CN111337032A - Circulating corner reflector and satellite tracking method thereof - Google Patents
Circulating corner reflector and satellite tracking method thereof Download PDFInfo
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- CN111337032A CN111337032A CN202010206370.6A CN202010206370A CN111337032A CN 111337032 A CN111337032 A CN 111337032A CN 202010206370 A CN202010206370 A CN 202010206370A CN 111337032 A CN111337032 A CN 111337032A
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- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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Abstract
The invention discloses a circulating type corner reflector and a satellite tracking method thereof, wherein the circulating type corner reflector comprises a corner reflector body, an elevation angle adjusting mechanism and a main control unit, the main control unit controls the elevation angle adjusting mechanism in a circulating manner, the elevation angle adjusting mechanism is movably connected with the corner reflector body, and the satellite tracking method comprises the steps of determining the transit time and the incident angle of a satellite to be captured, and storing the transit time and the corresponding incident angle of the satellite into a storage module; the single chip microcomputer calculates the difference value of transit time of different satellites to obtain a cycle period, and the cycle starting period of the stepping motor is determined according to the cycle period; after the stepping motor is started, the single chip microcomputer calculates the elevation angles of the corner reflectors when different satellites cross the border according to the incidence angles of the different satellites, and the elevation angles of the corner reflectors when the different satellites cross the border are differentiated to obtain elevation angle differences; the single chip microcomputer determines the rotating angle of the stepping motor according to the elevation angle difference, and has the advantages of automatic adjustment of the elevation angle of the corner reflector, simplicity and convenience in installation and good effect of obtaining echo signals.
Description
Technical Field
The invention belongs to the technical field of radar satellite remote sensing, and particularly relates to a circulating type corner reflector and a satellite chasing method thereof.
Background
Synthetic aperture radar is a new remote sensing technology, high-quality radar images can be guaranteed to be obtained only by receiving echo signals of stable substrates, and calibration and registration of the synthetic aperture radar need cooperation of a calibrator with stable ground
The principle that synthetic aperture radar can detect ground subsides is exactly to carrying out the difference interference to two radar images that different times acquireed to acquire the small deformation in ground, just so require to have the ground object point of stable scattering intensity by the monitored area, artificial corner reflector just takes place to transport, traditional artificial corner reflector's angle of elevation is fixed unchangeable, can only receive the back wave of a radar satellite, but present radar satellite is various, need multiple satellite data to combine to accomplish the deformation monitoring to certain region sometimes.
Disclosure of Invention
In order to solve the technical problems, the invention provides a circulating type corner reflector and a satellite tracking method thereof, which have the characteristics of performing circulating type elevation angle adjustment on different satellites in the same area and better reflecting echo signals.
The specific scheme of the invention is as follows:
a circulating type corner reflector comprises a corner reflector body, an elevation angle adjusting mechanism and a main control unit, wherein the main control unit controls the elevation angle adjusting mechanism in a circulating mode, and the elevation angle adjusting mechanism is movably connected with the corner reflector body.
The corner reflector body is of a hollow triangular pyramid structure, and the hollow triangular pyramid structure is formed by enclosing three mutually perpendicular triangles.
Elevation angle adjustment mechanism includes dead lever and lift adjustment pole, the one end and the arbitrary face of cavity triangular pyramid structure of dead lever are articulated, the one end of lift adjustment pole is articulated with the edge of cavity triangular pyramid structure, the articulated edge of lift adjustment pole one end is perpendicular with dead lever one end looks articulated face.
The fixed rod and the lifting adjusting rod are hinged to the corner reflector body through a bolt slot mechanism, the bolt slot mechanism comprises a U-shaped groove, a screw rod, a nut and an inserting pin, the U-shaped groove is fixed on the corner reflector body, the inserting pin is arranged on the fixed rod and the lifting adjusting rod, a through hole is formed in the inserting pin, and the U-shaped groove is detachably connected with the inserting pin through the screw rod and the nut.
Elevation angle adjustment mechanism still includes base and step motor, the other end and the base fixed connection of dead lever, the other end and the step motor swing joint of lift adjustment pole, it is the threaded rod to adjust the pole, step motor's output shaft is for being provided with the internal screw thread sleeve, sleeve and threaded rod threaded connection.
The main control unit comprises a single chip microcomputer, a storage module, an isolation circuit, a motor control circuit and a power supply, wherein the storage module is connected with the single chip microcomputer, the single chip microcomputer is connected with the motor control circuit through the isolation circuit, and the single chip microcomputer, the isolation circuit and the motor control circuit are all connected with the power supply.
The single chip microcomputer is STM32, the storage module is 24C02, the isolation circuit is any one of a pulse transformer or a photoelectric isolator, the power supply comprises a storage battery and a solar panel, and the storage battery is electrically connected with the solar panel.
The motor control circuit comprises a motor controller, a motor driver and a motor timing cycle operation circuit, wherein the motor driver comprises a direction control end and a three-phase control end, the direction control end is connected with the output end of the motor controller, the input end of the motor controller is connected with an isolation circuit, the three-phase control end is connected with a stepping motor, and any phase control end of the three-phase control end is connected with the motor timing cycle operation circuit.
The motor timing cycle operation circuit comprises a starting relay and a stepping motor relay, wherein one end of a coil of the starting relay is connected with a central line of a three-phase control end, the other end of the coil of the starting relay is connected with a single chip microcomputer, one end of a normally open contact of the starting relay is connected with any one of the three-phase control ends through a fuse, the other end of the normally open contact of the starting relay is connected with one end of the coil of the stepping motor relay, the other end of the coil of the stepping motor relay is connected with the central line of the three-phase control end, and two ends of the normally open contact of the stepping motor relay are respectively connected with the three-phase control end.
A satellite tracking method of a circulating type corner reflector comprises the following steps:
the method comprises the following steps: determining transit time and an incidence angle of a satellite to be captured, and storing the transit time and the corresponding incidence angle of the satellite into a storage module;
step two: the single chip microcomputer calculates the difference value of transit time of different satellites to obtain a cycle period, and the cycle starting period of the stepping motor is determined according to the cycle period;
step three: after the stepping motor is started, the single chip microcomputer calculates the elevation angles of the corner reflectors when different satellites cross the border according to the incidence angles of the different satellites, and the elevation angles of the corner reflectors when the different satellites cross the border are differentiated to obtain elevation angle differences;
step four: the single chip microcomputer determines the rotation angle of the stepping motor according to the elevation angle difference.
The invention discloses a circulating type angle reflection and a satellite tracking method thereof, wherein the circulating type angle reflector comprises an elevation angle adjusting mechanism and a main control unit, the main control unit controls the elevation angle adjusting mechanism to realize the effect of circulating adjustment, the satellite tracking method adopts the steps of storing transit time and corresponding incident angle of different satellites into a storage module, acquiring the cycle starting period of a stepping motor according to the transit time difference of the different satellites, and a singlechip calculates the elevation angle difference of the angle reflection of the angle reflector when the different satellites transit according to the incident angle of the satellites, so that the stepping motor is controlled to adjust the elevation angle of the angle reflector.
Drawings
Fig. 1 is a schematic view of the entire structure of a corner reflector.
Fig. 2 is a front view between a corner reflector, a fixing rod and an adjusting rod.
Fig. 3 is a bottom view of fig. 2.
Fig. 4 is a schematic diagram of the internal connection relationship of the main control unit.
Fig. 5 is a graph of the angular relationship between the angle of incidence of the satellite and the angle of elevation of the corner reflector.
Wherein the drawings are described as follows:
1. the device comprises a corner reflector body, 2. a U-shaped groove, 3. a nut, 4. a screw rod, 5. an inserting pin, 6. a fixing rod, 7. a lifting adjusting rod, 8. a sleeve, 9. a stepping motor, 10. a base, 11. a power supply, 12. an isolating circuit, 13. a single chip microcomputer, 14. a storage module, 15. a motor controller, 16. a motor driver, 17. a motor timing cycle operation circuit, 18. a normally open contact of a starting relay, 19. the starting relay, 20. the normally open contact of the stepping motor relay and 21. the stepping motor relay.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. It is understood that the described embodiments are merely some implementations, rather than all implementations, and that all other embodiments that can be derived by one of ordinary skill in the art based on the described embodiments are intended to be within the scope of the present invention.
As shown in fig. 1 to 5, a recycling type corner reflector comprises a corner reflector body 1, an elevation angle adjusting mechanism and a main control unit, wherein the main control unit controls the elevation angle adjusting mechanism in a recycling manner, and the elevation angle adjusting mechanism is movably connected with the corner reflector body 1.
The corner reflector body 1 is of a hollow triangular pyramid structure, and the hollow triangular pyramid structure is formed by enclosing three mutually perpendicular triangles.
The corner reflector body 1 comprises three mutually perpendicular aluminum plates, and the three mutually perpendicular aluminum plates are right-angled triangles.
The corner reflector body 1 is formed by assembling three mutually vertical mirror surfaces together by utilizing the principle of an even mirror, and a corner reflector formed by three mirrors has three common edges which are equivalent to three even mirrors, so that electromagnetic waves can be reflected back along the original direction no matter what angle the electromagnetic waves irradiate the corner reflector.
Elevation angle adjustment mechanism includes dead lever 6 and lift adjustment pole 7, the one end of dead lever 6 is articulated with arbitrary face of cavity triangular pyramid structure, the one end of lift adjustment pole 7 is articulated with the edge of cavity triangular pyramid structure, the articulated edge of lift adjustment pole 7 one end is perpendicular with the 6 one end looks articulated face of dead lever.
The fixed rod 6 and the lifting adjusting rod 7 are hinged to the corner reflector body 1 through a bolt slot mechanism, the bolt slot mechanism comprises a U-shaped groove 2, a screw rod 4, a nut 3 and an inserting pin 5, the U-shaped groove 2 is fixed to the corner reflector body 1, the inserting pin 5 is arranged on the fixed rod 6 and the lifting adjusting rod 7, a through hole is formed in the inserting pin 5, and the U-shaped groove 2 is detachably connected with the inserting pin 5 through the screw rod 4 and the nut 3.
Elevation angle adjustment mechanism still includes base 10 and step motor 9, the other end and the base 10 fixed connection of dead lever 6, the other end and the step motor 9 swing joint of lift adjusting lever 7, it is the threaded rod to adjust pole 7, step motor 9's output shaft is for being provided with internal screw thread sleeve 8, sleeve 8 and threaded rod threaded connection.
The base 10 is preferably a base having a large opening and closing degree. The ground is optionally grouted with cement to ensure stability of the corner reflector body 1 in windy weather.
The main control unit comprises a single chip microcomputer 13, a storage module 14, an isolation circuit 12, a motor control circuit and a power supply 11, wherein the storage module 14 is connected with the single chip microcomputer 13, the single chip microcomputer 13 is connected with the motor control circuit through the isolation circuit 12, and the single chip microcomputer 13, the isolation circuit 12 and the motor control circuit are all connected with the power supply 11.
The single chip microcomputer 13 is an STM32, the storage module 14 is 24C02, the isolation circuit 12 is any one of a pulse transformer or a photoelectric isolator, the power supply 11 comprises a storage battery and a solar panel, and the storage battery is electrically connected with the solar panel.
The motor control circuit comprises a motor controller 15, a motor driver 16 and a motor timing cycle operation circuit 17, wherein the motor driver 16 comprises a direction control end and a three-phase control end, the direction control end is connected with the output end of the motor controller 15, the input end of the motor controller 15 is connected with an isolation circuit 12, the three-phase control end is connected with a stepping motor 9, and any phase control end of the three-phase control end is connected with the motor timing cycle operation circuit 17.
The motor timing cycle operation circuit 17 includes starting relay 19 and step motor relay 21, the coil one end of starting relay 19 is connected with the central line of three-phase control end, the other end and the singlechip 13 of starting relay 19 coil are connected, the one end of starting relay's normally open contact 18 communicates with each other with the arbitrary one of three-phase control end and passes through the fuse and be connected, the other end and the coil one end of step motor relay 21 of starting relay normally open contact 18 are connected, the coil other end and the central line of three-phase control end of step motor relay 21 are connected, the normally open contact 20 both ends of step motor relay are connected with three-phase control end and step motor 9 respectively.
A satellite tracking method of a circulating type corner reflector comprises the following steps:
the method comprises the following steps: determining transit time and an incidence angle of a satellite to be captured, and storing the transit time and the corresponding incidence angle of the satellite into a storage module;
step two: the single chip microcomputer calculates the difference value of transit time of different satellites to obtain a cycle period, and the cycle starting period of the stepping motor is determined according to the cycle period;
step three: after the stepping motor is started, the single chip microcomputer calculates the elevation angles of the corner reflectors when different satellites cross the border according to the incidence angles of the different satellites, and the elevation angles of the corner reflectors when the different satellites cross the border are differentiated to obtain elevation angle differences;
step four: the single chip microcomputer determines the rotation angle of the stepping motor according to the elevation angle difference.
The invention is mainly applied to the settlement monitoring of the central line of the north-south water adjustment, and the satellite echoes selected to be received mainly comprise: a sentry one satellite of the european space and a RADARSAT-2 satellite of canada.
The sentry one satellite of the European space Bureau is an earth observation satellite in the European space Bureau Colyny program (GMES), consists of two satellites, carries a C-band synthetic aperture radar, and can provide continuous images of day, night and various weathers. The orbital inclination of the satellite is 98.18 degrees, and the satellite incident angle covering the data of the central cheerful county section in south-north water tune is 43.84 degrees.
A Canadian RADARSAT-2 satellite is mainly a high-resolution commercial radar satellite carrying a C-band sensor, the RADARSAT-2 has multiple resolution imaging capabilities, the highest resolution can reach 1 m, multiple polarization modes enable a user to select more flexibly, left-right view switching is carried out according to instructions to obtain images, the revisiting period of the satellite is shortened, and the three-dimensional data obtaining capability is improved. In addition, the satellite has a strong data storage function and high-precision attitude measurement and control capability. The orbital inclination angle of the satellite is 98.6 degrees, and the incident angle of the satellite covering the central brightness section of south-to-north water diversion is 27.74 degrees.
As shown in FIG. 5, the corner reflector has an elevation angle ∠DOD '=90°－θ－∠DOE；
Due to ∠DOE=∠OAD，
And ∠OAD＝tan-1(OD/OA)
The incident angle theta of the sentinel one-number satellite on the ground is 43.84 degrees, and the elevation angle of the corner reflector is calculated to be 0.89 degrees according to the geometric relationship between the corner reflector and the incident angle
The incidence angle theta of the RADARSAT-2 satellite at the ground is 27.74 degrees, and the elevation angle of the corner reflector is 26.99 degrees according to the geometrical relation between the corner reflector and the incidence angle.
Firstly, the singlechip 13 makes a difference between the transit time of the sentinel one satellite and the transit time of the RADARSAT-2 satellite to obtain the cycle period of the sentinel one satellite relative to the RADARSAT-2 satellite, and the singlechip circularly starts the stepping motor 9 according to the calculated cycle period, namely the interval of each power-on time of the stepping motor is equal to the calculated cycle period.
After the stepping motor 9 is started, the single chip microcomputer 16 reads the incident angle of the sentinel one-satellite from the storage module 14, and calculates the elevation angle of the corner reflector when the sentinel one-satellite passes through the border according to the incident angle of the sentinel one-satellite;
the singlechip 16 reads the incident angle of the RADARSAT-2 satellite from the storage module 14, and calculates the elevation angle of the RADARSAT-2 satellite transit time angle reflector according to the incident angle of the RADARSAT-2 satellite;
the single chip microcomputer 16 makes a difference between the elevation angles of the corner reflectors when different satellites cross the border, if the difference value is a positive value, the single chip microcomputer 13 controls the stepping motor 9 to rotate in the forward direction through the motor controller 15 and the motor driver 16, at the moment, the sleeve 8 also rotates in the forward direction, and the lifting adjusting rod 7 adjusts the upward angle of the corner reflectors;
if the difference value is a negative value, the single chip microcomputer 13 controls the stepping motor 9 to rotate reversely through the motor controller 15 and the motor driver 16, at the moment, the sleeve 8 also rotates reversely, and the lifting adjusting rod 7 adjusts the downward angle of the corner reflector, so that the elevation angle of the corner reflector is adjusted.
The technical means disclosed in the invention scheme are not limited to the technical means disclosed in the above embodiments, but also include the technical scheme formed by any combination of the above technical features. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and such improvements and modifications are also considered to be within the scope of the present invention.
Claims (10)
1. A recycling corner reflector comprising a corner reflector body (1), characterized in that: the device also comprises an elevation angle adjusting mechanism and a main control unit, wherein the main control unit controls the elevation angle adjusting mechanism in a circulating manner, and the elevation angle adjusting mechanism is movably connected with the corner reflector body (1).
2. The recycling corner reflector of claim 1, wherein: the corner reflector body (1) is of a hollow triangular pyramid structure, and the hollow triangular pyramid structure is formed by enclosing three mutually perpendicular triangles.
3. The recycling corner reflector of claim 2, wherein: elevation angle adjustment mechanism includes dead lever (6) and lift adjustment pole (7), the one end and the arbitrary face of cavity triangular pyramid structure of dead lever (6) are articulated, the one end of lift adjustment pole (7) is articulated with the edge of cavity triangular pyramid structure, lift adjustment pole (7) one end articulated edge is perpendicular with dead lever (6) one end looks articulated face.
4. The recycling corner reflector of claim 3, wherein: dead lever (6) and lift adjustment pole (7) are all articulated through bolt slot mechanism and corner reflector body (1), bolt slot mechanism includes U-shaped groove (2), screw rod (4), nut (3) and inserts round pin (5), U-shaped groove (2) are fixed on corner reflector body (1), insert round pin (5) and set up on dead lever (6) and lift adjustment pole (7), be provided with the through-hole on inserting round pin (5), U-shaped groove (2) are connected through screw rod (4) and nut (3) and can dismantle with inserting round pin (5).
5. The recycling corner reflector of claim 3, wherein: elevation angle adjustment mechanism still includes base (10) and step motor (9), the other end and base (10) fixed connection of dead lever (6), the other end and step motor (9) swing joint of lift adjustment pole (7), it is the threaded rod to adjust pole (7), the output shaft of step motor (9) is for being provided with internal screw thread sleeve (8), sleeve (8) and threaded rod threaded connection.
6. The recycling corner reflector of claim 1, wherein: the main control unit comprises a single chip microcomputer (13), a storage module (14), an isolation circuit (12), a motor control circuit and a power supply (11), wherein the storage module (14) is connected with the single chip microcomputer (13), the single chip microcomputer (13) is connected with the motor control circuit through the isolation circuit (12), and the single chip microcomputer (13), the isolation circuit (12) and the motor control circuit are all connected with the power supply (11).
7. The recycling corner reflector of claim 6, wherein: the single chip microcomputer (13) is STM32, the storage module (14) is 24C02, the isolation circuit (12) is any one of a pulse transformer or a photoelectric isolator, the power supply (11) comprises a storage battery and a solar panel, and the storage battery is electrically connected with the solar panel.
8. The recycling corner reflector of claim 6, wherein: the motor control circuit comprises a motor controller (15), a motor driver (16) and a motor timing cycle operation circuit (17), wherein the motor driver (16) comprises a direction control end and a three-phase control end, the direction control end is connected with the output end of the motor controller (15), the input end of the motor controller (15) is connected with an isolation circuit (12), the three-phase control end is connected with a stepping motor (9), and any phase control end of the three-phase control end is connected with the motor timing cycle operation circuit (17).
9. The recycling corner reflector of claim 8, wherein: motor timing cycle operation circuit (17) are including starting relay (19) and step motor relay (21), the coil one end of starting relay (19) is connected with the central line of three-phase control end, the other end and singlechip (13) of starting relay (19) coil are connected, the one end of the normally open contact (18) of starting relay communicates with each other with any of three-phase control end and crosses the fuse and be connected, the other end and the coil one end of step motor relay (21) of starting relay normally open contact (18) are connected, the coil other end and the central line of three-phase control end of step motor relay (21) are connected, the normally open contact (20) both ends of step motor relay are connected with three-phase control end and step motor (9) respectively.
10. A method as claimed in any one of claims 1 to 9, wherein: the method comprises the following steps:
the method comprises the following steps: determining transit time and an incidence angle of a satellite to be captured, and storing the transit time and the corresponding incidence angle of the satellite into a storage module;
step two: the single chip microcomputer calculates the difference value of transit time of different satellites to obtain a cycle period, and the cycle starting period of the stepping motor is determined according to the cycle period;
step three: after the stepping motor is started, the single chip microcomputer calculates the elevation angles of the corner reflectors when different satellites cross the border according to the incidence angles of the different satellites, and the elevation angles of the corner reflectors when the different satellites cross the border are differentiated to obtain elevation angle differences;
step four: the single chip microcomputer determines the rotation angle of the stepping motor according to the elevation angle difference.
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Cited By (1)
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| CN115856808A (en) * | 2023-03-01 | 2023-03-28 | 中国科学院空天信息创新研究院 | High-resolution SAR satellite calibration-oriented remote control corner reflector design method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115856808A (en) * | 2023-03-01 | 2023-03-28 | 中国科学院空天信息创新研究院 | High-resolution SAR satellite calibration-oriented remote control corner reflector design method |
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