 wherein using echo signals comprises: processing echo signals of the first one of the consecutive beams to detect the target; and if the target is detected, using results of the processing to determine an elevation angle estimate for the target. 14. The method of claim 13 wherein using echo signals further comprises: processing, in turn, echo signals of the defocused consecutive beams in sum and difference channels until the target is detected in one of the defocused consecutive beams; using the results of the processing of the echo signals of the one of the defocused consecutive beams in which the target is detected to provide a first estimate of the elevation angle of the target; transmitting a focused beam towards the target based on the first estimate; and processing echo signals of the focused beam in the sum and difference channels to detect the target and determine a second, more accurate estimate of the elevation angle of the target. 15. The method of claim 14 further comprising: using receive beams received by available elevation and azimuth difference channels for a lower elevation search area covered by the broad beam at an elevation angle below that at which the consecutive beams are transmitted and prior to the transmission of the consecutive beams, to determine whether any targets are detected in the lower elevation search area; and if multiple targets are detected and at least one of the multiple targets is detected in the lower elevation search area as a lower elevation target, then performing the steps of: obtaining a rough elevation angle estimate for the lower elevation target; and transmitting a focused beam towards the lower elevation target based in the rough estimate. 16. The method of claim 15 wherein transmitting the focused beam towards the lower elevation target based on the rough estimate occurs in a single time-multiplexed pulse Doppler waveform. 17. The method of claim 15 further comprising: if multiple targets are detected and all of the multiple targets are detected in the broad angular search area above the lower elevation search area, then performing the steps of: processing, in turn, echo signals of the defocused consecutive beams in sum and difference channels until either all of the multiple targets are detected or all of the echo signals of the defocused consecutive beams have been processed; if all of the multiple targets are not detected with one pulse repetition frequency (PRE), then repeating the steps of transmitting consecutive beams with a different PRF and processing the echo signals of each consecutive beam until all of the multiple targets are detected; using the results of the processing steps to provide first estimates of the elevation angle of each target; transmitting a focused beam towards each target based on the first estimate of such target; and processing echo signals of the focused beams in the sum and difference channels to detect each target and determine a second, more accurate estimate of the elevation angle of each target. 18. The method of claim 17 wherein transmitting the focused beam towards each target occurs in a single time-multiplexed pulse Doppler waveform. 19. The method of claim 1 wherein transmitting comprises: transmitting a time-multiplexed pulse Doppler waveform which includes a set of transmit bursts, each transmit burst including the same number of sub-pulses. 20. The method of claim 1 wherein transmitting comprises: transmitting a waveform comprising a single transmit burst. 21. The method of claim 20 wherein consecutive groups of sub-pulses in the transmit burst correspond to the consecutive beams. 22. The method of claim 21 wherein corresponding ones of the sub-pulses in each of the transmit burst of the set have the same carrier frequency and are coherent with each other. 23. The method of claim 22 wherein the different sub-pulses of the transmit burst have different carrier frequencies. 24. The method of claim 22 wherein the sub-pulses of each group of the transmit burst have different frequencies and corresponding ones of the sub-pulses in different groups for different beams can have the same carrier frequency. 25. The method of claim 23 wherein all but a first one of the consecutive beams are defocused. 26. The method of claim 23 wherein all of the consecutive beams are defocused beams. 27. The method of claim 1 further comprising: using one or more pencil beams to detect the target at elevation angles lower than those covered by the broad beam. 28. The method of claim 1 wherein transmitting comprises transmitting the consecutive beams sequentially in time. 29. A method for determining target location during a radar search comprising: determining the range of any target detected during a search with a broad beam covering a broad angular search area; based on the determined range, transmitting consecutive beams at increasing search elevation angles in the broad angular search area; and using echo signals of the consecutive beams to determine at least one angle estimate for the target. 30. The method of claim 29 wherein the at least one angle estimate comprises an elevation angle estimate and an azimuth angle estimate. 31. A radar system comprising: means for determining the range of any target detected during a search with a broad beam covering a broad angular search area; means for transmitting consecutive beams at increasing search elevation angles in the broad angular search area for the determined range; and means for using echo signals of the consecutive beams to determine an elevation angle estimate for the target. 32. A radar system comprising: an antenna system; a transmitter coupled to the antenna system; a receiver coupled to the antenna system; a controller to control the transmitter, receiver and antenna system; wherein the receiver, responsive to control signals from the controller, operates to determine the range of any target detected during a search with a broad beam covering a broad angular search area; wherein the transmitter, responsive to signals from the controller, operates to transmit, via the antenna system, consecutive beams at increasing search elevation angles in the broad angular search area for the determined range; and wherein the receiver, responsive to control signals from the controller, operates to use echo signals of the consecutive beams received via the antenna system to determine an elevation angle estimate for the target. 33. The radar system of claim 32, wherein the broad beam comprises a shaped cosecant-squared beam. 34. The radar system of claim 32 wherein at least one of the consecutive beams is a focused beam. 35. The radar system of claim 32 wherein all but a first one of the consecutive beams are defocused beams. 36. The radar system of claim 32 wherein all of the consecutive beams are defocused beams. 37. The radar system of claim 35 wherein the defocused ones of the consecutive beams are defocused by spoiling factors that increase with each consecutive beam. 38. The radar system of claim 32 wherein the transmitted consecutive beams are transmitted in a single time multiplexed pulse Doppler waveform which includes a set of transmit bursts, each burst including a number of sub-pulses with each sub-pulse forming a pulse Doppler waveform. 39. The radar system of claim 36 wherein consecutive groups of sub-pulses in each transmit burst correspond to the consecutive multiple beams. 40. The radar system of claim 36 wherein a corresponding ones of the sub-pulses in each of the transmit bursts of the set have the same carrier frequency and are coherent with each other. 41. The radar system of claim 38 wherein the sub-pulses of each transmit burst have different carrier frequencies. 42. The radar system of claim 41 wherein the sub-pulses of each group of each transmit burst have different frequencies and corresponding ones of the sub-pulses in different groups for different beams can have the same carrier frequency. 43. The radar system of claim 41 wherein all but a first one of the consecutive beams are defocused. 44. The radar system of claim 41 wherein all of the consecutive beams are defocused beams. 45. The radar system of claim 32 wherein the echo signals are used to process echo signals of the first one of the consecutive beams to detect the target and, if the target is detected, determine from the results of the processing an elevation angle estimate for the target. 46. The radar system of claim 45 wherein the echo signals are used to process, in turn, echo signals of the defocused consecutive beams in sum and difference channels until the target is detected in one of the defocused consecutive beams, obtain from the results of the processing of the echo signals of the one of the defocused consecutive beams in which the target is detected a first estimate of the elevation angle of the target, transmit a focused beam towards the target based on the first estimate and process echo signals of the focused beam in the sum and difference channels to detect the target and determine a second, more accurate estimate of the elevation angle of the target. 47. The radar system of claim 32 wherein the focused beam is transmitted as a time-multiplexed pulse Doppler waveform which includes a set of transmit bursts, each transmit burst including the same number of sub-pulses. 48. The radar system of claim 32 wherein the focused beam is transmitted as a pulsed signal comprising a single transmit burst. 49. The radar system of claim 48 wherein consecutive groups of sub-pulses in the transmit burst correspond to the consecutive beams. 50. The radar system of claim 49 wherein corresponding ones of the sub-pulses in each of the transmit burst of the set have the same carrier frequency and are coherent with each other. 51. The radar system of claim 50 wherein the different sub-pulses of the transmit burst have different carrier frequencies. 52. The radar system of claim 50 wherein the sub-pulses of each group of the transmit burst have different frequencies and corresponding ones of the sub-pulses in different groups for different beams can have the same carrier frequency. 53. The radar system of claim 51 wherein all but a first one of the consecutive beams are defocused. 54. The radar system of claim 51 wherein all of the consecutive beams are defocused beams. 55. The radar system of claim 32 wherein one or more pencil beams are used to detect the target at elevation angles lower than those covered by the broad beam. 56. A radar system for determining target location during a radar search comprising: means for determining the range of any target detected during a search with a broad beam covering a broad angular search area; means for transmitting consecutive beams at increasing search elevation angles in the broad angular search area based on the determined range; and means for using echo signals of the consecutive beams to determine at least one angle estimate for the target. 57. The radar system of claim 56 wherein the at least one angle estimate comprises an elevation angle estimate and an azimuth angle estimate.