CN104793199A - Continuous wave one-dimensional phase scanning target-missing quality vector detection method and device thereof - Google Patents
Continuous wave one-dimensional phase scanning target-missing quality vector detection method and device thereof Download PDFInfo
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- CN104793199A CN104793199A CN201510096394.XA CN201510096394A CN104793199A CN 104793199 A CN104793199 A CN 104793199A CN 201510096394 A CN201510096394 A CN 201510096394A CN 104793199 A CN104793199 A CN 104793199A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/505—Systems of measurement based on relative movement of target using Doppler effect for determining closest range to a target or corresponding time, e.g. miss-distance indicator
Abstract
The invention provides a continuous wave one-dimensional phase scanning target-missing quality vector detection method and a device thereof, a one-dimensional phase scanning system is adopted to carry out high-speed continuous scanning to a target section in a horizontal direction, the beam pointing of each beam position of a radar is fixed and set in advance, and then scan round is sequentially carried out on each beam position from left to right; when the radar carries out scanning to a certain beam position, the radar adopts a linear frequency modulation continuous wave distance measurement system to measure the distance of targets, and transmits frequency modulation continuous wave signals to a scan sector, when a target enters a detection zone, broadband linear frequency modulation continuous wave distance measurement and single pulse sum and difference angle measurement manners are adopted to carry out vector target-missing quality measurement to the target relative to the distance R' and position of the radar, then a radar data processing extension set utilizes the geometrical relationship and coordinate conversion formula relative to the distance of the targets and the angle of the position to calculate the distance and position of the target relative to the radar into the vector target-missing quality relative to the target.
Description
Technical field
The present invention relates to a kind of continuous wave one dimension and sweep target undershoot vector detection method and device mutually.
Background technology
Along with the development of miss distance measurement technology, the working method of current miss distance measurement system develops into based on miscoordination formula by cooperating type gradually; Measurement data type is on the basis of scalar type Miss distance measurement maturation, also constantly perfect to Vector Target-missing Quantity measurement development.So-called scalar Miss distance measurement refers to the minimum relative distance measuring bullet and target in experience process, and Vector Target-missing Quantity is measured and not only will be obtained scalar miss distance, but also relative position (apart from, angle) and the relative velocity that bullet and target meet with process to be recorded.
The measurement of miss distance can by radiowave, light wave, sound wave homenergic form as the medium of obtaining information.Its measuring method mainly contains radio Miss distance measurement method, measuring method, GPS measuring method.Wherein radio Miss distance measurement method is divided into again radio location method and radargrammetry method.Radio position fixing method is cooperating type measuring system, needs all to install wireless device additional to bullet and target.And radar measurements is miscoordination formula measuring system, do not need to carry out any repacking to bullet, utilize detections of radar principle to measure the relative distance of bullet and target and angle.The mode that current target range is used for Miss distance measurement mainly contains optical device measurement and radargrammetry.Typical optics Miss distance measurement method comprises photography, photograph, infrared ray optical direction shooting, laser ranging etc., utilize optical measurement and image-forming principle, measure, the movement locus of record object, attitude, event in motion, and the infrared radiation of target and visual signature.Optical tracking measuring equipment is made up of video camera, tracking or surveillance equipment and data processing equipment usually.This method has following shortcoming: need good lighting condition, large by the impact of meteorological condition; When target is hit, data can be lost; The limited time of film record and the stability problem of camera; Its data processing is also more numerous and diverse in addition.And radargrammetry is using electromagnetic wave as the medium of obtaining information, antijamming capability is strong, and measuring accuracy is high, and data are reliable in real time, and not by weather effect, have all weather operations ability.
Radargrammetry comprises pulsed radar and continuous wave radar, and in theory, the detectivity of radar depends on the signal energy that can utilize.Range resolution depends on the bandwidth of signal, frequency resolution depend on signal time wide, angular resolution depends on the size of antenna relative to wavelength, target velocity measuring accuracy depend on transmit time wide.Wide when continuous wave system is easy to obtain large, large bandwidth, its distance, speed resoluting force are better than pulsed radar, and circuit is more simple, and cost is lower.Meanwhile, pulsed radar is owing to adopting single antenna transmitting-receiving, and need to carry out transmitting-receiving conversion, there is guard time, therefore the detection of close-in target can be affected, and continuous wave radar does not then exist this problem.Owing to having above advantage, a lot of occasion of continuous wave radar satellite acquisition tracking etc. between target range measurement, automobile collision avoidance radar, precision tracking, fire control radar, point target defensive avionics system and space is with a wide range of applications.But the development of modern military weaponry, make the requirement of people to target range radar ranging devices more and more higher, require that continuous wave radar not only can measure speed, distance, the angle of single target, provide the Vector Message of target, can also on comparatively remote, multiple target be caught, follow the tracks of and be measured, and more and more higher to the requirement of measuring accuracy.Under such requirement, Continuous Wave with frequency modulation system, with the advantage that it is outstanding, becomes the first-selection of shooting range measurment radar.
In sum, Modulation Continuous Wave Radar, owing to having the features such as round-the-clock, miscoordination, antijamming capability strong, vector measurement, precision are high, cost is low, becomes the development trend in Miss distance measurement field and important measuring equipment.But current target amount measurement mechanism can not carry out reliable vector detection to multiple high speed small target; In addition, because Miss distance measurement device is placed near target usually, very large by the probability that hits, easily destroyed and can not Reusability.Therefore how to reduce use cost, improving equipment cost performance, is also the developing direction of Miss distance measurement equipment.
Summary of the invention
The object of the invention is to the weak point existed for prior art, there is provided that a kind of Miss distance measurement precision is high, antijamming capability is strong, can carry out reliable vector detection to multiple high speed small target simultaneously, possesses high reliability, convenient for installation and maintenance, and by weather effect, there is all weather operations ability, Reusability, continuous wave one dimension that maintenance cost is low can sweep Miss distance measurement method and device thereof mutually.
Realizing technical solution of the present invention is: a kind of continuous wave one dimension sweeps target undershoot vector detection method mutually, it is characterized in that comprising the steps: Miss distance measurement device to be placed on outside Zhe Dan district, described device employing one dimension is swept system mutually and is carried out high-speed and continuous scanning in the horizontal direction to target area, the beam position of each ripple position of radar is fixed and set in advance, then from first ripple position on the left side, successively each ripple position is scanned from left to right, until complete for last ripple bit scan, then circulate again and to scan from first wave position, target area is formed the search screen of 90 ° × 10 °, at radar, carried out to certain ripple position scan period, radar adopts the distance of linear frequency modulation continuous wave range finding system to target to measure, Continuous Wave with frequency modulation signal is launched to scan sector, when there being target to enter search coverage, adopt the range finding of wide-band LFM continuous wave and monopulse and differ from angle measurement mode, relative to the distance R ' of radar and orientation θ ' °, Vector Target-missing Quantity measurement is carried out to target, then utilize relative to the geometric relationship of the distance and bearing angle of target and Formula of Coordinate System Transformation by radar data process extension set, target is converted into Vector Target-missing Quantity relative to target relative to the distance and bearing of radar.
The present invention is compared with existing Miss distance measurement device, and its remarkable advantage is: adopt one dimension to sweep system mutually and carry out high-speed and continuous scanning to inspection target region, data rate detection is high, can reliably detect multiple high speed small target simultaneously; Adopt wide-band LFM continuous wave range finding system and monopulse and difference angular measurement system to carry out Vector Target-missing Quantity measurement to target, Miss distance measurement precision is high, provides more reliable judging basis for practicing shooting; Radar is positioned over outside target practice region, and destroyed possibility reduces greatly, can Reusability, and maintenance cost is low; Antijamming capability is strong, possesses high reliability, convenient for installation and maintenance, and not by weather effect, has all weather operations ability.
Miss distance measurement device of the present invention can be applicable to sea, various test base, ground and target range, for measuring the miss distance of the measured targets such as all kinds of guided missile, shell, bomb, rocket projectile relative to target.
Accompanying drawing explanation
Fig. 1 is the Miss distance measurement schematic diagram that continuous wave one dimension of the present invention sweeps target undershoot vector detection mutually.
Fig. 2 is that one dimension sweeps principle schematic mutually.
Fig. 3 is Modulation Continuous Wave Radar range measurement principle figure of the present invention, wherein schemes a and transmits and the relationship between frequency and time curve map of echoed signal, and figure b is the relationship between frequency and time curve map of echoed signal time delay and difference frequency.
Fig. 4 is the circuit theory diagrams of wideband correlation generator of the present invention.
Fig. 5 is the schematic block circuit diagram of Miss distance measurement device of the present invention.
Embodiment
Consult Fig. 1.Sweep mutually in target undershoot vector detection at continuous wave one dimension, radar center points to target center, and be α ° with direct north angle, radar is L relative to the distance of target.Miss distance measurement radar is placed on outside Zhe Dan district, adopts one dimension to sweep system mutually and carry out high-speed and continuous scanning in the horizontal direction to target area, sweep limit be centered by target center ± 45 °.The width of the scanning beam of level × pitching is 2 ° × 10 °, and 45 ripple positions just can cover whole monitor area.The beam position of each ripple position of radar is fixed and sets in advance, then from first ripple position on the left side, successively each ripple position is scanned from left to right, until complete for last ripple bit scan, then circulate again and to scan from first wave position, so circulate in search screen target area being formed 90 ° × 10 °.Carry out scan period at radar to certain ripple position, radar adopts the distance of linear frequency modulation continuous wave range finding system to target to measure.Radar launches Continuous Wave with frequency modulation signal to scan sector, when there being target to enter search coverage, adopt the range finding of wide-band LFM continuous wave and monopulse and differ from angle measurement mode, relative to the distance R ' of radar and orientation θ ', Vector Target-missing Quantity measurement is carried out to target, then the radar shown in Fig. 1, geometric relationship between target and shell track and Formula of Coordinate System Transformation (1) is utilized by radar data process extension set, target is converted into Vector Target-missing Quantity relative to target distance R and orientation θ relative to the distance R ' of radar and orientation θ '
In formula, L is the distance of radar and target, and α is the angle of radar and direct north, and R ', θ ' are respectively the distance and bearing angle of target relative to radar, and R, θ are respectively the distance and bearing angle of target relative to target.
Consult Fig. 2.According to phased array principle, in order to make wave beam scan rapidly in space, a variable phase shifter as shown in Figure 2 can be connect after each radiation element of antenna array.The phase-shift phase of each unit phase shifter is set to respectively
the phase-shift phase that phase shifter is introduced
size determined by formula (2),
Wherein, d is the spacing between antenna array radiation element, and λ is signal wavelength, θ
0be the deviation angle of wave beam relative to normal orientation.Visible, the phase place controlling each phase shifter just can change beam position, by switching the different phase-shift phase of phase shifter
just reach the object of beam scanning.And, after the phase settings of phase shifter has been got well, the angle of beam position also just sets, when certain target being detected in this wave beam, so the azimuth information of target is also just aware of, on this basis, in conjunction with monopulse and difference angle measurement mode, the high-acruracy survey of realize target orientation angles is got final product.
From formula (2), beam position θ
0be one to one with wavelength X, when signal frequency or wavelength are when being with interscan, beam position is also in an orientation interscan.General Narrow-band Radar system due to the relative bandwidth ratio of centre frequency (bandwidth with) very little, frequency or the change of wavelength in band very little on the impact of beam position, therefore can ignore.And in the present invention, in order to improve measuring accuracy, adopting large bandwidth FM signal, frequency or the change of wavelength in band are enough to the significant change causing beam position.In order to head it off, the present invention takes segmentation cloth phase method in frequency band, and the modulating bandwidth by the linear FM signal of radar is divided into several sections, and each section can think narrowband systems, during test, segmentation obtains cloth phase data, forms a cloth phase data table and is stored in the storer of ripple level controller.During practical application, ripple level controller is connected with frequency synthesizer device, and the frequency of the FM signal sent according to frequency synthesizer carries out cloth phase of tabling look-up, and revises the beam position of radar antenna, to improve the angle accuracy of detection of Miss distance measurement radar.
Consult Fig. 3.The present invention adopts the distance of linear frequency modulation continuous wave range finding system to target to measure.At Fig. 3 (a) in relation schematic diagram that to transmit with the relationship between frequency and time schematic diagram of echoed signal and Fig. 3 (b) be echoed signal time delay and difference frequency, according to Principles of Radar, the pass of target range R and radar echo delay τ is:
Wherein, c is the aerial velocity of propagation of electromagnetic wave.If the frequency of radar is modulated by sawtooth wave as shown in Figure 3, so there is a difference frequency f at synchronization with transmitting in radar return
i, f
iwith the pass postponing τ be:
Wherein, T
mfor modulation period, Δ F
mfor maximum modulation frequency deviation.Convolution (3) and formula (4), the pass of target range R and echo difference frequency fi is:
As can be seen here, target range and difference frequency f
ibe directly proportional, just can measurement target distance by measuring echoed signal difference frequency.From formula (5), range resolution can be expressed as
Namely range resolution is determined by the frequency resolution of radar system, and frequency resolution is by determining modulation period (time wide), generally
therefore frequency resolution can be expressed as
as can be seen here, range resolution is determined by modulation band-width, and bandwidth is larger, and range resolution is higher.But when identical in wide situation, modulation band-width is larger, the modulation signal linearity is more difficult does height, from the range measurement principle of Fig. 3, if the frequency modulated signal transmitted is not desirable straight line, but near straight line, there is certain fluctuating, so distance is also no longer strict linear relationship with the relation of difference frequency, and certain range error can be caused, the linearity of general modulation signal is higher, and the range error so caused by it is less.Therefore the present invention adopts high linearity large bandwidth modulation signal generation technology, improves the linearity of modulation signal.
Consult Fig. 4.Middle width strip linear FM signal of the present invention produces the scheme adopting Direct Digital Synthesizer DDS excitation to add phase-locked loop pll, using DDS and reference signal with the reference source frequently as PLL, utilize the phase-locked and frequency multiplication of PLL to complete the expansion of bandwidth sum frequency.Wideband correlation generator comprises constant-temperature crystal oscillator in sequential series, frequency multiplier, DDS, frequency mixer and PLL, and wherein frequency multiplier is parallel to frequency mixer.During concrete enforcement, in figure, the reference clock of DDS is provided after frequency multiplication by constant-temperature crystal oscillator, and its output frequency stepping is in 100Hz magnitude, and stepping time is less than 10ns, and the linearity is better than 0.01%; The output frequency of DDS again by frequency mixer, produces with frequency-doubled signal and after frequency signal as the reference signal of PLL; By Rational choice PLL loop bandwidth, make the frequency agility time be less than 2us, meanwhile, effectively inhibit the clutter components that DDS exports, the high linearity that final output radar needs, the linear FM signal of large bandwidth.
Consult Fig. 5.In the present invention, Miss distance measurement device comprises emitting antenna, emitting module, transmitted wave level controller, receiving antenna, receiving unit, reception ripple level controller, sum-difference network, frequency synthesizer, intermediate-frequency receiver, signal processor, data processor, communication controler and command and display terminal, wherein, transmitted wave level controller is connected emitting module, is connected emitting antenna composition transmitting front by feeder line; Receive ripple level controller to connect receiving unit, connected receiving antenna and sum-difference network composition reception front by feeder line.Frequency synthesizer connects transmitted wave level controller, receives ripple level controller, emitting module, intermediate-frequency receiver and signal processor, for radar system provides linear FM signal and clock signal; Intermediate-frequency receiver connects sum-difference network, and the signal processor that is connected, echoed signal is delivered to signal processor and carry out miss distance measurement; Data processor connection signal processor, carries out data fusion and filtering to the miss distance data that signal processor is sent here.Communication controler connection data processor and command and display terminal, for complete machine provides control command input channel and radar data output channel.
During radar work, be set up in outside target practice safe distance, reception ripple level controller and transmitted wave level controller control the ripple position of sending and receiving antenna beam according to the instruction of communication controler, be the 1st ripple position with Far Left scanning angle in sweep limit, scan to the right successively, sweep limit to be as the criterion lateral probe movement 45 ° with antenna array normal direction, and synchronization sending and receiving beam position is identical.Frequency synthesizer produces wide-band LFM radiofrequency signal and delivers to emitting module, by the outer emitted energy of emission array sky (feedback) alignment.After the electromagnetic wave of emitting antenna radiation runs into target, portion of energy is had to reflect from target, electromagnetic wave is converted to radiofrequency signal by receiving antenna, through receiving unit, sum-difference network formed and, difference two paths of signals, obtain difference frequency signal after mixing and deliver to two-way intermediate-frequency receiver.Receiving system is divided into two pairs of I/Q tributary signals after carrying out filtering, amplification to signal and gives signal processor.Signal processor completes FFT, offsets, frequency domain CFAR, by orientation, the range data of automatic Detection and Extraction target, delivers to data processor.Data processor carries out relevant treatment to Targets Dots, sets up the flight path of target, and the position provided according to positioning and orientation system and positive northern information, solving target
Relative to the Vector Target-missing Quantity of target.Finally by data processor, miss distance information is transferred to command and display terminal by communication controler.
Claims (10)
1. a continuous wave one dimension sweeps target undershoot vector detection method mutually, it is characterized in that comprising the steps: Miss distance measurement device to be placed on outside Zhe Dan district, described device employing one dimension is swept system mutually and is carried out high-speed and continuous scanning in the horizontal direction to target area, the beam position of each ripple position of radar is fixed and set in advance, then from first ripple position on the left side, successively each ripple position is scanned from left to right, until complete for last ripple bit scan, then circulate again and to scan from first wave position, target area is formed the search screen of 90 ° × 10 °, at radar, carried out to certain ripple position scan period, radar adopts the distance of linear frequency modulation continuous wave range finding system to target to measure, Continuous Wave with frequency modulation signal is launched to scan sector, when there being target to enter search coverage, adopt the range finding of wide-band LFM continuous wave and monopulse and differ from angle measurement mode, relative to the distance R ' of radar and orientation θ ' °, Vector Target-missing Quantity measurement is carried out to target, then utilize relative to the geometric relationship of the distance and bearing angle of target and Formula of Coordinate System Transformation by radar data process extension set, target is converted into Vector Target-missing Quantity relative to target relative to the distance and bearing of radar.
2. continuous wave one dimension as claimed in claim 1 sweeps target undershoot vector detection method mutually, it is characterized in that: radar data process extension set utilizes radar, geometric relationship between target and shell track and Formula of Coordinate System Transformation (1), target is converted into Vector Target-missing Quantity relative to target distance R and orientation θ relative to the distance R ' of radar and orientation θ '
In formula, L is the distance of radar and target, and α is the angle of radar and direct north, and R ', θ ' are respectively the distance and bearing angle of target relative to radar, and R, θ are respectively the distance and bearing angle of target relative to target.
3. continuous wave one dimension as claimed in claim 1 sweeps target undershoot vector detection method mutually, it is characterized in that: in order to make wave beam scan rapidly in space, after each radiation element of antenna array, connecing variable phase shifter.
4. continuous wave one dimension as claimed in claim 3 sweeps target undershoot vector detection method mutually, it is characterized in that: the phase-shift phase of each unit phase shifter is set to respectively
the phase-shift phase that phase shifter is introduced
size determined by formula (2),
Wherein, d is the spacing between antenna array radiation element, and λ is signal wavelength, θ
0be the deviation angle of wave beam relative to normal orientation.
5. continuous wave one dimension as claimed in claim 1 sweeps target undershoot vector detection method mutually, it is characterized in that: beam position θ
0be one to one with wavelength X, when signal frequency or wavelength are when being with interscan, beam position is also in an orientation interscan.
6. continuous wave one dimension as claimed in claim 1 sweeps target undershoot vector detection method mutually, it is characterized in that: take segmentation cloth phase method in frequency band, the modulating bandwidth of the linear FM signal of radar is divided into several sections, each section is narrowband systems, during test, segmentation obtains cloth phase data, forms a cloth phase data table and is stored in the storer of ripple level controller.
7. continuous wave one dimension as claimed in claim 1 sweeps target undershoot vector detection method mutually, it is characterized in that: wideband correlation produces and adopts Direct Digital Synthesizer DDS excitation to add phase-locked loop pll composition wideband correlation generator, using DDS and reference signal with the reference source frequently as PLL, utilize the phase-locked and frequency multiplication of PLL to complete the expansion of bandwidth sum frequency.
8. continuous wave one dimension as claimed in claim 7 sweeps target undershoot vector detection method mutually, it is characterized in that: wideband correlation generator comprises constant-temperature crystal oscillator in sequential series, frequency multiplier, DDS, frequency mixer and PLL, wherein frequency multiplier is parallel to frequency mixer, the reference clock of DDS is provided after frequency multiplication by constant-temperature crystal oscillator, its output frequency stepping is in 100Hz magnitude, stepping time is less than 10ns, and the linearity is better than 0.01%.
9. continuous wave one dimension as claimed in claim 8 sweeps target undershoot vector detection method mutually, it is characterized in that: the output frequency of DDS by frequency mixer, produces with frequency-doubled signal and after frequency signal as the reference signal of PLL; Choose PLL loop bandwidth, make the frequency agility time be less than 2us, effectively suppress DDS output factors composition, the high linearity that output radar needs, the linear FM signal of large bandwidth.
10. one kind uses the Miss distance measurement device of method described in claim 1 ~ 9 any one, comprise emitting antenna, emitting module, transmitted wave level controller, receiving antenna, receiving unit, reception ripple level controller, sum-difference network, frequency synthesizer, intermediate-frequency receiver, signal processor, data processor, communication controler and command and display terminal, it is characterized in that: transmitted wave level controller is connected emitting module, connected emitting antenna composition transmitting front by feeder line; Receive ripple level controller to connect receiving unit, connected receiving antenna and sum-difference network composition reception front by feeder line, frequency synthesizer connects transmitted wave level controller, receives ripple level controller, emitting module, intermediate-frequency receiver and signal processor, for radar system provides linear FM signal and clock signal; Intermediate-frequency receiver connects sum-difference network, and the signal processor that is connected, echoed signal is delivered to signal processor and carry out miss distance measurement; Data processor connection signal processor, data fusion and filtering are carried out to the miss distance data that signal processor is sent here, communication controler connection data processor and command and display terminal, for complete machine provides control command input channel and radar system data output channel.
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| CN105629223A (en) * | 2015-12-21 | 2016-06-01 | 广东欧珀移动通信有限公司 | Mobile terminal and measurement method thereof |
| CN106643297A (en) * | 2016-12-23 | 2017-05-10 | 南京长峰航天电子科技有限公司 | Estimation and correction method for vector miss distance parameters of motion platform |
| CN110095990A (en) * | 2019-06-10 | 2019-08-06 | 西北工业大学 | A kind of aircraft end direct force pulse duration modulation method |
| CN110488255A (en) * | 2019-09-09 | 2019-11-22 | 上海无线电设备研究所 | A kind of phased-array radar pulse high-resolution angle measuring system and method |
| WO2022247512A1 (en) * | 2021-05-28 | 2022-12-01 | 中兴通讯股份有限公司 | Position sensing method, signal transmission method, positioning device, and storage medium |
| CN115825897A (en) * | 2022-12-06 | 2023-03-21 | 零八一电子集团有限公司 | Automatic measuring device for three-coordinate radar miss distance loaded by naval vessel |
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| CN115825897A (en) * | 2022-12-06 | 2023-03-21 | 零八一电子集团有限公司 | Automatic measuring device for three-coordinate radar miss distance loaded by naval vessel |
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Application publication date: 20150722 |