CN111781602A - Airport runway foreign matter radar monitoring system, monitoring method and monitoring device - Google Patents
Airport runway foreign matter radar monitoring system, monitoring method and monitoring device Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/933—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
- G01S13/934—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft on airport surfaces, e.g. while taxiing
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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
- G01S13/04—Systems determining presence of a target
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
- G01S13/90—Radar or analogous systems specially adapted for specific applications for mapping or imaging using synthetic aperture techniques, e.g. synthetic aperture radar [SAR] techniques
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- G—PHYSICS
- 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
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Abstract
The invention relates to a radar monitoring system, a monitoring method and a monitoring device for foreign matters on an airport runway. A radar monitoring system for foreign matters on airfield runways comprises a rotating device and a detecting rotating arm device; the detection rotating arm device is arranged on the rotating device and is driven to rotate by the rotating device; the detection rotating arm device comprises a transmitter, a receiver, a frequency synthesizer, a data acquisition module and a signal processing module; the frequency synthesizer is respectively connected with the transmitter and the receiver; the receiver, the data acquisition module and the signal processing module are sequentially connected; the signal processing module is connected with the computing platform. By using the imaging and detecting method based on the arc synthetic aperture radar system, the noise interference of the flicker clutter can be effectively reduced, and possible interference items can be effectively filtered; meanwhile, the height factor between the rotating arm detection device and the target object is fully considered, the spatial position of the target object can be determined more quickly, and the detection capability is improved.
Description
Technical Field
The invention relates to the field of radar monitoring, in particular to a radar monitoring system, a monitoring method and a monitoring device for foreign matters on airfield runways.
Background
Airport runway Foreign Objects (FOD) refer to objects on the runway that may cause damage to the system or aircraft. In the flight zone, any object that may compromise the ground operation safety of the aircraft, such as stones, metal pieces, tape, plastic, leaves, etc., are collectively referred to as airport runway foreign objects. FOD poses a serious threat to the safety of the aircraft in taking-off and landing, the engines of the aircraft are easily sucked into foreign objects on the runways of the airport, so that the foreign objects are out of work, the fragments are accumulated in mechanical devices, the direct loss caused by the FOD is at least more than 30-40 billion dollars every year, and the indirect loss is several times of the direct loss.
According to the regulations of the International Civil Aviation Organization (ICAO), the runway needs to be inspected at least four times every day, the manual inspection consumes long time, the runway needs to be closed during the inspection, the traffic flow of the runway is reduced, in addition, the influence of weather and human factors causes that the human eyes have limited finding capability, and the operation safety hazard caused by the failure to detect all FODs can not be detected. Therefore, there is a need to address the problem of manual inspection by configuring an automated FOD monitoring system.
The FOD automatic monitoring system mainly adopts a radar detection technology and a video image processing and identifying technology. The monitoring system based on the video image processing technology is easy to receive the influence of severe weather conditions such as rain, snow, fog and the like and illumination conditions such as strong light, night and the like, and the monitoring system adopting the radar technology can work all weather and all day long, has high detection efficiency and is an FOD automatic monitoring technical means with wide application prospect.
Typical FOD monitoring radar products at present include a Tarsier (spectacle monkey) tower type system of QinetiQ company in UK, a FODetect sidelight type system of Israel Xsight company, an FOD Finder vehicle-mounted mobile type system of Trex company in America, a sidelight type system of the second research institute of China civil aviation bureau, a tower type system of the 50 th research institute of China electronic technology group and the like, and have been practically used at a plurality of airports at home and abroad. However, in the existing system, a narrow-beam real-aperture antenna mechanical scanning mode is adopted to image a scene, although the technology is mature, the system also has the principle limitation, specifically:
1. the irradiation time of the real aperture to the target is in millisecond level, so that the flickering clutter such as raindrops/snow particles, leaves/grass clusters moving on a runway, occasionally-staying birds, water splashes splashed by raindrops on the runway and the like cannot be distinguished from the static image during scanning, the suppression capability of the flickering clutter is weak, and the time-burst clutter can stay in the image in the whole scanning period. If the suppression is required, the average suppression must be carried out through a plurality of frames of scanned images, but the processing time is increased, and the requirement of FOD monitoring on real-time performance cannot be met. A typical phenomenon of Detection Performance degradation caused by the 'flickering' clutter is that the Detection distance is greatly shortened under the rain and snow conditions, for example, "IB-CA-2016-01," published by the china civil aviation administration airport 2016 (7/1) at 2016 (1), appendix a of which gives the evaluation result of the Detection device by the united states airport excellent technical center, wherein, in 2007 (6/3) at 2007 (6/2008) at the 5/23 runway of the prevotex airport, detailed tests were performed on the Tarsier System of the QinetiQ company, and the Performance Assessment of a Radar-based foeign Object Detection System (DOT/FAA/AR-10/33) shows that the Detection effect is significantly reduced, mainly because raindrops in the air and water splash on the ground form clutter in Radar images, which causes the noise floor of the images to be increased, therefore, the signal-to-noise ratio of the target is reduced, and the detection distance under the same detection performance is greatly shortened;
2. in order to improve the resolution, therefore, the antenna gain is very high, which causes very strong equivalent omnidirectional radiation power (EIRP, which is approximately equal to the product of the transmission power and the antenna gain), taking the tower-top FOD system of gengshui corporation as an example, the transmission power is not less than 10dBmW, the antenna beam width is 2.4 ° x 0.4 °, the gain can be calculated to be about 45.3dBi, and the EIRP is higher than 55.3dBmW or 340W, although there is no regulation for the radio radiation power control of the FOD radar at present, such strong radiation energy may cause a potential electromagnetic compatibility problem in the future, which brings an airborne equipment safety risk or a personnel health risk;
3. the ultra-narrow beam width is realized on a millimeter wave frequency band, the requirement on the processing precision of the reflection type antenna is extremely high, and the requirement on the position precision of the turntable is also high due to the real aperture imaging, so that the processing cost is greatly increased, and the cost of the whole machine is higher.
At present, most of technical schemes for airport runway detection are based on a narrow beam antenna real-aperture mechanical scanning working mode. Patent CN204515166U has given the FOD monitoring radar technical scheme of synthetic aperture imaging system, installs linear track additional on runway both sides, and the dolly of having installed the radar forms synthetic aperture and images along rail motion. The method can obtain high-resolution images of the airport runway, and has the advantages of the synthetic aperture radar system, but the construction scheme of additionally arranging the tracks on the two sides of the runway has high complexity and great maintenance difficulty, and is difficult to pass examination and approval. Only a few of the detection systems utilize a wide beam antenna for monitoring, and patent document ZL201210506514.5 discloses an airport runway foreign matter detection system which comprises a radar transmitting and receiving antenna, a radar transmitting and receiving front end, a cantilever, a rotating mechanism, a signal processor and a display control terminal; wherein: the transmitting and receiving antenna is connected with the radar transmitting and receiving front end through a waveguide, the radar transmitting and receiving front end is connected with the signal processor through the rotating mechanism, and the signal processor is connected with the display control terminal. Aiming at a linear frequency modulation continuous wave system, the invention realizes high distance resolution by broadband linear frequency modulation, and constructs a synthetic aperture by realizing the rotation of the semi-circular track of the antenna, thereby realizing high azimuth resolution, reducing the area of ground clutter units and realizing the detection of small targets of runway fragments. However, there are still many disadvantages, and the measurement result is not accurate enough.
Therefore, the prior field of monitoring foreign matters on the airfield runway has defects and needs to be improved and enhanced.
Disclosure of Invention
In view of the defects of the prior art, the invention aims to provide a radar monitoring system, a monitoring method and a monitoring device for foreign matters on an airport runway, which can realize high-precision detection of the foreign matters on the airport runway on the basis of simple layout.
In order to achieve the purpose, the invention adopts the following technical scheme:
a radar monitoring system for foreign matters on airfield runways comprises a rotating device and a detecting rotating arm device; the detection rotating arm device is arranged on the rotating device and is driven to rotate by the rotating device;
the detection rotating arm device comprises a transmitter, a receiver, a frequency synthesizer, a data acquisition module and a signal processing module; the frequency synthesizer is respectively connected with the transmitter and the receiver; the receiver, the data acquisition module and the signal processing module are sequentially connected;
the transmitter is externally connected with a transmitting antenna, and the receiver is externally connected with a receiving antenna; the transmitting antenna and the receiving antenna are positioned at the top end of the detection rotating arm device; the signal processing module is connected with the computing platform.
Preferably, in the radar monitoring system for foreign objects on the airport runway, the signal processing module is connected with the computing platform through a wired or wireless data link.
Preferably, the radar monitoring system for the foreign matters on the airfield runway, the frequency synthesizer is used for generating a modulation emission waveform;
the modulation emission waveform is a linear frequency modulation continuous wave or a stepping frequency continuous wave or a pseudo random code modulation signal.
Preferably, the operating frequency of the modulated transmission waveform of the radar monitoring system for the foreign matters on the airfield runway is 10-300 GHz.
Preferably, the radar monitoring system for the foreign matters on the airfield runway comprises a rotating mechanism and a servo control module; the servo control module is used for driving the rotating mechanism to rotate so as to drive the detection rotating arm device to rotate.
An airport runway foreign matter radar monitoring method applying the airport runway foreign matter radar monitoring system comprises the following steps:
s1, driving the rotating device to drive the detection rotating arm device to rotate in a preset angle range at a preset angular speed; meanwhile, a wide-beam radar signal is transmitted outwards through a transmitting antenna at a preset transmitting frequency, and a feedback signal is received through a receiving antenna; transmitting the wide-beam radar signal and the feedback signal to a signal processing module in real time;
s2, the signal processing module mixes the wide-beam radar signal with the feedback signal to obtain a difference frequency signal, and then a radar range profile of a target object is obtained;
and S3, processing the radar range profile by using a back projection or a range-Doppler algorithm to obtain a two-dimensional radar image, and performing target detection on the two-dimensional radar range profile to obtain a runway foreign matter detection result.
In the method for monitoring radar for foreign objects on airport runways, in step S2, the wide-beam radar signal S isT(t) is a chirped continuous wave, which yields the expression:
the feedback signal sR(τm,t,τ0,r0) Comprises the following steps:
target slope distance R (tau)m) Can be expressed as:
wherein sin β ═ H/r0
The difference frequency signal after frequency mixing is:
wherein P is a target point, β is a depression angle from the radar to the target P, H is a vertical height of the antenna turntable relative to the target P, omega is an angular velocity of the antenna rotation, L is a length of a rotating arm, r0Is the distance from the center of the rotation axis of the rotating arm to the target P；τ0Is the starting time; r (tau)m) Is the instantaneous slope distance of the radar and the target P; tau ismIs slow time, t is fast time; krRepresenting the chirp rate, TpRepresenting the pulse modulation period, fcRepresenting the carrier frequency and c the speed of light.
In the preferable airport runway foreign object radar monitoring method, in step S3, the specific steps of target detection are as follows:
s31, carrying out fast time Fourier transform on the difference frequency signal to obtain a target echo frequency spectrum; the formula of the fourier transform is:
the meanings of the terms are the same as the above formula, and are not described in detail;
s32, obtaining a correspondence f-2 rK between the frequency and the target distancerObtaining a one-dimensional range profile of the target echo;
s33, according to the stop-go hypothesis, an imaging network under a polar coordinate system is defined for an imaging area, and the radar complex scattering image I (theta, r) of a pixel point (theta, r) is a result of coherent accumulation after phase compensation is carried out on corresponding distance values of each azimuth one-dimensional distance image in an accumulation angle range:
where θ ═ ω (τ)m-τ0) Is the azimuth angle, tau, corresponding to the image pixel (theta, r)1And τ2Radar irradiation start-stop moments of the pixel points (theta, r) determined for the accumulation angles respectively;
and S34, obtaining a radar image in a two-dimensional polar coordinate form, and obtaining an FOD detection result through constant false alarm detection.
An airport runway foreign matter radar monitoring device using the airport runway foreign matter radar monitoring system comprises a spiral arm, a balancing weight and a bracket; the bracket comprises a base and a rotating device, one end of the rotating device is connected with the base, and the other end of the rotating device is provided with the rotating arm; the swing arm is divided into a first part and a second part through a connection point of the swing arm and the rotating device, the length of the first part is larger than that of the second part, a counterweight is arranged at the outer end of the second part, and an antenna bracket is arranged at the outer end of the first part;
the spiral arm is matched with the detection spiral arm device, wherein the transmitting antenna and the receiving antenna are arranged on the antenna bracket.
Preferably, in the radar monitoring device for foreign matters on the airfield runway, an elevation angle between the antenna bracket and the spiral arm can be adjusted.
Compared with the prior art, the radar monitoring system, the monitoring method and the monitoring device for the foreign matters on the airfield runway have the following beneficial effects that:
1) the height and the position of the monitoring system are fixed, and normal detection can be realized only by constructing a side light or tower frame mode;
2) by using the imaging and detecting method based on the arc synthetic aperture radar system, the noise interference of the flicker clutter can be effectively reduced, and possible interference items can be effectively filtered; meanwhile, the height factor between the rotating arm detection device and the target object is fully considered, the spatial position of the target object can be determined more quickly, and the detection capability is improved;
3) the antenna bracket is positioned at the top end of the spiral arm, and the position enables the transmitting antenna and the receiving antenna to form an arc aperture as large as possible when rotating, so that the detection resolution is improved; meanwhile, the angle of the antenna bracket is controlled, so that the antenna bracket can adapt to different detection environments, and the detection capability is improved;
4) the rotation angle is flexible, the rotation angle of the rotating arm detection device can be a fixed angle or 360 degrees, namely the rotating arm detection device can rotate in a reciprocating mode within a fixed angle range and can also rotate circularly, and partial area or all-around monitoring is achieved.
Drawings
FIG. 1 is a block diagram of a radar monitoring system for foreign objects on an airport runway, according to the present invention;
FIG. 2 is a block diagram of the radar monitor device for foreign matter on airfield runway according to the present invention;
FIG. 3 is a flow chart of a radar monitoring method for foreign objects on an airport runway according to the present invention;
FIG. 4 is a schematic diagram showing the meaning of each variable in the radar monitoring method for foreign matters on airfield runways according to the present invention;
FIG. 5 is an imaging result (left) and a partially enlarged view (right) of a target obtained by simulation by applying the airport runway foreign object radar monitoring method provided by the invention;
fig. 6 is a azimuthal section (left) and a distance section (right) for the imaging results of fig. 5 provided by the present invention.
Detailed Description
In order to make the objects, technical solutions and effects of the present invention clearer and clearer, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1 to 6 together, the present invention provides a radar monitoring system for foreign objects on an airport runway, which includes a rotating device 1 and a detecting boom device 2; the detection rotating arm device 2 is arranged on the rotating device 1 and is driven to rotate by the rotating device 1;
the detection rotating arm device 2 comprises a transmitter 21, a receiver 22, a frequency synthesizer 23, a data acquisition module 24 and a signal processing module 25; the frequency synthesizer 23 is connected to the transmitter 21 and the receiver 22 respectively; the receiver 22, the data acquisition module 24 and the signal processing module 25 are connected in sequence;
the transmitter 21 is externally connected with a transmitting antenna 26, and the receiver 22 is externally connected with a receiving antenna 27; the transmitting antenna 26 and the receiving antenna 27 are located at the top end of the detection boom device 2; the signal processing module 25 is connected to the computing platform.
Specifically, the transmitting antenna 26 and the receiving antenna 27 are radar antennas for transmitting and receiving radar signals; the frequency synthesizer 23 is used to generate a modulated transmission waveform, i.e., a preset radar signal, including but not limited to a frequency-chirp continuous wave (FMCW), a step-frequency continuous wave (SFCW); in addition, the modulation waveform generated by the frequency synthesizer 23 is a wide-beam radar signal, the working frequency of the wide-beam radar signal is 10-300GHz, the range resolution and the ranging accuracy depend on the frequency band bandwidth, and the larger the bandwidth is, the better the range resolution is. The transmitter 21 is configured to amplify the power of the modulated transmission waveform generated by the frequency synthesizer 23 and radiate the amplified transmission waveform through the transmitting antenna 26; the receiver 22 is configured to amplify, downconvert, and condition (such as amplify, filter, etc.) the radar echo signal fed from the receiving antenna 27 to obtain an intermediate frequency signal, and transmit the intermediate frequency signal to the data acquisition module 24; the data acquisition module 24 converts the intermediate frequency signal into a digital signal, and outputs the digital signal to the signal processing module 25, and meanwhile, the data acquisition module 24 synchronously converts the modulated transmission waveform generated by the frequency synthesizer 23 into a digital signal and sends the digital signal to the signal processing module 25; and the signal processing module 25 completes circular arc synthetic aperture imaging and change detection according to the modulated transmitting waveform and the radar echo signal, so as to realize target positioning. It should be noted that the radar monitoring system for foreign matters on airport runways provided by the invention uses a method of arc synthetic aperture to detect the foreign matters on the airport runways, and generally, a conventional method of arc aperture is used without specific limitation. The rotating device 1 drives the detection rotating arm device 2 to rotate, and then the synthesis of the circular arc synthetic aperture is realized. Here, the internal structure of the rotating device 1 is not limited, but is a rotating structure commonly used in the art, as long as the detecting rotating arm device 2 can be driven to rotate according to a predetermined angular speed, and can be oriented or rotated back and forth within a certain angular orientation. Preferably, the transmitting antenna 26 and the receiving antenna 27 are both low-gain antennas, preferably antennas with a gain of 10-20dBi are used, and more preferably antennas with a gain of 12dBi are used.
Preferably, in this embodiment, the signal processing module 25 is connected to the computing platform through a wired or wireless data link. Specifically, after the signal processing module 25 processes the corresponding data and obtains the object location data, the obtained corresponding result may be output, in this embodiment, the result data is output to the computing platform through a wired or wireless data link, so as to be used by the computing platform. The wired data link is preferably an RJ45 network connection; the wireless data link is preferably a WiFi network connection or a 3G/4G/5G network connection. The computing platform includes a computer, a server, and other computing devices, and is not particularly limited.
Correspondingly, the invention also provides an airport runway foreign matter radar monitoring device using the airport runway foreign matter radar monitoring system, which comprises a rotary arm 10, a balancing weight 30 and a bracket 20; the bracket 20 comprises a base 202 and a rotating device 1, one end of the rotating device 1 is connected with the base 202, and the other end is provided with the radial arm 10; the rotating arm 10 is divided into a first part and a second part through a connection point with the rotating device 1, the length of the first part is larger than that of the second part, the outer end of the second part is provided with a counterweight so that the gravity center of the rotating arm is as close to the connection position with the rotating mechanism as possible, and the top of the outer end of the first part is provided with an antenna bracket 101; the detection rotating arm device 2 is arranged in the rotating arm 10, and the rotating arm 10 is provided with an external communication interface so that the detection rotating arm device 2 can be in communication connection with a background computing platform; the rotating device 1 is arranged in the bracket 20 and is used for driving the radial arm 10 to rotate;
the detecting radial arm 10 is adapted to the radial arm 10, wherein the transmitting antenna 26 and the receiving antenna 27 are mounted on the antenna bracket 101.
Specifically, the transmitting antenna 26 and the receiving antenna 27 are mounted on the antenna support 101, and irradiate in a direction away from the axis of the rotating structure, which is the outer end of the first portion of the swing arm 10 in this embodiment; the antenna bracket 101 is mounted at the outer end of the swing arm 10, and can automatically or manually control the adjustment of the pitch angle; the rotating mechanism 11 can be a pulse motor, or other motors and a rotation limiting device are combined, and the specific implementation is a common technical means in the field and is not limited; the rotating device 1 drives the swing arm 10 to rotate around the axis of the rotating device 1. The weight member 30 is used to shift the center of gravity of the swing arm 10 to the axis position of the rotating structure, and the wall surface anode shakes. The rotating device 1 is installed on the base 202, the base 202 is fixed on an iron stand or a cement platform, and the height of the installation position of the base 202 is not limited, so as to set the installation requirement of a specific field. Meanwhile, the longer the swing arm 10, the higher the azimuth resolution, i.e., the better the target azimuth resolution. The radar monitoring device provided by the invention can be installed in a tower frame type or a side lamp type, has the same working principle, and only needs to set different working frequencies and the length of the rotating arm 10 according to requirements, and specifically comprises the following steps:
when the tower-type equipment is formed, a longer rotating arm is generally adopted according to the area range to be detected, the aperture of the generated arc is longer, the angular resolution is higher, and the tower-type equipment is suitable for remotely detecting an FOD target;
when the sidelight type equipment is formed, the area range detected according to the requirement is generally adopted, the shorter rotating arm and the higher working frequency are adopted, the whole size of the equipment is smaller, and the equipment is suitable for being installed on two sides of a runway.
Preferably, in this embodiment, an elevation angle between the antenna support 20 and the radial arm 10 is adjustable. That is, the antenna holder 20 can be adjusted in elevation within a certain angle range in the mounting position, the adjustable range being 0 to 90 °, and the preferred elevation angle being 0 °, 45 °, 90 °, so that a wider range of detection can be performed while satisfying high-precision detection. The elevation angle is an angle formed by the antenna body and a plane vertical to the ground above the antenna installation position.
Preferably, the base 202 is a telescopic device, the height can be adjusted according to the instruction of the computing platform, and after determining the final height of the support 20, the computing platform transmits the height data to the signal processing module 25.
Preferably, in this embodiment, the rotating device 1 includes a rotating mechanism 11 and a servo control module 12; the servo control module 12 is used for driving the rotating mechanism 11 to rotate, and further driving the detection rotating arm device 2 to rotate.
Preferably, in this embodiment, the servo control module 12 may be built in the base 202 for controlling the rotation mechanism 11 to operate normally.
Specifically, the servo control module 12 is preferably an MCU (micro controller Unit), and can drive the rotating mechanism 11 to operate according to a predetermined or command, drive the rotating arm 10 to rotate according to a predetermined angle range and an angular velocity, and determine the detection duration and whether to pause or not within a certain detection range; preferably, the servo control module 12 is connected to a computing platform, and drives the rotating structure to work according to an instruction of the computing platform. The rotating mechanism 11 includes a rotating motor (preferably, a dc motor or a pulse motor), a rotating connector (for connecting with the swing arm 10 and driving the swing arm 10 to rotate), a limiting device (for limiting the rotating range of the swing arm 10, and rotating within a fixed angle range or rotating within 360 °), and drives the swing arm 10 to rotate in a matching manner. Here, it should be noted that, in terms of the detection accuracy of the target object, the slower the angular velocity at which the swing arm 10 rotates, the longer the time for which the two radar antennas in the same direction stay, and since the stay disappears after the stay stays for a short time, the precise distinction between the stay and the target object is realized.
Accordingly, please refer to fig. 3-4, the present invention provides an airport runway foreign object radar monitoring method using the airport runway foreign object radar monitoring system, comprising the steps of:
s1, driving the rotating device 1 to drive the detection rotating arm device 2 to rotate in a preset angle range at a preset angular speed; meanwhile, a wide beam radar signal is externally transmitted at a predetermined transmission frequency through the transmission antenna 26, and a feedback signal is received through the reception antenna 27; transmitting both the wide beam radar signal and the feedback signal to a signal processing module 25 in real time;
s2, the signal processing module 25 mixes the wide-beam radar signal with the feedback signal to obtain a difference signal, and further obtains a radar range profile of the target object;
and S3, processing the radar range profile by using a back projection or a range-Doppler algorithm to obtain a two-dimensional radar image, and performing target detection on the two-dimensional radar range profile to obtain a runway foreign matter detection result.
Specifically, the operation of mixing the wide beam radar signal and the feedback signal may be a common operation procedure in the field, or may use other mixing techniques, which is not specifically limited;
preferably, in this embodiment, the frequency synthesizer is configured to generate a modulated transmit waveform;
the modulation emission waveform is a linear frequency modulation continuous wave or a stepping frequency continuous wave or a pseudo random code modulation signal. The three modulation emission waveforms are all common modulation waveforms in the field, and are not described in detail.
Preferably, in this embodiment, the operating frequency of the modulated transmission waveform is 10 to 300GHz
Preferably, in this embodiment, in step S2, the wide-beam radar signal ST(t) is a chirped continuous wave, which yields the expression:
the feedback signal sR(τm,t,τ0,r0) Comprises the following steps:
target slope distance R (tau)m) Can be expressed as:
wherein sin β ═ H/r0
The difference frequency signal after frequency mixing is:
wherein P is a target point, β is a depression angle from the radar to a target P, H is a vertical height of an antenna turntable (namely a detection rotating arm device) relative to the target P, omega is an angular speed of the antenna rotation, L is a rotating arm length, r0The distance from the center of the rotating shaft of the rotating arm to the target P; tau is0Is the starting time; r (tau)m) Is the instantaneous slope distance of the radar and the target P; tau ismIs slow time, t is fast time; k is a radical ofrRepresenting the chirp rate, TpRepresenting the pulse modulation period, fcRepresenting the carrier frequency, R (τ)m) Representing the true distance of the target and c the speed of light. It should be noted that, in the monitoring method provided by the present invention, the vertical height of the rotating arm device relative to the target P is fully considered, so that the three-dimensional spatial position of the target object can be determined more accurately, and the positioning accuracy is improved. The conventional FOD detection radar imaging metering method does not introduce the height parameter of the detection rotating arm device, and can cause distance errors, so that the phase of an obtained two-dimensional radar image is not consistent with the actual phase, defocusing of the image is caused, the signal-to-noise ratio is reduced, and the detection of a weak target is influenced. For example, when the height of the tower-type radar monitoring device is 5 meters, the error of the target distance at 150 meters is 83 millimeters, and the phase error which is far greater than that required by a two-dimensional radar image is smaller than 1/8 wavelengths (0.375 millimeter is required relative to a W-band signal of 90-110 GHz); when the height parameter of the radar monitoring device is introduced into the metering method, and the height error is controlled to be 1 cm (easy to realize when laser ranging is adopted), the error of the target distance is less than 0.333 mm, and the imaging precision requirement is met.
In the mixing calculation process, R (tau) is within one period of the difference frequency signalm) Is a constant, the first term in the equation of the difference frequency signal
Indicating the phase corresponding to the distance
The second term
Indicating the Doppler effect of the echo, which must be handled for azimuthal pulse pressure, item three
Is unique to the de-chirp method and is called residual video phase, both of which need to be compensated during the imaging process.
Preferably, in this embodiment, in step S3, the specific steps of target detection are as follows:
s31, carrying out fast time Fourier transform on the difference frequency signal to obtain a target echo frequency spectrum; the formula of the fourier transform is:
wherein, each factor in the formula is consistent with the content represented in the formula, and is not described repeatedly;
s32, obtaining a correspondence f-2 rK between the frequency and the target distancerObtaining a one-dimensional range profile of the target echo;
s33, according to the stop-go hypothesis, an imaging network under a polar coordinate system is defined for an imaging area, and the radar complex scattering image I (theta, r) of a pixel point (theta, r) is a result of coherent accumulation after phase compensation is carried out on corresponding distance values of each azimuth one-dimensional distance image in an accumulation angle range:
where θ ═ ω (τ)m-τ0) Is the azimuth angle, tau, corresponding to the image pixel (theta, r)1And τ2Radar irradiation start-stop moments of the pixel points (theta, r) determined for the accumulation angles respectively;
and S34, obtaining a radar image in a two-dimensional polar coordinate form, and obtaining an FOD detection result through Constant False Alarm Rate (CFAR) detection. The constant false alarm detection is a detection method commonly used in the field and is not limited.
Please refer to fig. 5-6, wherein the set parameters of the simulated airport runway foreign object radar monitoring system are shown in table 1:
TABLE 1 circular arc synthetic aperture FOD monitoring radar parameters
| Item | Index (I) |
| Frequency range | 94～96GHz |
| Bandwidth of | 2GHz |
| Radius of pivoted arm | 0.1 m |
| Rotational speed of the |
2 seconds/week |
| Radar repetition frequency | 1kHz |
| Antenna beam width (3dB) | 40 degree × 6 degree (azimuth x pitch) |
| Antenna gain | 21dBi |
| Transmitting power | 0.2W |
| Noise figure of receiver | Not more than 9dB |
| Maximum target distance | 100 m |
| Scattering intensity of target | -40dB㎡ |
The obtained imaging results, as shown in fig. 5 and 6, can be obtained as the imaging indexes shown in table 2:
TABLE 2 simulation imaging index of arc synthetic aperture FOD monitoring radar
| Item | Index (I) |
| Distance resolution (with window) | 0.1 m |
| Distance accuracy | 0.003 m |
| Azimuthal resolution | 1.36° |
| Orientation resolution (maximum distance) | 2.37 m |
| Accuracy of azimuth | 0.045° |
| Positioning accuracy (maximum distance) | 0.08 m |
| Receiver sensitivity | -94dBmW |
| Target signal-to-noise ratio | 33dBc |
In summary, the method for monitoring the airport runway foreign object radar provided by the invention uses the arc synthetic aperture imaging system, which is a method for achieving high-resolution imaging by moving the low-gain antenna along a certain track and virtualizing the real aperture antenna on the track into a synthetic aperture with the size reaching the track length through a synthetic aperture imaging algorithm. The method has the following technical effects:
1. for 'flickering' clutter, the arc synthetic aperture imaging is used for coherent superposition of hundreds to thousands of frames of image sequences, clutter energy of a plurality of frames of images where the 'flickering' clutter appears is suppressed, and 'noise points' in the images cannot be formed, so that the 'flickering' clutter is well suppressed, and the 'flickering' clutter is expected to be obviously superior to a conventional real aperture scanning system in environmental adaptability;
2. the low-gain antenna is beneficial to reducing the Equivalent Isotropic Radiation Power (EIRP), so that the future electromagnetic compatibility and human body safety requirements are easily met, if the antenna with the gain of 12dBi is adopted and the 10dBm emission power is still adopted, the EIRP is 160mW and is even lower than most of mobile phone radiation;
3. the low-gain antenna is low in price, and the average accumulation characteristic of synthetic aperture imaging enables the requirement on the repeated precision of the rotary table to be low (simulation shows that the jitter of the positioning position does not exceed 20% of the stepping angle and basically has no deterioration effect on imaging), so that the manufacturing and maintenance cost can be reduced.
It should be understood that equivalents and modifications of the technical solution and inventive concept thereof may occur to those skilled in the art, and all such modifications and alterations should fall within the scope of the appended claims.
Claims (10)
1. A radar monitoring system for foreign matters on an airport runway is characterized by comprising a rotating device and a detection rotating arm device; the detection rotating arm device is arranged on the rotating device and is driven to rotate by the rotating device;
the detection rotating arm device comprises a transmitter, a receiver, a frequency synthesizer, a data acquisition module and a signal processing module; the frequency synthesizer is respectively connected with the transmitter and the receiver; the receiver, the data acquisition module and the signal processing module are sequentially connected;
the transmitter is externally connected with a transmitting antenna, and the receiver is externally connected with a receiving antenna; the transmitting antenna and the receiving antenna are positioned at the top end of the detection rotating arm device; the signal processing module is connected with the computing platform.
2. An airport runway foreign object radar monitoring system as claimed in claim 1 wherein the signal processing module is connected to the computing platform by a wired or wireless data link.
3. An airport runway foreign object radar monitoring system as claimed in claim 1 wherein the frequency synthesizer is adapted to generate a modulated transmit waveform;
the modulation emission waveform is a linear frequency modulation continuous wave or a stepping frequency continuous wave or a pseudo random code modulation signal.
4. The radar monitoring system for foreign matter on airport runways of claim 3, wherein the operating frequency of said modulated transmit waveform is 10-300 GHz.
5. An airport runway foreign object radar monitoring system as claimed in claim 1 wherein the rotating means includes a rotating mechanism and a servo control module; the servo control module is used for driving the rotating mechanism to rotate so as to drive the detection rotating arm device to rotate.
6. An airport runway foreign object radar monitoring method using the airport runway foreign object radar monitoring system of any of claims 1-5, comprising the steps of:
s1, driving the rotating device to drive the detection rotating arm device to rotate in a preset angle range at a preset angular speed; meanwhile, a wide-beam radar signal is transmitted outwards through a transmitting antenna at a preset transmitting frequency, and a feedback signal is received through a receiving antenna; transmitting the wide-beam radar signal and the feedback signal to a signal processing module in real time;
s2, the signal processing module mixes the wide-beam radar signal with the feedback signal to obtain a difference frequency signal, and then a radar range profile of a target object is obtained;
and S3, processing the radar range profile by using a back projection or a range-Doppler algorithm to obtain a two-dimensional radar image, and performing target detection on the two-dimensional radar range profile to obtain a runway foreign matter detection result.
7. The radar monitoring method for foreign objects on airport runways according to claim 6, wherein in said step S2, said wide beam radar signal ST(t) is a chirped continuous wave, which yields the expression:
the feedback signal sR(τm,t,τ0,r0) Comprises the following steps:
target slope distance R (tau)m) Can be expressed as:
wherein sin β ═ H/r0
The difference frequency signal after frequency mixing is:
wherein P is a target point, β is a depression angle from the radar to the target P, H is a vertical height of the antenna turntable relative to the target P, omega is an angular velocity of the antenna rotation, L is a length of a rotating arm, r0The distance from the center of the rotating shaft of the rotating arm to the target P; tau is0Is the starting time; r (tau)m) Is the instantaneous slope distance of the radar and the target P; tau ismIs slow time, t is fast time; krRepresenting the chirp rate, TpRepresenting the pulse modulation period, fcRepresenting the carrier frequency and c the speed of light.
8. The radar monitoring method for foreign objects on airport runways according to claim 6, wherein in step S3, the specific steps of target detection are:
s31, carrying out fast time Fourier transform on the difference frequency signal to obtain a target echo frequency spectrum;
s32, obtaining a correspondence f-2 rK between the frequency and the target distancerObtaining a one-dimensional range profile of the target echo;
s33, according to the stop-go hypothesis, an imaging network under a polar coordinate system is defined for an imaging area, and the radar complex scattering image I (theta, r) of a pixel point (theta, r) is a result of coherent accumulation after phase compensation is carried out on corresponding distance values of each azimuth one-dimensional distance image in an accumulation angle range:
where θ ═ ω (τ)m-τ0) Is the azimuth angle, tau, corresponding to the image pixel (theta, r)1And τ2Radar irradiation start-stop moments of the pixel points (theta, r) determined for the accumulation angles respectively;
and S34, obtaining a radar image in a two-dimensional polar coordinate form, and obtaining an FOD detection result through constant false alarm detection.
9. An airport runway foreign object radar monitoring device using the airport runway foreign object radar monitoring system of any of claims 1-5, comprising a radial arm, a weight block and a bracket; the bracket comprises a base and a rotating device, one end of the rotating device is connected with the base, and the other end of the rotating device is provided with the rotating arm; the swing arm is divided into a first part and a second part through a connection point of the swing arm and the rotating device, the length of the first part is larger than that of the second part, a counterweight is arranged at the outer end of the second part, and an antenna bracket is arranged at the outer end of the first part;
the spiral arm is matched with the detection spiral arm device, wherein the transmitting antenna and the receiving antenna are arranged on the antenna bracket.
10. An airport runway foreign object radar monitoring device as claimed in claim 9 wherein the elevation angle between the antenna mount and the radial arm is adjustable.
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