CN109974573A - A kind of three-dimensional deformation measurement method that microwave radar is merged with Beidou - Google Patents
A kind of three-dimensional deformation measurement method that microwave radar is merged with Beidou Download PDFInfo
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- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/16—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring the deformation in a solid, e.g. by resistance strain gauge
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Abstract
The invention discloses the three-dimensional deformation measurement methods that a kind of microwave radar is merged with Beidou, including radar surveying host, 3 radar surveying slaves and active reflector, specific steps are as follows: S1, be separately positioned at opposite fixed point different outside measured point using 3 radar surveying slaves as datum mark；S2, radar surveying host successively send microwave double frequency coding address to active reflector by antenna；S3, active reflector receive the address matching behind microwave double frequency coding address with itself；S4, active reflector receive the distance measuring signal that 3 radar surveying slaves are sent and issue return signal；Received return signal is obtained distance measurement result by demodulation, filtering, time difference measurement, phase demodulation by S5,3 radar surveying slaves；S6, the three-D displacement deformation quantity that active reflector is calculated according to the coordinate information of distance measurement result and 3 radar surveying slaves.The present invention makes the measurement accuracy of dipper system three-dimensional deformation break through millimetre-sized bottleneck, moreover it is possible to all weather operations.
Description
Technical field
The present invention relates to a kind of radar surveying field, the three-dimensional deformation merged more particularly to a kind of microwave radar with Beidou
Measurement method.
Background technique
As global first traffic and manufacture big country, there are over one hundred ten thousand bridge block, 30,000 a plurality of tunnels, more than 200 ten thousand in China
Hoisting machinery, wherein there are different degrees of structural hidden dangers due to excess load or extended active duty for considerable part.Structural key point
Three-dimensional deformation reflects whole stress, decay characteristic and the structural hidden danger situation of structure, is the key parameter of structure monitoring；Amount of deflection is
Vertical one-dimensional deformation component therein is the key positions deformation such as span centre or endpoint of all kinds of girder structures.But large scale structure shape
Become monitoring and faces high-precision, remote, round-the-clock three big bottleneck problem always.Total station utilizes laser range finder and photoelectricity angle measurement
Instrument obtains the one-dimensional distance and two dimension angular information of measured target, is converted into the 3 d space coordinate of measured target, precision is reachable
Grade is current using most universal, the highest engineering surveying instrument of precision.But the remote measured target of laser aiming needs artificial
Operation, therefore be not suitable for unattended continuous structure health monitoring.
Summary of the invention
In view of the above shortcomings of the prior art, the present invention provides the three-dimensional deformation surveys that a kind of microwave radar is merged with Beidou
Amount method uses microwave to substitute light wave as measuring tool, energy all weather operations.
In order to solve the above-mentioned technical problem, present invention employs the following technical solutions:
A kind of three-dimensional deformation measurement method that microwave radar is merged with Beidou, including radar surveying host, 3 radar surveyings
Slave and active reflector, comprising the following steps:
S1,3 radar surveying slaves are separately positioned on opposite fixed point different outside measured point as datum mark
Place, is separately positioned on measured point for active reflector；
S2, the radar surveying host successively send microwave double frequency coding address to the active reflector by antenna,
And control signal is sent to the radar surveying slave, the radar surveying slave sends distance measuring signal to the active refelction
Device；
S3, the active reflector receive the address matching behind microwave double frequency coding address with itself, after successful match
Open electronic switch；
S4, the active reflector receive the distance measuring signal that 3 radar surveying slaves are sent and issue return signal to 3
Radar surveying slave；
S5,3 radar surveying slaves obtain received return signal by demodulation, filtering, time difference measurement, phase demodulation
Distance measurement result, and the coordinate information of distance measurement result and Beidou time, radar surveying slave is transferred to radar surveying host；
S6, the radar surveying host calculate institute according to the coordinate information of distance measurement result and the radar surveying slave
State the three-D displacement deformation quantity of active reflector.
As optimization, the radar surveying host and the radar surveying slave include microwave radar range instrument, Beidou
Receiving unit, the radar surveying host further include control system and the 5th antenna, and the radar surveying slave further includes first
Antenna and the 4th antenna；The active reflector includes the second antenna, third antenna, the second microprocessor, the second circulator, the
Two frequency mixers, the second power splitter, low-pass filter, the second demodulator, modulator, the second microwave source, address resolution and adaptation,
Second power amplifier, third power amplifier, the 4th power amplifier, third low noise amplifier；Second circulator respectively with second antenna,
The input terminal connection of the output end, third low noise amplifier of three power amplifiers；The input terminal of second power splitter and described second micro-
Wave source connection；The output end of second power splitter input terminal with the input terminal of the third power amplifier, the second frequency mixer respectively
Connection；Another input terminal of second frequency mixer is connect with the output end of the third low noise amplifier, second mixing
The output end of device is connect with the low-pass filter；The output end of the low-pass filter passes through second power amplifier and described the
The connection of two demodulators, the output end of second demodulator connect with the address resolution with adaptation, the address resolution and
The output end of adaptation is connect with second microprocessor, and the output end and the modulator of second microprocessor connect
It connects, the output end of the modulator is connect by the 4th power amplifier with the third antenna.
As optimization, the control system includes ASIC Three-Dimensional Solution parser, first microprocessor, double frequency coding device, first
Amplifier, Fiber Optical Communication System and microwave emitter, the first microprocessor are defeated with the ASIC Three-Dimensional Solution parser respectively
Enter end/output end, the input terminal of double frequency coding device is connected with input terminal/output end of Fiber Optical Communication System, first amplification
Device is connect with the input terminal of the output end of the double frequency coding device, microwave emitter respectively, the output end of the microwave emitter
It is connect with the 5th antenna；The microwave radar range instrument include microcontroller, phase demodulation processing unit, time difference measurement unit,
First annular device, the first demodulator, the first power splitter, the first microwave source, the first frequency mixer, first filter, second filter,
Third filter, the 4th filter, the 5th filter, the first low noise amplifier, the second low noise amplifier and the first power amplifier, it is described
Microcontroller is single with the output end of the Beidou receiving unit, input terminal/output end of Fiber Optical Communication System, phase demodulation processing respectively
The input terminal connection of the output end of member, the output end of time difference measurement unit and the first microwave source；First power splitter it is defeated
Enter end to connect with the output end of first microwave source, the output end of first power splitter respectively with first power amplifier, the
The input terminal of one frequency mixer connects；The output end of first power amplifier is connect with the first annular device；The first annular device
Also it is connect respectively with the input terminal of the first antenna, the first low noise amplifier；First low noise amplifier passes through described the
One filter is connect with another input terminal of first frequency mixer；The output end of first frequency mixer is filtered by described second
Wave device is connect with the input terminal of the input terminal of the phase demodulation processing unit, time difference measurement unit respectively；4th antenna passes through
Second low noise amplifier is connect with first demodulator, first demodulator respectively by the third filter,
4th filter, the 5th filter are connect with the input terminal of the input terminal of the phase demodulation processing unit, time difference measurement unit respectively.
As optimization, the calculation method of the step S6 is as follows:
S6.1, the coordinate for having measured 3 radar surveying slaves is set to Ai(xi, yi, zi), distance measurement result
For Ri；Distance measurement result is R after variationi′；Number of the i for radar surveying slave, i=1,2,3；
It is B (x, y, z) that S6.2, building equation group, which calculate the initial coordinate of measured point:
It is available
S6.3, calculate measured point to 3 radar surveying slaves distance change amount E；
S6.4, building equation group calculate the three-dimensional space displacement of measured point, to obtain the three-D displacement of measured point
Deformation quantity D:
As optimization, the distance measurement result RiMeasurement is completed by the time difference measurement unit in the microwave radar range instrument；
The coordinate of 3 radar surveying slaves Beidou ground strengthening system with Beidou receiving unit is demarcated.
As optimization, the radar surveying host is connect by optical fiber with 3 radar surveying slaves.
The beneficial effects of the present invention are:
The present invention uses microwave to substitute light wave as measuring tool and completes structural key using multiple terrestrial microwave rangefinders
The high-precision distance test of point, and the space coordinate of measuring point is calculated referring to the working principle of global position system, make Beidou system
The measurement accuracy of three-dimensional deformation of uniting breaks through millimetre-sized bottleneck, moreover it is possible to all weather operations, unrelated with the operating distance of target.
Detailed description of the invention
Fig. 1 is a kind of method flow for the three-dimensional deformation measurement method that microwave radar is merged with Beidou of the present invention
Figure.
Fig. 2 is a kind of radar surveying master for the three-dimensional deformation measurement method that microwave radar is merged with Beidou of the present invention
The structural schematic diagram of machine, radar surveying slave and active reflector.
Fig. 3 is the concrete structure schematic diagram of radar surveying host and radar surveying slave.
Fig. 4 is the concrete structure schematic diagram of active reflector.
In attached drawing, 1 is radar surveying host, and 11 be control system, and 111 be ASIC Three-Dimensional Solution parser, and 112 be first micro- place
Device is managed, 113 be double frequency coding device, and 114 be the first amplifier, and 115 be microwave emitter, and 116 be Fiber Optical Communication System, and 12 be micro-
Wave radar range finder, 121 be microcontroller, and 1211 be phase demodulation processing unit, and 1212 be time difference measurement unit, and 122 is micro- for first
Wave source, 123 be the first power splitter, and 124 be the first power amplifier, and 125 be first annular device, and 126 be the first frequency mixer, and 127 be first
Demodulator, 128 be the first low noise amplifier, and 1281 be the second low noise amplifier, and 129 be first filter, and 1291 be the second filter
Wave device, 1292 be third filter, and 1293 be the 4th filter, and 1294 be the 5th filter, and 13 be Beidou receiving unit, and 14 are
5th antenna, 2 be radar surveying slave, and 21 be first antenna, and 22 be the 4th antenna, and 3 be active reflector, and 31 be second day
Line, 311 be third antenna, and 32 be the second circulator, and 33 be the second frequency mixer, and 34 be low-pass filter, and 35 be the second microwave source,
36 be the second demodulator, and 361 be modulator, and 37 be address resolution and adaptation, and 38 be the second power splitter, and 39 be the second power amplifier,
391 be third power amplifier, and 392 be the 4th power amplifier, and 393 be third low noise amplifier.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawing.
As shown in Figure 1, the three-dimensional deformation measurement method that a kind of microwave radar is merged with Beidou, including radar surveying host 1,
3 radar surveying slaves 2 and active reflector 3, radar surveying host 1 are connect by optical fiber with 3 radar surveying slaves 2.
Radar surveying host 1 and radar surveying slave 2 include microwave radar range instrument 12, Beidou receiving unit 13, thunder
It further include control system 11 and the 5th antenna 14 up to measurement host 1, radar surveying slave 2 further includes first antenna 21 and the 4th day
Line 22.
Control system 11 is made of dsp chip and FPGA, including ASIC Three-Dimensional Solution parser 111, first microprocessor 112,
Double frequency coding device 113, the first amplifier 114, Fiber Optical Communication System 116 and microwave emitter 115, first microprocessor 112 divide
Not with input terminal/output end of ASIC Three-Dimensional Solution parser 111, the input terminal of double frequency coding device 113 and Fiber Optical Communication System 116
The connection of input terminal/output end, the first amplifier 114 respectively with the output end of double frequency coding device 113, microwave emitter 115 it is defeated
Enter end connection, the output end of microwave emitter 115 is connect with the 5th antenna 14.In the present embodiment, the 5th antenna 14 is microwave thunder
Up to rod-type transmitting aerial.
Control system 11 is used to send microwave double frequency coding address to active anti-to the active reflector 3 that measured point is arranged in
The active reflector 3 of emitter 3, address matching opens electronic switch；Radar surveying host 1 sends control signal to thunder by optical fiber
Up to measurement slave 2, control radar measures slave 2 and sends distance measuring signal to active reflector 3, and the transmitting of active reflector 3 returns to letter
Number give radar surveying slave 2, radar surveying slave 2 by return signal by demodulation, filter, phase demodulation obtain distance measurement result, then
Radar surveying host 1 is sent by optical fiber together with the Beidou time by distance measurement result, radar surveying host 1 carries out distance measurement result
The parsing of three-dimensional deformation data.
The detailed process of control system 11 are as follows: first microprocessor 112 controls double frequency coding device 113 with generating double frequency coding
Location signal is amplified signal by the first amplifier 114, and after sending amplification by microwave emitter 115 and the 5th antenna 14
Double frequency coding address signal to active reflector.First microprocessor 112 measures the microwave of slave 2 by optical fiber control radar
Radar range finder 12 sends distance measuring signal, receives the range information that radar surveying slave 2 is sent simultaneously also by optical fiber.Beidou connects
Receiving unit 13 cooperates Beidou ground strengthening system to carry out Accurate Calibration to the three-dimensional coordinate of 3 radar surveying slaves 2, and in ranging
After the precise time of this ranging is provided.Beidou receiving unit 13 specifically includes Beidou receiver and Beidou antenna.Work as thunder
Pass through demodulation, filtering, phase demodulation after receiving the return signal of measured point up to measurement slave 2, then by distance measurement result together with Beidou
Time is sent to radar surveying host 1 by Fiber Optical Communication System, completes three-dimensional deformation parsing by ASIC Three-Dimensional Solution parser 111.
From measuring principle it is found that resolving needs to solve one group of Nonlinear System of Equations.But when distance change amount is smaller, it can pass through
First order is chosen in the expansion of platform Taylor number, and Nonlinear System of Equations is become system of linear equations.Control system 11 is by dsp chip and FPGA
Composition, using the digital signal processing function of DSP, in conjunction with the parallel processing capability of FPGA, single-point 3 D analysis speed can be real
Existing 2KHz level above.
In the present embodiment, first microprocessor 112 is used using microprocessor common in the market, double frequency coding device
Two-way photoelectricity/Hall/motor encoder.
Microwave radar range instrument 12 includes microcontroller 121, phase demodulation processing unit 1211, time difference measurement unit 1212, the
One circulator 125, the first demodulator 127, the first power splitter 123, the first microwave source 122, the filtering of the first frequency mixer 126, first
Device 129, second filter 1291, third filter 1292, the 4th filter 1293, the 5th filter 1294, the first low noise
Big device, 128 second low noise amplifiers 1281 and the first power amplifier 124, the output with Beidou receiving unit 13 respectively of microcontroller 121
End, input terminal/output end of Fiber Optical Communication System 116, the output end of phase demodulation processing unit 1211, time difference measurement unit 1212
The connection of the input terminal of output end and the first microwave source 122；The input terminal of first power splitter 123 is defeated with the first microwave source 122
Outlet connection, the output end of the first power splitter 123 are connect with the input terminal of the first power amplifier 124, the first frequency mixer 126 respectively；The
The output end of one power amplifier 124 is connect with first annular device 125；First annular device 125 also respectively with first antenna 21, the first low noise
The input terminal of amplifier 128 connects；First low noise amplifier 128 is another by first filter 129 and the first frequency mixer 126
Input terminal connection；The output end of first frequency mixer 126 is defeated with phase demodulation processing unit 1211 respectively by second filter 1291
Enter the input terminal connection at end, time difference measurement unit 1212；4th antenna 22 passes through the second low noise amplifier 1281 and the first demodulation
Device 127 connects, and the first demodulator 127 is divided by third filter 1292, the 4th filter 1293, the 5th filter 1294 respectively
It is not connect with the input terminal of the input terminal of phase demodulation processing unit 1211, time difference measurement unit 1212.The direction of first annular device 125
For the first power amplifier 124 to first antenna 21,21 to the first low noise amplifier 128 of first antenna.
In the present embodiment, first antenna 21 is microwave radar transmit/receive antenna, and the 4th antenna 22 is microwave radar reception
Antenna.Microcontroller 121 uses ARM microcontroller, and still, this is not represented only with a kind of this microcontroller.
Microwave radar range instrument 12 by the ranging of high-precision laser interferometric phase in conjunction with Microwave Active reflection technology, microwave has
The reflection of source alien frequencies and high accuracy number phase demodulation combine, and using the frequency difference of carrier frequency and time difference identification technology and based on high speed
Digital phase detection technology reaches precision distance measurement target.
The detailed process of microwave radar range instrument 12 are as follows: microcontroller 121 receives the letter of the control from radar surveying host 1
After number, control signal is issued to the first microwave source 122, the first microwave source 122 generates tellurometer survey signal and is sent to the first function point
Tellurometer survey signal is divided into two by device 123, the first power splitter 123, and signal is sent to the first ring by the first power amplifier 124 all the way
Shape device 125, and the first antenna 21 by connecting with first annular device 125 is sent to active reflector 3；Another way signal directly passes
It is defeated by the first frequency mixer 126, the output signal of the first frequency mixer 126 is sent to phase demodulation processing unit by second filter 1291
1211 and time difference measurement unit 1212.
Since 2.4GHz, 5.8GHz wave band are mature, in the present embodiment, the output signal frequency of the first microwave source 122 includes
2.4GHz wave band.First power amplifier 124 and the first low noise amplifier 128 realize the amplification to signal, and input range includes
2.4GHz frequency range；To guarantee high-precision, noise coefficient is answered lower；Band gain is greater than 20-25dB or more.Second low noise amplifier
1281 for improving the signal-to-noise ratio into phase demodulation processing unit phase discrimination signal, and gain needs to reach 30-40dB just and can guarantee survey
Phase signals signal-to-noise ratio.
In the present embodiment, the first to the 5th filter is bandpass filter, and the filter for completing 2.4GHz band signal is made an uproar,
Passband includes 2.4GHz, and pass-band loss is lower, Out-of-band rejection degree is high.
First antenna 21, the 4th antenna 22 receive the return signal that active reflector 3 is sent respectively, and signal successively leads to all the way
Crossing the second low noise amplifier 1281, the first demodulator 127 and third to the 5th filter transfer gives phase demodulation processing unit 1222 and
Time difference measurement unit 1212；Another way signal passes sequentially through first annular device 125, the first low noise amplifier 128, first filter
129, the first frequency mixer 126, the first frequency mixer 126 is by the first microwave source 122 after wherein signal is mixed with this road signal all the way
Phase demodulation processing unit 1222 and time difference measurement unit 1212 are transferred to by second filter 1291.
In the present embodiment, the effect of setting third to the 5th filter is because what is surveyed is the three-dimensional position of active reflector
It moves, so needing to demodulate three microwaves, filtering, is measured and received between signal and transmitting signal by phase demodulation processing unit
Phase difference, to obtain the three-D displacement of active reflector.
Active reflector 3 includes the second antenna 31, third antenna 311, the second microprocessor 371, the second circulator 32, the
Two frequency mixers 33, the second power splitter 38, low-pass filter 34, the second demodulator 36, modulator 361, the second microwave source 35, address
Parsing and adaptation 37, the second power amplifier 39, third power amplifier 391, the 4th power amplifier 392, third low noise amplifier 393；Second annular
Device 32 is connect with the input terminal of the second antenna 31, the output end of third power amplifier 391, third low noise amplifier 393 respectively；Second function
The input terminal of device 38 is divided to connect with the second microwave source 35；The input with third power amplifier 391 respectively of the output end of second power splitter 38
The input terminal connection at end, the second frequency mixer 33；The output of another input terminal and third low noise amplifier 393 of second frequency mixer 33
End connection, the output end of the second frequency mixer 33 are connect with low-pass filter 34；The output end of low-pass filter 34 passes through the second function
It puts 39 to connect with the second demodulator 36, the output end of the second demodulator 36 is connect with address resolution with adaptation 37, address resolution
It is connect with the output end of adaptation 37 with the second microprocessor 371, the output end and modulator 361 of the second microprocessor 371 connect
It connects, the output end of modulator 361 is connect by the 4th power amplifier 392 with third antenna 311.In the present embodiment, the second demodulator 36
For FM demodulator.The direction of second circulator 32 is the second antenna 31 to third low noise amplifier 393, and third function 391 is put to the
Two antennas 31.In the present embodiment, the second antenna 31 is microwave radar transmit/receive antenna, and third antenna 311 is microwave radar hair
Penetrate antenna.Second microprocessor 371 is using microprocessor common in the market.
Second microwave source 35 is the signal source that can export 138-4200MHz any value, can facilitate setting and the first microwave
The difference frequency in source 122.
First power splitter 123 and the second power splitter 38 mainly realize microwave signal branch, the input terminal of the first power splitter 123
Frequency range must be about 3dB comprising 2.4GHz wave band, distribution loss；To avoid signal cross-talk, it should also have certain port every
From degree.
Low-pass filter 34 is completed to take out low frequency signal function, therefore its passband must be comprising surveying phase frequency, passband DC-
2MHz, Out-of-band rejection is in 3-1000MHz up to 56dB or more.
Second power amplifier 39 is for amplifying low frequency signal, to guarantee to enter the modulation degree of the FM signal of the second demodulator 36,
Its gain needs to reach 30-40dB just and can guarantee FM signal modulation degree.
To guarantee measurement accuracy, first antenna and the second antenna are selected as the flagpole antenna of 2.4GHz, gain 14dB,
Third antenna and the 4th antenna are selected as the flagpole antenna of 5.8GHz, gain 16dB.
Address resolution and adaptation 37 be used to parse the double frequency coding address signal of the transmission of radar surveying host 1 and and itself
Address matched, when active reflector 3 address and radar surveying host 1 transmit double frequency coding address signal matches at
After function, electronic switch is opened, the second microprocessor 371 is started to work, and the second antenna 31 of active reflector 3 receives radar surveying
The distance measuring signal that slave 2 transmits, the second microwave source 35 issue return signal and signal are divided into two by the second power splitter 38,
In the distance measuring signal that issues of the first microwave source of signal and radar surveying slave 2 all the way successively pass through the second frequency mixer 33, low pass
Filter 34, the second power amplifier 39 are transferred to the second microprocessor 371, and the second microprocessor 371 control modulator 361 will receive
Signal re-modulate to after 5.8GHz, by 392 amplified signal of the 4th power amplifier, radar surveying is transferred to by third antenna 311
Slave 2 is received by the 4th antenna 22 of radar surveying slave 2；Another way signal passes sequentially through the 391, second annular of third power amplifier
Device 32 is sent to radar surveying slave 2 by the second antenna 31, is received by the first antenna 21 of radar surveying slave 2.
Different measured points is arranged in different active reflectors 3, and each active reflector 3 has a specific address,
In specific time, the only active reflector ability return signal of address matching, to realize the time division multiplexing of multi-measuring point.Specifically
Using frequency identification mode, make the active reflector signal source centre frequency f of each radar surveying slave and each target point respectivelyIm
And fIInThere are small difference frequency Δ fImWith Δ fIIn, allow the transmitting signal center of each radar surveying slave and each active reflector
Frequency is not mutually equal, i.e. Δ fIm≠ΔfI(m+1)And Δ fIIn≠ΔfII(j+n), wherein fIIndicate the signal source of radar surveying slave
Centre frequency, fIIIndicate the signal source centre frequency of active reflector, m, n respectively indicate radar surveying slave and active reflector
Quantity.The difference frequency of radar surveying slave and active reflector is completed by the first frequency mixer and the second frequency mixer respectively.
Phase frequency is surveyed and in each radar surveying slave using frequency identification technology by adjusting, thus real on frequency domain
The now identification of more radars, multiple target, and eliminate transmitting radar antenna leakage and interfered with multipath.In the present embodiment, frequency mixer can
To be substituted with multiplier.
Measuring three-dimensional deformation, specific step is as follows:
S1, it is separately positioned at opposite fixed point different outside measured point using 3 radar surveying slaves as datum mark, it will
Active reflector is separately positioned on measured point.In the present embodiment, radar surveying slave should be less than with a distance from measured point
1000m。
S2, radar surveying host successively send microwave double frequency coding address to active reflector by antenna, and send control
Signal processed gives radar surveying slave, and radar surveying slave sends distance measuring signal to the active reflector.First microprocessor control
Double frequency coding device processed provides double frequency coding address, and is sent to active reflector by the 5th antenna by microwave emitter.
S3, active reflector receive the address matching behind microwave double frequency coding address with itself, open after successful match
Electronic switch.
S4, active reflector receive the distance measuring signal that 3 radar surveying slaves are sent and issue return signal to 3 radars
Measure slave.
Received return signal is obtained ranging by demodulation, filtering, time difference measurement, phase demodulation by S5,3 radar surveying slaves
As a result, and the coordinate information of distance measurement result and Beidou time, radar surveying slave is transferred to radar surveying host.
The measurement that initial distance is completed by time difference measurement unit realizes that distance change measures by phase demodulation processing unit
Amount.In the present embodiment, time difference measurement unit uses the dedicated timekeeping circuit of TDC-GP2, and phase demodulation processing unit uses Fourier transformation
Phase Demodulation.
The range measurement principle of TDC-GP2 are as follows: microwave radar range instrument launches microwave simultaneously will transmitting microwave pulse wave input
To the port start of TDC-GP2, time difference measurement is triggered.Once the reflected microwave pulse wave passed back from active reflector reaches
Antenna, then generate the signal of a stop to TDC, this when of time difference measurement is completed.From start to stop microwave pulse wave it
Between the time difference accurately recorded by TDC-GP2, for calculating active reflector at a distance from microwave radar range instrument.
S6, active refelction is calculated according to the coordinate information of distance measurement result and radar surveying host and radar surveying slave
The three-D displacement deformation quantity of device.
Specific steps are as follows:
S6.1, the coordinate for having measured 3 radar surveying slaves is set to Ai(xi, yi, zi), initial ranging result
For Ri；Distance measurement result is R after variationi′；Number of the i for radar surveying slave, i=1,2,3.The coordinate of 3 radar surveying slaves
Beidou receiving unit receives Beidou satellite system and calculates.
It is B (x, y, z) that S6.2, building equation group, which calculate the initial coordinate of measured point:
It is available
S6.3, calculate measured point to 3 radar surveying slaves distance change amount E；
S6.4, building equation group calculate the three-dimensional space displacement of measured point, to obtain the three-D displacement of measured point
Deformation quantity D:
The method of specific measurement Displacement-deformation amount is as follows:
Assuming that it is respectively f that microwave radar range instrument and the respective signal source I of active reflector and II, which respectively issue frequency,0With
f1Signal, by modulation /demodulation frequency conversion be fBiAnd fAiAlien frequencies microwave signal, and respectively by respective antenna to distal end send out
It penetrates；The alien frequencies microwave signal that this two beam transmits in opposite directions is transmitted at a distance, with the phase demodulation in radar surveying host/radar surveying slave
Processing unit measures fBiAnd fAiBetween phase differenceThen distanceWherein,
C is the light velocity, N f0Corresponding half-wavelength number, the period of the time difference and microwave measured by time difference measurement unit
It converses and；It is tested out by phase demodulation processing unit.
Displacement-deformation amount Δ R are as follows:
Displacement-deformation measurement accuracy δ (Δ R) are as follows:
The phase measurement of microwave interference signal, it can be achieved that the high precision displacement of optical wavelength rank measures, and measurement accuracy with
Operating distance is unrelated.It is transplanted in radar, distance change measurement accuracy δ (Δ R) is just dependent only on phase demodulation errorAnd microwave frequency f0。
For example, to f0For the microwave of=1GHz, as long as precision of phase discrimination is broken through1mm can be broken through
Range accuracy.And according to currentPhase discriminating technology is horizontal and the microwave of 2.4GHz, 5.8GHz are exempted from
It takes a lot of work working frequency, the theoretical range precision of radar makes the theoretical measurement accuracy of three-dimensional deformation that can break through grade up to 0.01mm.
Finally, it should be noted that those skilled in the art various changes and modifications can be made to the invention without departing from
The spirit and scope of the present invention.In this way, if these modifications and changes of the present invention belongs to the claims in the present invention and its waits system
Within the scope of counting, then the present invention is also intended to encompass these modification and variations.
Claims (6)
1. the three-dimensional deformation measurement method that a kind of microwave radar is merged with Beidou, including radar surveying host, 3 radar surveyings from
Machine and active reflector, which comprises the following steps:
S1, it is separately positioned at opposite fixed point different outside measured point using 3 radar surveying slaves as datum mark, it will
Active reflector is separately positioned on measured point；
S2, the radar surveying host successively send microwave double frequency coding address to the active reflector, concurrently by antenna
Send control signal to the radar surveying slave, the radar surveying slave sends distance measuring signal to the active reflector；
S3, the active reflector receive the address matching behind microwave double frequency coding address with itself, open after successful match
Electronic switch；
S4, the active reflector receive the distance measuring signal that 3 radar surveying slaves are sent and issue return signal to 3 radars
Measure slave；
Received return signal is obtained ranging by demodulation, filtering, time difference measurement, phase demodulation by S5,3 radar surveying slaves
As a result, and the coordinate information of distance measurement result and Beidou time, radar surveying slave is transferred to radar surveying host；
S6, the radar surveying host calculate institute according to the coordinate information of distance measurement result and 3 radar surveying slaves
State the three-D displacement deformation quantity of active reflector.
2. the three-dimensional deformation measurement method that a kind of microwave radar according to claim 1 is merged with Beidou, which is characterized in that
The radar surveying host and the radar surveying slave include microwave radar range instrument, Beidou receiving unit, the radar
Measuring host further includes control system and the 5th antenna, and the radar surveying slave further includes first antenna and the 4th antenna；Institute
Stating active reflector includes the second antenna, third antenna, the second microprocessor, the second circulator, the second frequency mixer, the second function point
Device, low-pass filter, the second demodulator, modulator, the second microwave source, address resolution and matching unit, the second power amplifier, third function
It puts, the 4th power amplifier, third low noise amplifier；Second circulator respectively with second antenna, third power amplifier output end,
The input terminal of third low noise amplifier connects；The input terminal of second power splitter is connect with second microwave source；Described
The output end of two power splitters is connect with the input terminal of the input terminal of the third power amplifier, the second frequency mixer respectively；Described second is mixed
Another input terminal of frequency device is connect with the output end of the third low noise amplifier, the output end of second frequency mixer with it is described
Low-pass filter connection；The output end of the low-pass filter is connect by second power amplifier with second demodulator, institute
The output end for stating the second demodulator is connect with the address resolution with adaptation, the output end of the address resolution and adaptation with
Second microprocessor connection, the output end of second microprocessor are connect with the modulator, the modulator it is defeated
Outlet is connect by the 4th power amplifier with the third antenna.
3. the three-dimensional deformation measurement method that a kind of microwave radar according to claim 2 is merged with Beidou, which is characterized in that
The control system includes ASIC Three-Dimensional Solution parser, first microprocessor, double frequency coding device, the first amplifier, optical-fibre communications system
System and microwave emitter, the first microprocessor are compiled with input terminal/output end of the ASIC Three-Dimensional Solution parser, double frequency respectively
The input terminal of code device is connected with input terminal/output end of Fiber Optical Communication System, and first amplifier is compiled with the double frequency respectively
The input terminal connection of the output end, microwave emitter of code device, the output end of the microwave emitter are connect with the 5th antenna；
The microwave radar range instrument includes microcontroller, phase demodulation processing unit, time difference measurement unit, first annular device, the first demodulation
Device, the first power splitter, the first microwave source, the first frequency mixer, first filter, second filter, third filter, the 4th filtering
Device, the 5th filter, the first low noise amplifier, the second low noise amplifier and the first power amplifier, the microcontroller respectively with it is described
The output end of Beidou receiving unit, input terminal/output end of Fiber Optical Communication System, the output end of phase demodulation processing unit, the time difference survey
Measure the input terminal connection of the output end and the first microwave source of unit；The input terminal of first power splitter and first microwave
The output end in source connects, and the output end of first power splitter connects with the input terminal of first power amplifier, the first frequency mixer respectively
It connects；The output end of first power amplifier is connect with the first annular device；The first annular device also respectively with described first day
The input terminal connection of line, the first low noise amplifier；First low noise amplifier passes through the first filter and described first
Another input terminal of frequency mixer connects；The output end of first frequency mixer by the second filter respectively with the phase demodulation
The input terminal connection of the input terminal, time difference measurement unit of processing unit；4th antenna passes through second low noise amplifier
It is connect with first demodulator, first demodulator passes through the third filter, the 4th filter, the 5th filtering respectively
Device is connect with the input terminal of the input terminal of the phase demodulation processing unit, time difference measurement unit respectively.
4. the three-dimensional deformation measurement method that a kind of microwave radar according to claim 1 is merged with Beidou, which is characterized in that
The calculation method of the step S6 is as follows:
S6.1, the coordinate for having measured 3 radar surveying slaves is set to Ai(xi, yi, zi), distance measurement result Ri；
Distance measurement result is R after variationi′；Number of the i for radar surveying slave, i=1,2,3；
It is B (x, y, z) that S6.2, building equation group, which calculate the initial coordinate of measured point:
It is available
S6.3, calculate measured point to 3 radar surveying slaves distance change amount E；
S6.4, building equation group calculate the three-dimensional space displacement of measured point, to obtain the three-D displacement deformation of measured point
Measure D:
5. the three-dimensional deformation measurement method that a kind of microwave radar according to claim 4 is merged with Beidou, which is characterized in that
The distance measurement result RiMeasurement is completed by the time difference measurement unit in the microwave radar range instrument；3 radar surveyings from
The coordinate of machine Beidou ground strengthening system with Beidou receiving unit is demarcated.
6. the three-dimensional deformation measurement method that a kind of microwave radar according to claim 1 is merged with Beidou, which is characterized in that
The radar surveying host is connect by optical fiber with 3 radar surveying slaves.
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