CN110618403B - Landing aircraft parameter measuring method based on dual-beam radar - Google Patents

Landing aircraft parameter measuring method based on dual-beam radar Download PDF

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CN110618403B
CN110618403B CN201910791681.0A CN201910791681A CN110618403B CN 110618403 B CN110618403 B CN 110618403B CN 201910791681 A CN201910791681 A CN 201910791681A CN 110618403 B CN110618403 B CN 110618403B
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radar
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aircraft
doppler
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CN110618403A (en
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解虎
党红杏
李琪
贺亚鹏
张爱军
李栓劳
高飞
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Xian Institute of Space Radio Technology
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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
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • 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
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S13/581—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of interrupted pulse modulated waves and based upon the Doppler effect resulting from movement of targets
    • G01S13/582—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of interrupted pulse modulated waves and based upon the Doppler effect resulting from movement of targets adapted for simultaneous range and velocity measurements
    • 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
    • G01S13/91—Radar or analogous systems specially adapted for specific applications for traffic control
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/28—Details of pulse systems
    • G01S7/285—Receivers
    • G01S7/292—Extracting wanted echo-signals
    • G01S7/2923—Extracting wanted echo-signals based on data belonging to a number of consecutive radar periods
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G01S7/415—Identification of targets based on measurements of movement associated with the target

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
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  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

A landing aircraft parameter measurement method based on dual-beam radar comprises the following steps: (1) processing radar echo data which are arranged on an aircraft and have two mutually vertical wave beams and point to the ground to construct a received data matrix X1And X2(ii) a (2) To the received data matrix X1And X2Performing pulse compression, FFT and detection processing to obtain distance-Doppler information of two radar echo data; (3) transforming the distance-Doppler information of the two radar echo data to construct a corresponding data matrix; (4) inversely calculating the three-dimensional speed and the height of the landing aircraft according to the data matrix constructed in the step (3); (5) and repeating the steps, and processing the radar echo data in the next group of related processing time to obtain the real-time flight parameters of the aircraft. The invention obviously reduces the system complexity of the prior landing radar for measuring the flight parameters of the lander by adopting four beams, can realize the measurement of the flight parameters of the aircraft by only adopting two beams, and has high measurement precision of the aircraft parameters.

Description

Landing aircraft parameter measuring method based on dual-beam radar
Technical Field
The invention relates to a method for measuring parameters of a landing aircraft based on a dual-beam radar, which can be directly applied to flight parameter estimation of various deep space exploration landing platforms and belongs to the field of aircraft parameter measurement.
Background
The conventional landing radar flight parameter measurement mainly depends on single beam speed measurement and distance measurement, and then flight parameter data of a lander are jointly estimated by using respective measurement results according to the relative geometric relationship of a plurality of different directional beams. The accuracy of the flight parameter measurement radar of the system depends on two factors: beam center estimation accuracy, and beam center doppler velocity estimation accuracy. Currently, a gravity center method is mainly adopted for estimating the beam center, the beam center estimation accuracy is obviously reduced under a large incident angle, and in addition, Doppler expansion also influences the beam center estimation accuracy of the system, and the Doppler estimation accuracy at the beam center is also greatly influenced.
Disclosure of Invention
The invention content of the invention is as follows: the method overcomes the defects of the prior art, provides the method for measuring the parameters of the landing aircraft based on the dual-beam radar, can estimate the flight parameters of the aircraft by only adopting two beams, and has high estimation precision.
The technical solution of the invention is as follows:
a landing aircraft parameter measurement method based on dual-beam radar comprises the following steps:
(1) processing radar echo data which are arranged on an aircraft and have two mutually vertical wave beams and point to the ground to construct a received data matrix X of two radars1And X2；
(2) To the received data matrix X1And X2Performing pulse compression, FFT and detection processing to obtain distance-Doppler information of two radar echo data;
(3) transforming the distance-Doppler information of the two radar echo data to construct a corresponding data matrix;
(4) inversely calculating the three-dimensional speed and the height of the landing aircraft according to the data matrix constructed in the step (3);
(5) and (5) repeating the steps (1) to (4), and processing the radar echo data in the next group of related processing time to obtain the real-time flight parameters of the aircraft.
In the step (1), the step (c),
Figure BDA0002179721840000021
Figure BDA0002179721840000022
for a complex matrix of L rows and M columns, a received data matrix X1Row i and column m element x in (1)1(l, m) is the data sampled from the l base band signal of the m pulse of the first radar, and the data matrix X is received2Row i and column m element x in (1)2(l, m) is the l baseband signal sample data for the m pulse of the second radar.
In the step (2), the received data matrix X is processed1And X2Pulse compression is carried out according to columns to obtain range direction high-resolution echo data
Figure BDA0002179721840000023
And
Figure BDA0002179721840000024
the obtaining process is as follows:
Figure BDA0002179721840000025
Figure BDA0002179721840000026
wherein X1(m) denotes a received data matrix X1Column m of (1), X2(m) denotes a received data matrix X2The (c) th column (c) of (c),
Figure BDA0002179721840000027
representation matrix
Figure BDA0002179721840000028
The (c) th column (c) of (c),
Figure BDA0002179721840000029
representation matrix
Figure BDA00021797218400000210
M column of (2), symbol
Figure BDA00021797218400000211
Which represents a convolution operation, the operation of the convolution,
Figure BDA00021797218400000212
for the corresponding digital matching signal of the radar transmission signal s (t),
Figure BDA00021797218400000213
is a complex matrix of 1 row and P columns,
Figure BDA00021797218400000214
in the step (2), the pulse is compressed
Figure BDA00021797218400000215
And
Figure BDA00021797218400000216
FFT processing is carried out according to rows to obtain the echo data range Doppler spectrums of two radars
Figure BDA00021797218400000217
And
Figure BDA00021797218400000218
the acquisition process is as follows:
Figure BDA00021797218400000219
Figure BDA00021797218400000220
wherein the content of the first and second substances,
Figure BDA00021797218400000221
in the step (2), the two radars are returnedWave data range-doppler spectrum
Figure BDA00021797218400000222
And
Figure BDA00021797218400000223
and detecting to obtain the range-Doppler information of two radar echo data, wherein the process is as follows:
let the system detection threshold be rhoTHTo matrix
Figure BDA00021797218400000224
And
Figure BDA00021797218400000225
detecting to obtain a value greater than rhoTHThe echo time and Doppler value corresponding to the element of (1) are recorded and recorded
Figure BDA00021797218400000226
Wherein t is1Is a matrix
Figure BDA0002179721840000031
Median value greater than rhoTHThe echo time vector corresponding to the element of (f)d,1Is a matrix
Figure BDA0002179721840000032
Median value greater than rhoTHThe element of (a) corresponds to the Doppler value vector, t2Is a matrix
Figure BDA0002179721840000033
Median value greater than rhoTHThe echo time vector corresponding to the element of (f)d,2Is a matrix
Figure BDA0002179721840000034
Median value greater than rhoTHThe corresponding doppler value vector of the element of (a); j and K are respectively a matrix
Figure BDA0002179721840000035
Median value greater than rhoTHNumber of elements and matrix
Figure BDA0002179721840000036
Median value greater than rhoTHThe number of elements (c);
Figure BDA0002179721840000037
is a real matrix of J rows and 1 columns,
Figure BDA0002179721840000038
a real matrix of K rows and 1 column;
the range-doppler information of two radar echo data is detected as follows:
Figure BDA0002179721840000039
Figure BDA00021797218400000310
Figure BDA00021797218400000311
Figure BDA00021797218400000312
wherein
Figure BDA00021797218400000313
t1jIs t1The jth element of (1), t2kIs t2J is 1,2, …, J, K is 1,2, …, K, c is the speed of light.
The step (3) is realized as follows:
according to the range-Doppler information of two radar echo data, the following data matrix is constructed:
a＝[a1 a2 … aJ]
b＝[b1 b2 … bJ]
c＝[c1 c2 … cJ]
d＝[d1 d2 … dK]
e＝[e1 e2 … eK]
f＝[f1 f2 … fK]
wherein
Figure BDA0002179721840000041
Figure BDA0002179721840000042
Figure BDA0002179721840000043
Figure BDA0002179721840000044
Figure BDA0002179721840000045
Figure BDA0002179721840000046
Setting intermediate variables
Figure BDA0002179721840000047
x2＝vzH
Figure BDA0002179721840000048
Figure BDA0002179721840000049
Figure BDA00021797218400000410
Wherein v isx、vy、vzThe speed in the x direction, the speed in the y direction and the speed in the z direction of the landing aircraft are respectively, and H is the height of the landing aircraft;
from the two radar beam Doppler and range-Doppler information, the following matrix is constructed:
x＝[x1 x2 x3 x4 x5]T
Γ1 Tx+a＝0
Γ2 Tx+d＝0
wherein
Figure BDA00021797218400000411
Figure BDA00021797218400000412
Figure BDA00021797218400000413
Figure BDA00021797218400000414
The step (4) is realized as follows:
(S1) solving an intermediate variable x according to the data matrix constructed in the step (3):
the data matrix constructed in the step (3) can be written
ΓTx+g＝0
Wherein
Figure BDA0002179721840000051
Figure BDA0002179721840000052
Solved to obtain
Figure BDA00021797218400000515
Wherein
Figure BDA0002179721840000053
Representing a pseudo-inverse of the matrix;
(S2) according to x, the inverse calculation is obtained
Figure BDA0002179721840000054
And
Figure BDA0002179721840000055
(S3) solving for a geometric coupling relationship between two radar beams
Figure BDA0002179721840000056
The step (S2) is implemented as follows:
Figure BDA0002179721840000057
Figure BDA0002179721840000058
Figure BDA0002179721840000059
Figure BDA00021797218400000510
represents the estimated velocity of the aircraft in the x-direction,
Figure BDA00021797218400000511
represents the estimated velocity of the aircraft in the y-direction,
Figure BDA00021797218400000512
representing the estimated altitude of the aircraft.
The step (S3) is implemented as follows:
Figure BDA00021797218400000513
where mean (-) represents the mean value of the vector, α, β is
α＝[α1 α2 … αJ]
β＝[β1 β2 … βK]
Wherein
Figure BDA00021797218400000514
Figure BDA0002179721840000061
Compared with the prior art, the invention has the advantages that:
(1) the invention can estimate the flight parameters of the platform by only adopting two beams, and adopts a dual-beam combined processing mode, thereby having high processing precision.
(2) The dual-beam radar adopts the two strip-shaped planar antennas, so that the antenna is ensured to be narrower in azimuth beam and wider in range beam, the Doppler resolution of a single range ring is improved, the number of the range rings is increased, accurate estimation of platform parameters is finally realized, the installation is simple, and the weight is reduced.
(3) The invention utilizes the distance-Doppler dependence characteristic of ground echo caused by platform motion to back calculate the motion parameter of the platform, and has high estimation precision.
Drawings
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a schematic diagram of the range-Doppler coupling of aircraft flight parameters to echoes;
FIG. 3 is an isometric ring and iso-Doppler plot at different velocities;
FIG. 4 is a graph of velocity estimation error under different beam Doppler estimation biases;
fig. 5 shows the height estimation error under the Doppler estimation bias of different beams.
Detailed Description
The basic principle of the invention is as follows: 1) the motion parameters of the platform are inversely calculated by using the distance-Doppler dependence characteristic of the ground echo caused by the platform motion; 2) the dual-beam radar adopts two strip-shaped planar antennas, so that the antenna is ensured to be narrower in azimuth beam and wider in range beam, the Doppler resolution of a single range ring is improved, the number of the range rings is increased, and accurate estimation of platform parameters is finally realized.
As shown in fig. 1, the present invention comprises the steps of:
(1) processing radar echo data which are arranged on an aircraft and have two mutually vertical wave beams and point to the ground to construct a received data matrix X of two radars1And X2。
Figure BDA0002179721840000062
Figure BDA0002179721840000063
For a complex matrix of L rows and M columns, a received data matrix X1Row i and column m element x in (1)1(l, m) is the m-th pulse of the first radarSampling data by one baseband signal, receiving data matrix X2Row i and column m element x in (1)2(l, m) is the l baseband signal sample data for the m pulse of the second radar.
(2) And performing pulse compression, FFT (fast Fourier transform) and detection processing on the received data matrix to acquire the range-Doppler information of the two radar echo data.
To the received data matrix X1And X2Pulse compression is carried out according to columns to obtain range direction high-resolution echo data
Figure BDA0002179721840000071
And
Figure BDA0002179721840000072
the obtaining process is as follows:
Figure BDA0002179721840000073
Figure BDA0002179721840000074
wherein X1(m) denotes a received data matrix X1Column m of (1), X2(m) denotes a received data matrix X2The (c) th column (c) of (c),
Figure BDA0002179721840000075
representation matrix
Figure BDA0002179721840000076
The (c) th column (c) of (c),
Figure BDA0002179721840000077
representation matrix
Figure BDA0002179721840000078
M column of (2), symbol
Figure BDA0002179721840000079
To representThe operation of the convolution is carried out,
Figure BDA00021797218400000710
for the corresponding digital matching signal of the radar transmission signal s (t),
Figure BDA00021797218400000711
is a complex matrix of 1 row and P columns,
Figure BDA00021797218400000712
for after pulse compression
Figure BDA00021797218400000728
And
Figure BDA00021797218400000714
FFT processing is carried out according to rows to obtain the echo data range Doppler spectrums of two radars
Figure BDA00021797218400000715
And
Figure BDA00021797218400000716
the acquisition process is as follows:
Figure BDA00021797218400000717
Figure BDA00021797218400000718
wherein the content of the first and second substances,
Figure BDA00021797218400000719
range-doppler spectra of echo data for two radars
Figure BDA00021797218400000720
And
Figure BDA00021797218400000721
and detecting to obtain the range-Doppler information of two radar echo data, wherein the process is as follows:
let the system detection threshold be rhoTHTo matrix
Figure BDA00021797218400000722
And
Figure BDA00021797218400000723
detecting to obtain a value greater than rhoTHThe echo time and Doppler value corresponding to the element of (1) are recorded and recorded
Figure BDA00021797218400000724
Wherein t is1Is a matrix
Figure BDA00021797218400000725
Median value greater than rhoTHThe echo time vector corresponding to the element of (f)d,1Is a matrix
Figure BDA00021797218400000726
Median value greater than rhoTHThe element of (a) corresponds to the Doppler value vector, t2Is a matrix
Figure BDA00021797218400000727
Median value greater than rhoTHThe echo time vector corresponding to the element of (f)d,2Is a matrix
Figure BDA0002179721840000081
Median value greater than rhoTHThe corresponding doppler value vector of the element of (a); j and K are respectively a matrix
Figure BDA0002179721840000082
Median value greater than rhoTHNumber of elements and matrix
Figure BDA0002179721840000083
Median value greater than rhoTHThe number of elements (c);
Figure BDA0002179721840000084
a real matrix representing J rows and 1 columns,
Figure BDA0002179721840000085
a real matrix representing K rows and 1 columns;
the range-doppler information of two radar echo data is detected as follows:
Figure BDA0002179721840000086
Figure BDA0002179721840000087
Figure BDA0002179721840000088
Figure BDA0002179721840000089
wherein
Figure BDA00021797218400000810
t1jIs t1The jth element of (1), t2kIs t2J is 1,2, …, J, K is 1,2, …, K, c is the speed of light.
(3) And transforming the distance-Doppler information of the two radar echo data to construct a corresponding data matrix.
According to the range-Doppler information of two radar echo data, the following data matrix is constructed:
a＝[a1 a2 … aJ]
b＝[b1 b2 … bJ]
c＝[c1 c2 … cJ]
d＝[d1 d2 … dK]
e＝[e1 e2 … eK]
f＝[f1 f2 … fK] (5)
wherein
Figure BDA00021797218400000811
Figure BDA00021797218400000812
Figure BDA00021797218400000813
Figure BDA00021797218400000814
Figure BDA00021797218400000815
Figure BDA00021797218400000816
And intermediate variables
Figure BDA0002179721840000091
Wherein v isx、vy、vzThe speed in the x direction, the speed in the y direction and the speed in the z direction of the landing aircraft are respectively, and H is the height of the landing aircraft;
the following matrix is constructed by the above formula:
x＝[x1 x2 x3 x4 x5]T (8)
assuming that the beam pointing plane is the XZ plane, it can be seen from FIG. 2 that the distance-Doppler coupling relationship is only with vxH, related, the relationship is as follows:
Figure BDA0002179721840000092
fd,Rsindicating the Doppler frequency, R, at a distance RssRepresents the skew distance; fig. 3 shows a doppler distribution diagram of bottom radar echoes at different flight speeds, and it can be seen from the above formula and fig. 3 that there is a one-to-one correspondence relationship between the flight speed altitude and the doppler distribution of ground radar echoes, and the range doppler information of the radar echoes is used to effectively estimate the flight parameters of the aircraft.
Obviously, a single beam can only measure two-dimensional velocity and platform height, and introducing a beam perpendicular to it can solve vyIs estimated. To distinguish the two beams, let XZ plane beam be 1, YZ plane beam be 2, and their corresponding Doppler and distance be f respectivelyd1、fd2And RS1、RS2Then for beam 1 the distance of the jth range ring
Figure BDA0002179721840000093
And corresponding thereto
Figure BDA0002179721840000094
There are the following coupling relationships
Figure BDA0002179721840000095
Distance of kth range ring of beam 2
Figure BDA0002179721840000096
And corresponding thereto
Figure BDA0002179721840000097
There are the following coupling relationships
Figure BDA0002179721840000101
Considering beam 1, varying the above equation yields:
Figure BDA0002179721840000102
taking the square of two sides respectively to obtain
Figure BDA0002179721840000103
For beam 2, the same holds
Figure BDA0002179721840000104
The two formulas are simplified into
aj+x1+b x2+cjx3＝0
dk+x4+ekx2+fkx5＝0 (15)
Wherein
Figure BDA0002179721840000105
Figure BDA0002179721840000106
Figure BDA0002179721840000107
Figure BDA0002179721840000108
Figure BDA0002179721840000109
Figure BDA00021797218400001010
And intermediate variables
Figure BDA00021797218400001011
From this, the following relation matrix is constructed
Γ1,j Tx+aj＝0
Γ2,k Tx+dk＝0 (18)
Wherein
Figure BDA0002179721840000111
Beam 1 gets J range-Doppler data, beam 2 gets K range-Doppler data for simultaneous x-ray yielding:
Γ1 Tx+a＝0
Γ2 Tx+d＝0 (20)
wherein
Figure BDA0002179721840000112
The above union can write
ΓTx+g＝0 (22)
Wherein
Figure BDA0002179721840000113
Figure BDA0002179721840000114
Solved to obtain
Figure BDA0002179721840000115
Wherein
Figure BDA0002179721840000116
Representing the pseudo-inverse of the matrix. The explicit solution of the system parameter estimation can be given by the formula, and the calculation amount of the system can be reduced.
(4) And calculating the intermediate variable value according to the constructed data matrix, and then calculating the three-dimensional speed and height of the platform in a reverse mode.
Obtaining x by solving in the last step and obtaining by inverse calculation
Figure BDA0002179721840000121
Figure BDA0002179721840000122
Figure BDA0002179721840000123
But vzAnd x3 x3 x3All have coupling relation, and accurately solve vzThe geometric coupling relationship between beams 1 and 2 needs to be exploited. v. ofx、vy、vzThe speed in the x direction, the speed in the y direction and the speed in the z direction of the landing aircraft are respectively, and H is the height of the landing aircraft.
Substituting the estimation result of equation (25) into (10) and (11) yields a result regarding v onlyzSystem of equations (1)
Figure BDA0002179721840000124
Figure BDA0002179721840000125
Wherein
Figure BDA0002179721840000126
Figure BDA0002179721840000127
Then
Figure BDA0002179721840000128
Is estimated as
Figure BDA0002179721840000129
Where mean (-) represents the mean value of the vector, α, β is
α＝[α1 α2 … αJ]
β＝[β1 β2 … βK] (30)
(5) And repeating the steps to process the next group of radar echo data to obtain the real-time flight parameters of the aircraft.
Simulation experiment results:
platform parameters: the flying height H is 200 m; speed in the X direction: v. ofx600 m/s; velocity v in Y directiony＝-400m/s；vz＝10m/s。
Fig. 4 and 5 show the analysis of the influence of the doppler estimation deviation on the system measurement accuracy, which shows that the method of the present invention has a better suppression degree on the doppler estimation accuracy, and can obtain better speed and altitude estimation accuracy.
The invention provides a method for measuring the flight parameters (height and three-dimensional speed) of a lander based on a dual-beam radar, which aims to solve the problem of measurement of the flight parameters of the existing landing radar, remarkably reduces the system complexity of the existing landing radar for measuring the flight parameters of the lander by adopting four beams, and can realize measurement of the flight parameters of an aircraft by only adopting the dual beams.
Those skilled in the art will appreciate that the invention may be practiced without these specific details.

Claims (9)

1. A landing aircraft parameter measurement method based on dual-beam radar is characterized by comprising the following steps:
(1) processing radar echo data which are arranged on an aircraft and have two mutually vertical wave beams and point to the ground to construct a received data matrix X of two radars1And X2；
(2) To the received data matrix X1And X2Performing pulse compression, FFT and detection processing to obtain distance-Doppler information of two radar echo data;
(3) transforming the distance-Doppler information of the two radar echo data to construct a corresponding data matrix;
(4) inversely calculating the three-dimensional speed and the height of the landing aircraft according to the data matrix constructed in the step (3);
(5) and (5) repeating the steps (1) to (4), and processing the radar echo data in the next group of related processing time to obtain the real-time flight parameters of the aircraft.
2. The method of claim 1, wherein in step (1),
Figure FDA0002179721830000011
Figure FDA0002179721830000012
receiving data for a complex matrix of L rows and M columnsMatrix X1Row i and column m element x in (1)1(l, m) is the data sampled from the l base band signal of the m pulse of the first radar, and the data matrix X is received2Row i and column m element x in (1)2(l, m) is the l baseband signal sample data for the m pulse of the second radar.
3. The method of claim 1, wherein in step (2), the received data matrix X is a matrix of X1And X2Pulse compression is carried out according to columns to obtain range direction high-resolution echo data
Figure FDA0002179721830000013
And
Figure FDA0002179721830000014
the obtaining process is as follows:
Figure FDA0002179721830000015
Figure FDA0002179721830000016
wherein X1(m) denotes a received data matrix X1Column m of (1), X2(m) denotes a received data matrix X2The (c) th column (c) of (c),
Figure FDA0002179721830000017
representation matrix
Figure FDA0002179721830000018
The (c) th column (c) of (c),
Figure FDA0002179721830000019
representation matrix
Figure FDA00021797218300000110
M column of (2), symbol
Figure FDA00021797218300000111
Which represents a convolution operation, the operation of the convolution,
Figure FDA0002179721830000021
for the corresponding digital matching signal of the radar transmission signal s (t),
Figure FDA0002179721830000022
is a complex matrix of 1 row and P columns,
Figure FDA0002179721830000023
4. the method of claim 3, wherein in step (2), the compressed pulses are measured
Figure FDA0002179721830000024
And
Figure FDA0002179721830000025
FFT processing is carried out according to rows to obtain the echo data range Doppler spectrums of two radars
Figure FDA0002179721830000026
And
Figure FDA0002179721830000027
the acquisition process is as follows:
Figure FDA0002179721830000028
Figure FDA0002179721830000029
wherein the content of the first and second substances,
Figure FDA00021797218300000210
5. the method of claim 4, wherein in step (2), the range-Doppler spectra of the echo data of two radars are measured
Figure FDA00021797218300000211
And
Figure FDA00021797218300000212
and detecting to obtain the range-Doppler information of two radar echo data, wherein the process is as follows:
let the system detection threshold be rhoTHTo matrix
Figure FDA00021797218300000213
And
Figure FDA00021797218300000214
detecting to obtain a value greater than rhoTHThe echo time and Doppler value corresponding to the element of (1) are recorded and recorded
Figure FDA00021797218300000215
Wherein t is1Is a matrix
Figure FDA00021797218300000216
Median value greater than rhoTHThe echo time vector corresponding to the element of (f)d,1Is a matrix
Figure FDA00021797218300000217
Median value greater than rhoTHThe element of (a) corresponds to the Doppler value vector, t2Is a matrix
Figure FDA00021797218300000218
Median value greater than rhoTHThe echo time vector corresponding to the element of (f)d,2Is a matrix
Figure FDA00021797218300000219
Median value greater than rhoTHThe corresponding doppler value vector of the element of (a); j and K are respectively a matrix
Figure FDA00021797218300000220
Median value greater than rhoTHNumber of elements and matrix
Figure FDA00021797218300000221
Median value greater than rhoTHThe number of elements (c);
Figure FDA00021797218300000222
is a real matrix of J rows and 1 columns,
Figure FDA00021797218300000223
a real matrix of K rows and 1 column;
the range-doppler information of two radar echo data is detected as follows:
Figure FDA00021797218300000224
Figure FDA00021797218300000225
Figure FDA00021797218300000226
Figure FDA00021797218300000227
wherein
Figure FDA0002179721830000031
t1jIs t1The jth element of (1), t2kIs t2J is 1,2, …, J, K is 1,2, …, K, c is the speed of light.
6. A method for measuring landing aircraft parameters based on dual beam radar as claimed in claim 5, characterized in that said step (3) is implemented as follows:
according to the range-Doppler information of two radar echo data, the following data matrix is constructed:
a＝[a1 a2 … aJ]
b＝[b1 b2 … bJ]
c＝[c1 c2 … cJ]
d＝[d1 d2 … dK]
e＝[e1 e2 … eK]
f＝[f1 f2 … fK]
wherein
Figure FDA0002179721830000032
Figure FDA0002179721830000033
Figure FDA0002179721830000034
Figure FDA0002179721830000035
Figure FDA0002179721830000036
Figure FDA0002179721830000037
Setting intermediate variables
Figure FDA0002179721830000038
x2＝vzH
Figure FDA0002179721830000039
Figure FDA00021797218300000310
Figure FDA00021797218300000311
Wherein v isx、vy、vzThe speed in the x direction, the speed in the y direction and the speed in the z direction of the landing aircraft are respectively, and H is the height of the landing aircraft;
from the two radar beam Doppler and range-Doppler information, the following matrix is constructed:
x＝[x1 x2 x3 x4 x5]T
Γ1 Tx+a＝0
Γ2 Tx+d＝0
wherein
Figure FDA0002179721830000041
Figure FDA0002179721830000042
Figure FDA0002179721830000043
Figure FDA0002179721830000044
7. A method for measuring landing aircraft parameters based on dual beam radar as claimed in claim 6, characterized in that said step (4) is implemented as follows:
(S1) solving an intermediate variable x according to the data matrix constructed in the step (3):
the data matrix constructed in the step (3) can be written
ΓTx+g＝0
Wherein
Figure FDA0002179721830000045
Figure FDA0002179721830000046
Solved to obtain
Figure FDA0002179721830000047
Wherein
Figure FDA0002179721830000048
Representing a pseudo-inverse of the matrix;
(S2) according to x, the inverse calculation is obtained
Figure FDA0002179721830000049
And
Figure FDA00021797218300000410
(S3) solving for a geometric coupling relationship between two radar beams
Figure FDA00021797218300000411
8. A method for measuring landing aircraft parameters based on dual beam radar as claimed in claim 7, characterized in that said step (S2) is implemented as follows:
Figure FDA00021797218300000412
Figure FDA00021797218300000413
Figure FDA00021797218300000414
Figure FDA0002179721830000051
represents the estimated velocity of the aircraft in the x-direction,
Figure FDA0002179721830000052
represents the estimated velocity of the aircraft in the y-direction,
Figure FDA0002179721830000053
representing the estimated altitude of the aircraft.
9. A method for measuring landing aircraft parameters based on dual beam radar as claimed in claim 7, characterized in that said step (S3) is implemented as follows:
Figure FDA0002179721830000054
where mean (-) represents the mean value of the vector, α, β is
α＝[α1 α2 … αJ]
β＝[β1 β2 … βK]
Wherein
Figure FDA0002179721830000055
Figure FDA0002179721830000056
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