CN105892483A - Miniature SAR remote sensing observation method based on multi-rotor unmanned aerial vehicle - Google Patents
Miniature SAR remote sensing observation method based on multi-rotor unmanned aerial vehicle Download PDFInfo
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- CN105892483A CN105892483A CN201610204792.3A CN201610204792A CN105892483A CN 105892483 A CN105892483 A CN 105892483A CN 201610204792 A CN201610204792 A CN 201610204792A CN 105892483 A CN105892483 A CN 105892483A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
- G01S13/90—Radar or analogous systems specially adapted for specific applications for mapping or imaging using synthetic aperture techniques, e.g. synthetic aperture radar [SAR] techniques
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
Abstract
The invention discloses a miniature SAR remote sensing observation method based on a multi-rotor unmanned aerial vehicle. Systems used in the method comprise a multi-rotor unmanned aerial vehicle system and a miniature SAR observation system. The miniature SAR observation system is composed of an SAR radar host, an IMU inertial navigation system, a radar radio frequency antenna, a GPS module, a radar control device, and a battery module, wherein the radar control device is connected with the SAR radar host through a USB3.0 or serial port, the IMU inertial navigation system and the battery module are connected with the SAR radar host through whole machine cables, and the GPS module and the radar radio frequency antenna are connected with the SAR radar host through a coaxial cable and a radio frequency coaxial cable respectively. The miniature SAR observation system is connected with the multi-rotor unmanned aerial vehicle system through the GPS module. Through the method, the flight cost of SAR image acquisition is reduced effectively, and rapid deployment and fast imaging of the miniature SAR observation system are realized. The method has the advantages of simple operation, convenient use and low price.
Description
Technical field
The present invention relates to a kind of SAR remote sensing observations method, particularly relate to a kind of miniature SAR based on many rotor wing unmanned aerial vehicles distant
Sense observation procedure.
Background technology
Synthetic aperture radar (SAR) is a kind of to possess distance to high-resolution and orientation to the imaging radar of high resolution.
It utilizes the synthetic aperture technique based on Doppler frequency shift is theoretical and radar is relevant, breaches true aperture antenna to orientation
To the restriction of resolution, combine with pulse compression technique, it is achieved that the two-dimentional high-resolution imaging of distant object, it is thus possible to
Enough obtain large-area high-resolution radar image.At present, SAR remote sensing of the earth observation technology mainly has satellite-borne SAR and carried SAR
Two ways.
For satellite-borne SAR, owing to the covered ground cycle of satellite is longer, single flight observation mission ageing poor,
Therefore, the ageing requirement of rapid deployment can not be met at the aspect such as accident, emergency management and rescue；Meanwhile, satellite-borne SAR equipment
Research and development carry out earth observation with cost of use is the highest, call satellite and are also required to the factors such as technical professional, cause use
The cost of High Resolution SAR Images is high, so at a lot of civil areas, the high cost of satellite-borne SAR seriously limits it and enters one
Walk the promotion and application at industry-by-industry.
For carried SAR, having the shortcomings such as volume relatively big, heavier-weight due to traditional SAR, SAR image quality is to flying
The requirement of row platform is the strictest.The aerial mission requirement to factors such as the loading capacity of flying platform, flight time, flying heights
Also further limit SAR using and universal on different aircrafts, therefore, the aircraft platform of carried SAR is currently mainly concentrated
Have on man-machine and part unmanned plane big-and-middle-sized.Although carried SAR is compared to satellite-borne SAR, platform motility, observe ageing side
Face is improved, and use cost and system complexity are also reduced, but, driving of flying platform (having man-machine and unmanned plane)
Sail, operate, use, maintain, spatial domain examination & approval, the factor such as meteorological condition also improve the procurement cost of SAR image, reduce SAR
Deployment motility.Therefore, the remote sensing images obtaining means of conventional on-board SAR can not meet part sector application low cost,
High flexibility, use simple requirement.
Summary of the invention
In order to solve the weak point existing for above-mentioned technology, the invention provides a kind of based on many rotor wing unmanned aerial vehicles micro-
Type SAR remote sensing observations method.
In order to solve above technical problem, the technical solution used in the present invention is: a kind of based on many rotor wing unmanned aerial vehicles micro-
Type SAR remote sensing observations method, the system that it uses includes many rotor wing unmanned aerial vehicles system, miniature SAR observation system；Miniature SAR
Observation system is by SAR radar host computer, IMU inertial navigation system, radar radio-frequency antenna, GPS module, radar control equipment, battery module
Composition；Radar control equipment is connected with SAR radar host computer by USB3.0 or serial ports；IMU inertial navigation system, battery module are the most logical
Cross complete machine cable to be connected with SAR radar host computer；GPS module, radar radio-frequency antenna are respectively by coaxial cable, radio-frequency (RF) coaxial electricity
Cable is connected with SAR radar host computer；Miniature SAR observation system is connected with many rotor wing unmanned aerial vehicles system by GPS module；
A kind of miniature SAR remote sensing observations method based on many rotor wing unmanned aerial vehicles is divided into six steps:
Prepare before step one, observation mission: first according to the demand of this flight remote sensing observations task, select to be suitable for this flight
Many rotor wing unmanned aerial vehicles type of task, needs the factor considered to have the flying height of unmanned plane, cruising time, cruising speed,
Heavy－duty；After completing Unit-type sclection, aircraft is observed test flight before task, including aircraft hovering test, from
Dynamic driving flight test, remote control distributor test are, and test, to this, flying height, cruising speed, load-carrying and the flight obtained
Time carries out record, checks that can the practical flight data of this type meet SAR remote sensing observations task needs further；
Then select the mission payload of different observation mode to carry out miniature SAR remote sensing observations load according to aerial mission to prepare, can
The pattern of choosing includes single polarization pattern, complete polarization pattern, interference pattern；By equipment energising test, launch and reception antenna survey
Examination, echo data inspection and device parameter select to check SAR radar loading device；SAR radar loading device inspection is closed
Carry out aircraft after lattice to measure with load installation dimension, mainly to aircraft and the physical dimension of each module of radar load, weight
Amount measures；Finally carry out the design of load structural mount and processing, i.e. utilize measurement result, structural engineer design peace
Complete firm framework installed part is also processed；
Step 2, the line of flight design: line of flight design includes that flight load flight-line design, aircraft automatic Pilot course line set
Meter；Flight-line design needs to consider the length of operating area, width, area, survey area overlapping degree, the flight speed of unmanned plane,
Flight time, flying height, operation course line quantity and meteorological condition, the design parameter that can arrange is: flight operation height, uses
" h " represents；Flight operating speed, represents with " v "；Flight time accumulation, represent with " T "；Single route flying time, represent with " t "；
Survey area overlapping degree, represent with " P "；Operation course line quantity, represents with " L "；Radar center visual angle, represents with " θ "；Distance is to wave beam
Angle, represents with " α "；Mapping width, represents with " x "；Band length, represents with " y "；Survey area, represents with " S "；These ginsengs
Number is to be mutually related, and needs when parameter designing to consider, and the relation between each parameter is as follows:
Relation between a, flight operation height, radar center visual angle, mapping width: represent that aircraft position, BE represent sight with A point
Geodetic face, AB represents that flying height, ∠ BAC represent radar center visual angle, the then theoretical value of a length of mapping bandwidth of DE；
The formula of geometrical calculation mapping bandwidth is:
DE=AB (tan ∠ BAE-tan ∠ BAD),
That is: x=h (tan(θ+α/2)-tan(θ-α/2))；
B, flight operating speed, single relation between route flying time, band length: band length be flight operating speed and
The product of single route flying time, it may be assumed that y=v.t；
C, mapping between width, band length, survey area overlapping degree, the relation of survey area: survey area depend on survey and draw bandwidth,
Band length and survey area overlapping degree；As a example by two bands, M1M2N2N1 is the coverage of survey area of band 1, and M3M4N4N3 is bar
With the coverage of survey area of 2, the overlapping region in Liang Gece district be N1N2N3N4, M1M2M3M4 for survey district gross area S, M1N1, M2N2,
M3N3, M4N4 are mapping width x, and M1M2, M3M4 are band length y；According to geometrical relationship,
SM1M2M3M4 = SM1M2N2N1 + SM3M4N4N3 - SN1N2N3N4,
That is: S=xy (1+P)；
Step 3, miniature SAR load are installed and are connected: be fixed on many rotor wing unmanned aerial vehicles by manufactured structural mount,
Then the modules of load is arranged on structural member, it is ensured that load and structure gross weight disclosure satisfy that the maximum load of aircraft
Weight and steadily of centre of gravity requirement；After said structure part installs, the circuit carrying out loading device connects, by load and circuit line
Cable fixing-stable.
Prepare and equipment inspection before step 4, flight: prepare before flight to mainly comprise the steps that flight with equipment inspection
The importing of device automatic Pilot course line, the importing of SAR flight operation course line, SAR load operation status checkout, POS duty check,
Gps signal checks, the front system quiescence of flight；
A, aircraft automatic Pilot course line import: by the above-mentioned aircraft automatic Pilot course line designed by earth station or nothing
The control system that line transmission imports in many rotor wing unmanned aerial vehicles, and check whether and import successfully；
B, SAR flight operation course line importing: the above-mentioned load line of flight designed is passed through USB3.0 or the string of earth station
Mouth imports in SAR radar load, checks whether course line file imports successfully according to SAR data collection with control software；
C, SAR load operation status checkout: open SAR load power supply, utilizes SAR data collection and the control software of earth station,
Launch and receive signal by radar radio-frequency antenna, analyze echo-signal the most normal, and then the most just judge SAR radar load
Often work；
D, POS duty checks: after load operation is normal, according to the POS status indicator lamp of SAR radar host computer, it is judged that POS
System the most normally works；
E, gps signal inspection: after system cable connects normally and turns on the power, wait 2-8min, then by SAR radar master
The number of times of the gps signal display lamp flicker of machine, it is judged that GPS search number of satellites；After number of satellites reaches more than 4, represent
Gps signal is stable, meets observation needs, can carry out normal flight operation；
System quiescence before f, flight: after preparation is ready, allow system quiescence 4-6min, after treating system quiescence, open
Beginning flight operation；
Step 5, unmanned aerial vehicle SAR flight operation: treat the condition that above-mentioned preparation is the most ready, system possesses flight operation
Afterwards, the miniature SAR of many rotor wing unmanned aerial vehicles load starts formally to enter flight sessions；As a example by two observation bands, A point represents
For aircraft starting point and level point, B point is expressed as control point 1, and C point is expressed as band 1 operation starting point, and D point is expressed as band 1 operation
Terminal, E point is expressed as control point 2, and F point is expressed as band 2 operation starting point, and G point is expressed as band 2 operation terminal, and H point is expressed as
Control point 3, the idiographic flow of UAV system miniature SAR remote sensing observations operation is as follows:
A, aircraft take off from A point, are accelerated the B point that climbs, and adjust attitude and speed is hovered；
B, aircraft start accelerate and reach operating speed from B point, then remain a constant speed and fly and pass through C point, and SAR radar host computer is opened
Machine, the formal radar remote sensing that enters observes sessions；
C, aircraft arrive D point, and band 1 flight observation terminates, and SAR radar host computer shuts down；
D, aircraft start to adjust attitude, air control point E, hover, and wait band 2 flight observation；
E, aircraft accelerate from E point, reach flight operating speed, and the flight that remains a constant speed arrives F point, and SAR radar host computer secondary is started shooting,
Proceed by second time remote sensing observations operation；
F, aircraft complete band 2 flight operation, reach G point, and SAR radar host computer shuts down；
G, aircraft fly to control point H from G point and hover, and then start landing and arrive former terminal A, flight remote sensing observations operation
Terminate；
Step 6, data derive and imaging processing: after flight operation is complete, close unmanned plane during flying device, system quiescence 4-
6min, then takes out SAR radar host computer, returns to indoor and derives flying quality by data acquisition with controlling software, and utilization is derived
POS data the flight error of aircraft is carried out motion compensation, and radar raw radar data is carried out imaging processing, finally obtains
Obtain the High Resolution SAR Images of measured zone.
The step of flight load flight-line design comprises determining that mapping region, arranges flight parameter, assumed (specified) load work start-stop
Point, load line of flight file configuration；
A, determine mapping region: being actually needed according to observation mission, and combine SAR radar load and the reality of many rotor wing unmanned aerial vehicles
Border performance, delimit rational observation area；
B, flight parameter is set: after observation area determines, utilize the performance indications of aircraft, the flight operation of aircraft is set
Speed and relative flying height；
C, assumed (specified) load work terminal: according to length, width, area and the survey area overlapping of above-mentioned fixed observation area
Degree, determine and be actually needed several course lines, calculate the longitude and latitude of each course line terminal, further according to above-mentioned arranged relatively fly
Line height, in conjunction with the actual height above sea level in survey district, calculates the height above sea level of radar operation terminal；
D, load line of flight file configuration: preserve the longitude and latitude high data of the above-mentioned radar operation terminal calculated, according to boat
The line of flight file of line file format design SAR radar load.
The step of aircraft automatic Pilot flight-line design comprises determining that the setting of aircraft operation flow process, key point, flight parameter
Design, configuration unmanned plane course line file；
A, determine aircraft operation flow process: according to surveying district's distribution, determine the whole work flow of aircraft, including taking off, climb, fly work
Industry, landing links；
B, key point set: on the basis of aerocraft real performance indications and job task, calculate flight work flow several
The longitude and latitude high data of key node, lay the foundation for flight operation course line file configuration；Key node includes takeoff point, control
Point, operation terminal, level point；
C, flight parameter design: according to the requirement in cruising time of aircraft, complete to take off, accelerate to climb, Hovering control, flight
Operation, job scheduling, the speed of fall-retarding process and the design of Flight Parameters；
D, configuration unmanned plane course line file: according to longitude and latitude high information and the flight speed parameter of above-mentioned fixed key node,
Configuration unmanned plane course line file.
The present invention can effectively reduce the flight cost that SAR image obtains, it is achieved the rapid deployment of miniature SAR observation system
And imaging rapidly, there is simple to operate, easy to use, cheap advantage.
Accompanying drawing explanation
Fig. 1 is the structure annexation schematic diagram of miniature SAR observation system.
Fig. 2 is the overall flow figure of the present invention.
Fig. 3 is the flow chart prepared before observation mission.
Fig. 4 is mapping bandwidth calculation schematic diagram.
Fig. 5 is that survey area calculates schematic diagram.
Fig. 6 is the flow chart of flight load flight-line design.
Fig. 7 is the flow chart of aircraft automatic Pilot flight-line design.
Fig. 8 is preparation and the flow chart of inspection before flight.
Fig. 9 is flight path and the operation process chart of aircraft.
Detailed description of the invention
The present invention is further detailed explanation with detailed description of the invention below in conjunction with the accompanying drawings.
As it is shown in figure 1, the structure of the present invention includes many rotor wing unmanned aerial vehicles system, miniature SAR observation system；Miniature SAR sees
Examining system is by SAR radar host computer, IMU inertial navigation system, radar radio-frequency antenna, GPS module, radar control equipment, group of battery modules
Become；The effect of SAR radar host computer is to produce pumping signal, send transmitting antenna to radiate, and receive from receiving sky after amplification
The radar echo signal of line, is acquired and stores；Radar control equipment is connected with SAR radar host computer by USB3.0 or serial ports
Connecing, radar control equipment is computer, and before being mainly used for inputting radar observation course line, derivation radar data, flight, radar sets
Standby inspection；IMU inertial navigation system, battery module are all connected with SAR radar host computer by complete machine cable；IMU inertial navigation system is main
Thering is provided motion compensation for miniature SAR system imaging processing, battery module provides electric power support for whole miniature SAR radar system；
GPS module, radar radio-frequency antenna are connected with SAR radar host computer by coaxial cable, radio frequency coaxial-cable respectively；Miniature SAR
Observation system is connected with many rotor wing unmanned aerial vehicles system by GPS module；The major function of radar radio-frequency antenna is by transmitter
The microwave power of output is transmitted and radiate irradiation ground, then receives the echo-signal of ground target, passes through feeder line
Send receiver to.
A kind of miniature SAR remote sensing observations method based on many rotor wing unmanned aerial vehicles mainly includes following six step, such as Fig. 2 institute
Show:
Prepare before step one, observation mission: before carrying out remote sensing observations, need many rotor wing unmanned aerial vehicles, radar equipment and knot
Structure installed part is prepared, and sufficiently tests, and reaches to meet the condition of remote sensing observations flight job task.Observation mission
The flow process of front preparation is as it is shown on figure 3, first according to the demand of this flight remote sensing observations task, select to be suitable for this aerial mission
Many rotor wing unmanned aerial vehicles type, need the factor considered to have the flying height of unmanned plane, cruising time, cruising speed, maximum carry
Weight；After completing Unit-type sclection, aircraft is observed test flight before task, including aircraft hovering test, automatically drive
Sail flight test, remote control distributor test, and flying height, cruising speed, load-carrying and the flight time that this test is obtained
Carry out record, check that can the practical flight data of this type meet SAR remote sensing observations task needs further；
Then select the mission payload of different observation mode to carry out miniature SAR remote sensing observations load according to aerial mission to prepare, can
The pattern of choosing includes single polarization pattern, complete polarization pattern, interference pattern；By equipment energising test, launch and reception antenna survey
Examination, echo data inspection and device parameter select to check SAR radar loading device so that this load can reach flight
The needs of observation；Carry out aircraft after SAR radar loading device passed examination to measure with load installation dimension, mainly to flight
Device and the physical dimension of each module of radar load, weight measure, it is simple to the follow-up structure that carries out is installed and center of gravity trim；Finally
Carry out the design of load structural mount and processing, i.e. utilize measurement result, structural engineer's design safety the framework peace consolidated
Piece installing is also processed.
Step 2, the line of flight design: line of flight design includes that flight load flight-line design, aircraft automatic Pilot navigate
Line designs；Flight-line design needs to consider the length of operating area, width, area, survey area overlapping degree, the flight speed of unmanned plane
Degree, flight time, flying height, operation course line quantity and meteorological condition.
(reference is only used as by this table to the design parameter of flight operation, and concrete flight job parameter needs according to reality as shown in table 1
Border situation is arranged flexibly):
Table 1 flight job parameter
These parameters are to be mutually related, and need when parameter designing to consider, and the relation between each parameter is as follows:
Relation between a, flight operation height, radar center visual angle, mapping width: as shown in Figure 4, represent aircraft position with A point
Putting, BE represents observation ground, AB represents that flying height, ∠ BAC represent radar center visual angle, then a length of mapping bandwidth of DE
Theoretical value；
The formula of geometrical calculation mapping bandwidth is:
DE=AB (tan ∠ BAE-tan ∠ BAD),
That is: x=h (tan(θ+α/2)-tan(θ-α/2))；
B, flight operating speed, single relation between route flying time, band length: band length be flight operating speed and
The product of single route flying time, it may be assumed that y=v.t；
C, mapping between width, band length, survey area overlapping degree, the relation of survey area: survey area depend on survey and draw bandwidth,
Band length and survey area overlapping degree；As it is shown in figure 5, as a example by two bands, M1M2N2N1 is the coverage of survey area of band 1,
M3M4N4N3 is the coverage of survey area of band 2, and the overlapping region in Liang Gece district is N1N2N3N4, M1M2M3M4 for surveying district gross area S,
M1N1, M2N2, M3N3, M4N4 are mapping width x, and M1M2, M3M4 are band length y；According to geometrical relationship,
SM1M2M3M4 = SM1M2N2N1 + SM3M4N4N3 - SN1N2N3N4,
That is: S=xy (1+P)；
As shown in Figure 6, the step of flight load flight-line design comprises determining that mapping region, arranges flight parameter, assumed (specified) load work
Make terminal, load line of flight file configuration；
A, determine mapping region: being actually needed according to observation mission, and combine SAR radar load and the reality of many rotor wing unmanned aerial vehicles
Border performance, delimit rational observation area；
B, flight parameter is set: after observation area determines, utilize the performance indications of aircraft, the flight operation of aircraft is set
Speed and relative flying height；
C, assumed (specified) load work terminal: according to length, width, area and the survey area overlapping of above-mentioned fixed observation area
Degree, determine and be actually needed several course lines, calculate the longitude and latitude of each course line terminal, further according to above-mentioned arranged relatively fly
Line height, in conjunction with the actual height above sea level in survey district, calculates the height above sea level of radar operation terminal；
D, load line of flight file configuration: preserve the longitude and latitude high data of the above-mentioned radar operation terminal calculated, according to boat
The line of flight file of line file format design SAR radar load；
As it is shown in fig. 7, the step of aircraft automatic Pilot flight-line design comprises determining that aircraft operation flow process, key point set, fly
Line parameter design, configuration unmanned plane course line file；
A, determine aircraft operation flow process: according to surveying district's distribution, determine the whole work flow of aircraft, including taking off, climb, fly work
Industry, landing links；
B, key point set: on the basis of aerocraft real performance indications and job task, calculate flight work flow several
The longitude and latitude high data of key node, lay the foundation for flight operation course line file configuration；Key node includes takeoff point, control
Point, operation terminal, level point；
C, flight parameter design: according to the requirement in cruising time of aircraft, complete to take off, accelerate to climb, Hovering control, flight
Operation, job scheduling, the speed of fall-retarding process and the design of Flight Parameters；
D, configuration unmanned plane course line file: according to longitude and latitude high information and the flight speed parameter of above-mentioned fixed key node,
Configuration unmanned plane course line file.
Step 3, miniature SAR load are installed and are connected: manufactured structural mount is fixed on many rotor wing unmanned aerial vehicles
On, then the modules of load is arranged on structural member, it is ensured that load and structure gross weight disclosure satisfy that aircraft is
Load capacity and steadily of centre of gravity requirement；After said structure part installs, the circuit carrying out loading device connects, due to aircraft
During work high above the ground, wind speed is bigger, it is therefore desirable to by load and circuit cable fixing-stable, in order to avoid occurring unexpected.
Step 4, flight before prepare with equipment inspection: before carrying out formal flight operation, carry out sufficient preparation and
Equipment inspection is the most necessary.As shown in Figure 8, prepare before flight to mainly comprise the steps that aircraft is certainly with equipment inspection
Dynamic driving course line importing, the importing of SAR flight operation course line, the inspection of SAR load operation status checkout, POS duty, GPS letter
Number check, flight before system quiescence；
A, aircraft automatic Pilot course line import: by the above-mentioned aircraft automatic Pilot course line designed by earth station or nothing
The control system that line transmission imports in many rotor wing unmanned aerial vehicles, and check whether and import successfully；
B, SAR flight operation course line importing: the above-mentioned load line of flight designed is passed through USB3.0 or the string of earth station
Mouth imports in SAR radar load, checks whether course line file imports successfully according to SAR data collection with control software；
C, SAR load operation status checkout: open SAR load power supply, utilizes SAR data collection and the control software of earth station,
Launch and receive signal by radar radio-frequency antenna, analyze echo-signal the most normal, and then the most just judge SAR radar load
Often work；
D, POS duty checks: after load operation is normal, according to the POS status indicator lamp of SAR radar host computer, it is judged that POS
System the most normally works；
E, gps signal inspection: after system cable connects normally and turns on the power, wait 2-8min, then by SAR radar master
The number of times of the gps signal display lamp flicker of machine, it is judged that GPS search number of satellites；After number of satellites reaches more than 4, represent
Gps signal is stable, meets observation needs, can carry out normal flight operation；
System quiescence before f, flight: in order to obtain POS location information accurately, improves positioning precision, in all preparations just
After thread, allow system quiescence 4-6min, after treating system quiescence, start flight operation.
Step 5, unmanned aerial vehicle SAR flight operation: treat that above-mentioned preparation is the most ready, system possesses flight operation
After condition, many rotor wing unmanned aerial vehicles carry miniature SAR to start formally to enter flight sessions；As it is shown in figure 9, with two observation bars
As a example by band, A point is expressed as aircraft starting point and level point, and B point is expressed as control point 1, and C point is expressed as band 1 operation starting point, D point
Being expressed as band 1 operation terminal, E point is expressed as control point 2, and F point is expressed as band 2 operation starting point, and G point is expressed as band 2 and makees
Industry terminal, H point is expressed as control point 3, and the idiographic flow of UAV system miniature SAR remote sensing observations operation is as follows:
A, aircraft take off from A point, are accelerated the B point that climbs, and adjust attitude and speed is hovered；
B, aircraft start accelerate and reach operating speed from B point, then remain a constant speed and fly and pass through C point, and SAR radar host computer is opened
Machine, the formal radar remote sensing that enters observes sessions；
C, aircraft arrive D point, and band 1 flight observation terminates, and SAR radar host computer shuts down；
D, aircraft start to adjust attitude, air control point E, hover, and wait band 2 flight observation；
E, aircraft accelerate from E point, reach flight operating speed, and the flight that remains a constant speed arrives F point, and SAR radar host computer secondary is opened
Machine, proceeds by second time remote sensing observations operation；
F, aircraft complete band 2 flight operation, reach G point, and SAR radar host computer shuts down；
G, aircraft fly to control point H from G point and hover, and then start landing and arrive former terminal A, flight remote sensing observations operation
Terminate.
Step 6, data derive and imaging processing: after flight operation is complete, close unmanned plane during flying device, and system is quiet
Only 4-6min, then takes out SAR radar host computer, returns to indoor and (is included with controlling software derivation flying quality by data acquisition
Radar raw radar data and POS data), utilize the POS data derived that the flight error of aircraft is carried out motion compensation, and right
Radar raw radar data carries out imaging processing, the final High Resolution SAR Images obtaining measured zone.
The SAR image good imaging quality that the present invention observes, image is clear, and resolution is high, is better than through measuring and calculating resolution
0.3m。
Microminiature SAR and many rotor wing unmanned aerial vehicles have been carried out effective combination by the present invention, well reduce SAR image and obtain
Flight cost, and rapid deployment and the rapidly imaging of miniature SAR observation system can be realized, have simple to operate, make
By convenient, cheap advantage, for SAR emergency response, disaster assistance, low cost remote sensing observations, the application popularization of SAR and
The aspects such as popularization provide important system scheme.
Above-mentioned embodiment is not limitation of the present invention, and the present invention is also not limited to the example above, and this technology is led
Change that the technical staff in territory is made in the range of technical scheme, retrofit, add or replace, also belong to this
Bright protection domain.
Claims (3)
1. a miniature SAR remote sensing observations method based on many rotor wing unmanned aerial vehicles, it is characterised in that: what described method used is
System includes many rotor wing unmanned aerial vehicles system, miniature SAR observation system；Described miniature SAR observation system is used to by SAR radar host computer, IMU
Guiding systems, radar radio-frequency antenna, GPS module, radar control equipment, battery module form；Described radar control equipment passes through
USB3.0 or serial ports are connected with SAR radar host computer；Described IMU inertial navigation system, battery module are all by complete machine cable and SAR thunder
Reach main frame to be connected；Described GPS module, radar radio-frequency antenna are respectively by coaxial cable, radio frequency coaxial-cable and SAR radar master
Machine is connected；Described miniature SAR observation system is connected with many rotor wing unmanned aerial vehicles system by GPS module；
Described method is divided into six steps:
Prepare before step one, observation mission: first according to the demand of this flight remote sensing observations task, select to be suitable for this flight
Many rotor wing unmanned aerial vehicles type of task, needs the factor considered to have the flying height of unmanned plane, cruising time, cruising speed,
Heavy－duty；After completing Unit-type sclection, aircraft is observed test flight before task, including aircraft hovering test, from
Dynamic driving flight test, remote control distributor test are, and test, to this, flying height, cruising speed, load-carrying and the flight obtained
Time carries out record, checks that can the practical flight data of this type meet SAR remote sensing observations task needs further；
Then select the mission payload of different observation mode to carry out miniature SAR remote sensing observations load according to aerial mission to prepare, can
The pattern of choosing includes single polarization pattern, complete polarization pattern, interference pattern；By equipment energising test, launch and reception antenna survey
Examination, echo data inspection and device parameter select to check SAR radar loading device；SAR radar loading device inspection is closed
Carry out aircraft after lattice to measure with load installation dimension, mainly to aircraft and the physical dimension of each module of radar load, weight
Amount measures；Finally carry out the design of load structural mount and processing, i.e. utilize measurement result, structural engineer design peace
Complete firm framework installed part is also processed；
Step 2, the line of flight design: line of flight design includes that flight load flight-line design, aircraft automatic Pilot course line set
Meter；Flight-line design needs to consider the length of operating area, width, area, survey area overlapping degree, the flight speed of unmanned plane,
Flight time, flying height, operation course line quantity and meteorological condition, the design parameter that can arrange is: flight operation height, uses
" h " represents；Flight operating speed, represents with " v "；Flight time accumulation, represent with " T "；Single route flying time, represent with " t "；
Survey area overlapping degree, represent with " P "；Operation course line quantity, represents with " L "；Radar center visual angle, represents with " θ "；Distance is to wave beam
Angle, represents with " α "；Mapping width, represents with " x "；Band length, represents with " y "；Survey area, represents with " S "；These ginsengs
Number is to be mutually related, and needs when parameter designing to consider, and the relation between each parameter is as follows:
Relation between a, flight operation height, radar center visual angle, mapping width: represent that aircraft position, BE represent sight with A point
Geodetic face, AB represents that flying height, ∠ BAC represent radar center visual angle, the then theoretical value of a length of mapping bandwidth of DE；
The formula of geometrical calculation mapping bandwidth is:
DE=AB (tan ∠ BAE-tan ∠ BAD),
That is: x=h (tan(θ+α/2)-tan(θ-α/2))；
B, flight operating speed, single relation between route flying time, band length: band length be flight operating speed and
The product of single route flying time, it may be assumed that y=v.t；
C, mapping between width, band length, survey area overlapping degree, the relation of survey area: survey area depend on survey and draw bandwidth,
Band length and survey area overlapping degree；As a example by two bands, M1M2N2N1 is the coverage of survey area of band 1, and M3M4N4N3 is bar
With the coverage of survey area of 2, the overlapping region in Liang Gece district be N1N2N3N4, M1M2M3M4 for survey district gross area S, M1N1, M2N2,
M3N3, M4N4 are mapping width x, and M1M2, M3M4 are band length y；According to geometrical relationship,
SM1M2M3M4 = SM1M2N2N1 + SM3M4N4N3 - SN1N2N3N4,
That is: S=xy (1+P)；
Step 3, miniature SAR load are installed and are connected: be fixed on many rotor wing unmanned aerial vehicles by manufactured structural mount,
Then the modules of load is arranged on structural member, it is ensured that load and structure gross weight disclosure satisfy that the maximum load of aircraft
Weight and steadily of centre of gravity requirement；After said structure part installs, the circuit carrying out loading device connects, by load and circuit line
Cable fixing-stable；
Prepare and equipment inspection before step 4, flight: prepare before flight to mainly comprise the steps that aircraft is certainly with equipment inspection
Dynamic driving course line importing, the importing of SAR flight operation course line, the inspection of SAR load operation status checkout, POS duty, GPS letter
Number check, flight before system quiescence；
A, aircraft automatic Pilot course line import: by the above-mentioned aircraft automatic Pilot course line designed by earth station or nothing
The control system that line transmission imports in many rotor wing unmanned aerial vehicles, and check whether and import successfully；
B, SAR flight operation course line importing: the above-mentioned load line of flight designed is passed through USB3.0 or the string of earth station
Mouth imports in SAR radar load, checks whether course line file imports successfully according to SAR data collection with control software；
C, SAR load operation status checkout: open SAR load power supply, utilizes SAR data collection and the control software of earth station,
Launch and receive signal by radar radio-frequency antenna, analyze echo-signal the most normal, and then the most just judge SAR radar load
Often work；
D, POS duty checks: after load operation is normal, according to the POS status indicator lamp of SAR radar host computer, it is judged that POS
System the most normally works；
E, gps signal inspection: after system cable connects normally and turns on the power, wait 2-8min, then by SAR radar master
The number of times of the gps signal display lamp flicker of machine, it is judged that GPS search number of satellites；After number of satellites reaches more than 4, represent
Gps signal is stable, meets observation needs, can carry out normal flight operation；
System quiescence before f, flight: after preparation is ready, allow system quiescence 4-6min, after treating system quiescence, open
Beginning flight operation；
Step 5, unmanned aerial vehicle SAR flight operation: treat the condition that above-mentioned preparation is the most ready, system possesses flight operation
Afterwards, the miniature SAR of many rotor wing unmanned aerial vehicles load starts formally to enter flight sessions；As a example by two observation bands, A point represents
For aircraft starting point and level point, B point is expressed as control point 1, and C point is expressed as band 1 operation starting point, and D point is expressed as band 1 operation
Terminal, E point is expressed as control point 2, and F point is expressed as band 2 operation starting point, and G point is expressed as band 2 operation terminal, and H point is expressed as
Control point 3, the idiographic flow of UAV system miniature SAR remote sensing observations operation is as follows:
A, aircraft take off from A point, are accelerated the B point that climbs, and adjust attitude and speed is hovered；
B, aircraft start accelerate and reach operating speed from B point, then remain a constant speed and fly and by C point, SAR radar host computer
Start, the formal radar remote sensing that enters observes sessions；
C, aircraft arrive D point, and band 1 flight observation terminates, and SAR radar host computer shuts down；
D, aircraft start to adjust attitude, air control point E, hover, and wait band 2 flight observation；
E, aircraft accelerate from E point, reach flight operating speed, and the flight that remains a constant speed arrives F point, and SAR radar host computer secondary is opened
Machine, proceeds by second time remote sensing observations operation；
F, aircraft complete band 2 flight operation, reach G point, and SAR radar host computer shuts down；
G, aircraft fly to control point H from G point and hover, and then start landing and arrive former terminal A, and flight remote sensing observations is made
Industry terminates；
Step 6, data derive and imaging processing: after flight operation is complete, close unmanned plane during flying device, system quiescence 4-
6min, then takes out SAR radar host computer, returns to indoor and derives flying quality by data acquisition with controlling software, and utilization is derived
POS data the flight error of aircraft is carried out motion compensation, and radar raw radar data is carried out imaging processing, finally obtains
Obtain the High Resolution SAR Images of measured zone.
Miniature SAR remote sensing observations method based on many rotor wing unmanned aerial vehicles the most according to claim 1, it is characterised in that: institute
The step stating flight load flight-line design comprises determining that mapping region, arranges flight parameter, assumed (specified) load work terminal, load
Lotus line of flight file configuration；
A, determine mapping region: being actually needed according to observation mission, and combine SAR radar load and the reality of many rotor wing unmanned aerial vehicles
Border performance, delimit rational observation area；
B, flight parameter is set: after observation area determines, utilize the performance indications of aircraft, the flight operation of aircraft is set
Speed and relative flying height；
C, assumed (specified) load work terminal: according to length, width, area and the survey area overlapping of above-mentioned fixed observation area
Degree, determine and be actually needed several course lines, calculate the longitude and latitude of each course line terminal, further according to above-mentioned arranged relatively fly
Line height, in conjunction with the actual height above sea level in survey district, calculates the height above sea level of radar operation terminal；
D, load line of flight file configuration: preserve the longitude and latitude high data of the above-mentioned radar operation terminal calculated, according to boat
The line of flight file of line file format design SAR radar load.
Miniature SAR remote sensing observations method based on many rotor wing unmanned aerial vehicles the most according to claim 1, it is characterised in that: institute
State the step of aircraft automatic Pilot flight-line design comprise determining that aircraft operation flow process, key point set, flight parameter design,
Configuration unmanned plane course line file；
A, determine aircraft operation flow process: according to surveying district's distribution, determine the whole work flow of aircraft, including taking off, climb, fly work
Industry, landing links；
B, key point set: on the basis of aerocraft real performance indications and job task, calculate flight work flow several
The longitude and latitude high data of key node, lay the foundation for flight operation course line file configuration；Described key node includes takeoff point, control
Point processed, operation terminal, level point；
C, flight parameter design: according to the requirement in cruising time of aircraft, complete to take off, accelerate to climb, Hovering control, flight
Operation, job scheduling, the speed of fall-retarding process and the design of Flight Parameters；
D, configuration unmanned plane course line file: according to longitude and latitude high information and the flight speed parameter of above-mentioned fixed key node,
Configuration unmanned plane course line file.
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