CN100386645C - Method of detecting surface flow speed of river lake using radar electric wave and its radar system - Google Patents
Method of detecting surface flow speed of river lake using radar electric wave and its radar system Download PDFInfo
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- CN100386645C CN100386645C CNB200510019213XA CN200510019213A CN100386645C CN 100386645 C CN100386645 C CN 100386645C CN B200510019213X A CNB200510019213X A CN B200510019213XA CN 200510019213 A CN200510019213 A CN 200510019213A CN 100386645 C CN100386645 C CN 100386645C
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Abstract
The present invention relates to a method of detecting surface flow speeds of rivers and lakes by using radar electric waves and the radar system thereof. The present invention detects the radial speed of the river surface flow by using the Doppler frequency shift of the water flow to the Bragg scatterance of the radar electromagnetic waves. The work frequency of a UHF-SVR system is 300-350MHz, a receiver adopts one-time frequency mixing, the intermediate frequency is 21.4MHz, the sampling rate of a data acquisition system is 160KHz, the power of a transmitter is 1-5W, and an aerial system adopts a ternary yagi aerial. The UHF-SVR system has the characteristics of simple structure convenient installation, low requirement to sites, human resource saving and low cost. The UHF-SVR system has the advantages of high detecting precision and high range resolution, the corresponding frequency resolution can reach 10<-3 >Hz, and the speed resolution can reach 10<-1 >CM/S. The present invention also has the advantage of ultra high precision which other surface flow detecting technologies for rivers and lakes can not have.
Description
Technical field
The present invention relates to a kind of with detecting surface flow speed of river lake using radar electric wave method and adopt the radar of this method, this radar system can be widely used in the current test of rivers and lakes, survey the radial velocity of river surface stream, and can the moving target on rivers and lakes surface be detected.
Background technology
At present, rivers and lakes surface stream detection technique has had significant progress, has produced many new test technique automatics.Except the buoy method water surface flow velocity test of routine, image method, photoelectric sensing method, the new means of testing of acoustics Doppler flow velocity test all having become.But all there is certain defective in above several method.Not only need more manpower as conventional buoy method, and can only carry out single buoy one by one and detect; Image method detects the influence that is subjected to the working index of camera own, and in the selection relevant (brief introduction of image method water surface flow velocity testing method, " hydrology " 2003.1 2) at benchmark reference mark.Normal optical fax sensing method for testing needs to use a large amount of hardware in flow field situation complexity, when needing test multiple spot flow velocity, and testing reliability descends, and cost improves (research of river model fluid-velocity survey software data Processing Algorithm, " Central China University of Science and Technology's journal " 2001.7).
Wuhan University began to develop the high-frequency ground wave radar OSMAR system that is used for marine environmental monitoring in 1997, and checked and accepted through the Department of Science and Technology in 2000.Because having only wavelength is that half the river wave train of radar operation wavelength just can produce the strongest back scattering to radar wave, so the frequency of operation of OSMAR system is high band 6～12MHz, utilize the characteristics of frequency electromagnetic waves in the ocean surface over-the-horizon propagation, survey and analyze extra large attitude target (high-frequency ground wave radar research special edition, " military big journal " 2001.5).
Summary of the invention
The purpose of this invention is to provide a kind of method and radar thereof with detecting surface flow speed of river lake using radar electric wave, it is different from the existing rivers and lakes surface velocity method that detects, have simple in structure, easy for installation, little to site requirements, save human resources, cost is low, the characteristics that range resolution is high according to the characteristics in the many lakes of China, have certain application value.
Technical scheme of the present invention is: with the method for detecting surface flow speed of river lake using radar electric wave, it is characterized in that: utilize current that the radial velocity that flow on the river surface is surveyed in the Doppler Doppler frequency displacement of radar wave Prague Bragg scattering, the used working frequency range of radar wave FM signal is the 300-350MHz of hyper band UHF; Transmitting of radar wave delivered to emitting antenna through transmission channel, and antenna surface is to river to be measured target, and signal to be transmitted and surface, river stream interact and produces back scattering; Receiving antenna receives behind this signal through receiving cable and local oscillation signal generation mixing, and the intermediate frequency after the mixing is 21.4MHz; Coherent demodulation, the intermediate-freuqncy signal after the coherent demodulation is carried out data processing through data acquisition and disposal system, and the data after the sampling processing are sent to microsystem and carry out follow-up signal Processing, can obtain the radial velocity of river surface stream.
Aforesaid method is characterized in that: radar adopts a mixing structure, and the if sampling rate is 160KHz.
Aforesaid method is characterized in that: signal generator is realized by the DDS chip of special use, rather than is realized by mixing mode commonly used.
Aforesaid method is characterized in that: the data acquisition system (DAS) of radar is realized by ADC+FPGA+USB.
Aforesaid method is characterized in that: the isochronous controller of radar is realized by FPGA.
Rivers and lakes surface stream acquisition radar system UHF-SVR, it comprises dual-mode antenna system, transmission channel, receiving cable, clock source, frequency multiplication of phase locked loop, frequency synthesis, isochronous controller, data acquisition process and microsystem, it is characterized in that: emitting antenna, transmission channel, frequency synthesis, clock source and frequency multiplication of phase locked loop are electrically connected successively, and receiving antenna, receiving cable, data acquisition process and microsystem are electrically connected successively; Isochronous controller is electrically connected with transmission channel, frequency synthesis, frequency multiplication of phase locked loop, receiving cable, data acquisition process respectively, and the used working frequency range of radar wave FM signal is the 300-350MHz of hyper band UHF, and the frequency sweep bandwidth is 5-30MHz.
Aforesaid radar system is characterized in that: radar adopts a mixing structure, and the if sampling rate is 160KHz.
Aforesaid radar system is characterized in that: signal generator adopts special-purpose DDS chip in clock source and the frequency synthesis, and the clock source adopts ADF4360-7 or AD4106 to produce the system clock of 1G, and frequency synthesis adopts AD9858 to produce linear FM signal.
Aforesaid radar system is characterized in that: the isochronous controller of radar is realized by FPGA.
UHF-SVR is the river target detection radar system of developing on the OSMAR system-based.Because the wavelength of fresh water is about 0.5m,, work in uhf band so the frequency of operation of UHF SVR system is about 300-350MHz.
The linear frequency modulation system is adopted in transmitting of UHF-SVR system, and according to the requirement decision frequency sweep bandwidth of the rivers and lakes detection of a target, the frequency sweep bandwidth is generally 5-30MHz, determines that thus corresponding range resolution is (5-30m).
The emissive power of UHF-SVR system is about 1-5w, and on this basis, the detection of a target of SVR system can be greater than 1km.
The UHF-SVR system can be widely used in the surface stream of rivers and lakes and survey, and the moving target that also can be used for the rivers and lakes surface detects, and can be used as the software verification platform of OSMAR system, is with a wide range of applications.
Characteristics such as the UHF-SVR system has simple in structure, and cost is low, and manpower requirement is few according to the characteristics in the many lakes of China, have certain application value.
Ultrahigh frequency of the present invention surface stream radar system, the system works frequency is 300-350MHz, and receiver adopts a mixing, and intermediate frequency is 21.4MHz, and the data acquisition system sampling rate is 160KHz, and transmitter power is 1～5w, and antenna system is the ternary Yagi antenna.
Advantage of the present invention: the present invention utilizes current that the current target is carried out in the Doppler frequency displacement of electromagnetic wave Bragg scattering and tests the speed.Have simple in structure, easy for installation, little to site requirements, save human resources, the characteristics that cost is low.The measuring accuracy height of UHF-SVR system, the range resolution height, corresponding frequency resolution can reach 10
-3Hz, velocity resolution can reach 10
-1Cm/s.Has the superhigh precision that other rivers and lakes surface stream detection techniques can't have.
Description of drawings
Fig. 1 is the system chart of UHF-SVR embodiment of the present invention.
Fig. 2 is clock source and the frequency synthesis block diagram of UHF-SVR embodiment of the present invention.
Fig. 3 is the receiving cable block diagram of UHF-SVR embodiment of the present invention.
Fig. 4 is the synchronous control signal figure of UHF-SVR embodiment of the present invention.
Fig. 5 is the data acquisition block diagram of UHF-SVR embodiment of the present invention.
Fig. 6 is the test findings 1 of UHF-SVR embodiment of the present invention.
Fig. 7 is the test findings 2 of UHF-SVR embodiment of the present invention.
Embodiment
UHF-SVR entire system block diagram as shown in Figure 1.
Transmitting of UHF-SVR produced by frequency synthesis, and this signal is delivered to emitting antenna through transmission channel, and emissive power is 1～5w, and antenna surface is to river to be measured target, and signal to be transmitted and surface, river stream interact and produces back scattering.Receiving antenna receives behind this signal through receiving cable and local oscillation signal generation mixing, and local oscillation signal is similarly frequency synthesis and produces, and the intermediate frequency after the mixing is 21.4MHz.We claim this for removing oblique wave, coherent demodulation.Intermediate-freuqncy signal after the coherent demodulation is carried out data processing through data acquisition and disposal system, and sampling rate is 160KHz, and the data after the sampling processing are sent to microsystem through USB and carry out follow-up signal Processing.
Because the frequency efficiency of frequency synthesis is up to 40%, system clock about 1GHz must be arranged so will produce up to the FM signal more than the 300MHz.So our radar system also need produce the clock source of 1GHz by the PLL phase lock circuitry.
Because our UHF-SVR is a coherent system, in order to guarantee the operate as normal of radar system, the synchro control part provides stable, reliable synchronizing signal for the various piece of radar system.Strict sequential relationship must be arranged between all signals, could guarantee the radar operate as normal.Isochronous controller is realized by FpGA.The isochronous controller that utilizes FpGA to realize has real-time programmable characteristic.
Specifically, the present invention is a kind of novel rivers and lakes of design surface stream radar-probing system UHF-SVR, utilizes current that the Doppler frequency displacement of the Bragg scattering of radar electromagnetic wave is tested the speed.Transmit and the local oscillation signal of this radar system produce by frequency synthesizer, and the system clock of frequency synthesizer is produced the system clock of 1GHz by phase-locked loop circuit.Intermediate-freuqncy signal after the relevant mixing is 21.4MHz, and the intermediate-freuqncy signal after the demodulation is sampled by the sampled signal of 160KHz, and the data after the sampling directly are sent to PC through data acquisition system (DAS) and carry out follow-up signal Processing.In order to guarantee the operate as normal of radar system, by of the each several part work of FPGA design isochronous controller with the coordination radar system.
As Fig. 2, be clock source and the frequency synthesis block diagram of UHF-SVR of the present invention: in our UHF-SVR radar system, we adopt special use (Directly Digital Synthesize) the DDS chip AD9858 of ADI company to produce linear FM signal.In the design of AD9858, the clock source up to 1GHz must be arranged.In order to produce the system clock of 1G, we produce with the ADF4360-7 or the AD4106 of ADI company, can reach our requirement to clock system.All systematic parameters can be by the control register setting.All modules guarantee system synchronization by the unified clock source.In the real work, we adopt the ADF4106 frequency synthesizer to realize the clock source of our UHF-SVR system.It comprises a low noise digital frequency discriminator, high-precision charge pump, programmable with reference to frequency division, programmable counter and both-end prescalar.The phaselocked loop that loop filter that we can be by the periphery and the VCO that adds form is realized the output of fixed frequency.In our system design, should select the reference frequency source of temperature compensated oscillator for use, and not need the terminal of 50 Ω as PLL.The charge pump output of ADF4106 is as the driving of external loop filter.In the design of loop filter, the loop natural angular frequency is 45 degree.The output of loop filter is as the driving voltage of VCO, and the output of VCO feeds back to the radio-frequency (RF) signal input end of phaselocked loop, exports as the clock source of system simultaneously.The rf inputs mouth impedance of ADF4106 is 50 Ω, and what will consider in the design is between the reference input of radio-frequency (RF) output end and frequency synthesizer, need add T type network and carry out impedance matching.In our UHF-SVR system, according to the wavelength of river, so the system works frequency also is adjusted into ultrahigh frequency accordingly.Our transmitting is the linear FM signal of bandwidth 5-30MHz.
As Fig. 3, be the receiving cable block diagram of UHF-SVR of the present invention:, be that high selectivity is provided on the low noise index according to the rule of microwave receiver.In the UHF radar receiver, the reduction set noise is a main target, take into account the selecting frequency characteristic that the sensitivity of radar receiver is become reconciled.So, our receiver design, what at first will consider is the form of receiver.Because transmission frequency and the very high and bad generation of local frequency are so in order to reduce our design difficulty, we select a mixing, the scheme of if sampling for use.Intermediate-freuqncy signal in the reality is 21.4MHz.In microwave receiver, the mixing front need add low noise amplifier, because the noise figure of frequency mixer is generally all bigger, and the wave filter of front end is generally passive filter, and certain loss is arranged, as does not have this LNA, and then the noise figure of total system will be very big.Can weaken of the influence of the noise of frequency mixer and back baseband amplifier and before frequency conversion, introduce LNA to complete machine with certain gain, thus favourable to improving sensitivity.But the gain of LNA should not be too high, because frequency mixer is a nonlinear device, the signal that enters it is too big, can produce a lot of nonlinear distortion.So the gain of LNA generally is no more than 15dB.Bandpass filter is used for selecting working band, can be placed on before or after the LNA.It is favourable to reducing the system noise system to put behind, and being placed on the front can carry out preliminary election to the signal that enters LNA, filtering a lot of out-of-band-signal, also just reduced because the non-linear various intermodulation distortion that cause of LNA are disturbed.
As Fig. 4, be the synchronous control signal figure of UHF-SVR of the present invention: the required clock signal of all systems must guarantee strict time relationship between them as shown in the figure, only in this way just can make the radar operate as normal.In actual design, we adopt the Spartan3 Series FPGA chip of Xilinx company.Because contain Clock Managing Unit among the Spartan3, can carry out easily clock synchronously, phase shift, frequency division, go shake etc.But because the system clock of DCM and the restriction of frequency division multiple, we can not realize our isochronous controller fully with DCM.In the design, we have used 1 DCM module, and the clock of FPGA is carried out shaping and synchronously, and on this basis, we design clock.In order to guarantee the phase equalization of all clock signals, adopt the mode of register output to realize that all registers are all driven by systematic reset signal at all signal output parts.
As Fig. 5, be the data acquisition block diagram of UHF-SVR of the present invention: what the UHF-SVR system adopted is the FMCW system, utilize the frequency and the phase information of echoed signal to extract the river parameter, when echoed signal and the mixing of receiver local oscillation signal produce high intermediate-freuqncy signal, data acquisition processing system is gathered this signal and is carried out Fourier transform twice, just can obtain the frequency and the phase information of echoed signal on each distance element.In the UHF-SVR system design, our data acquisition system (DAS) realizes with ADC+FPGA+USB.Data storage after the high if sampling transfers to microsystem by USB then and carries out follow-up processing in the FIFO that is realized by FPGA.In test, we can adopt dual mode to realize transmission, and a kind of is directly to transmit the Wave data that collects to PC, finishes twice FFT computing in PC; Another kind is to finish FFT for the first time in FPGA, by the USB transmission for the first time the later data of FFT finish FFT for the second time to PC by PC.Dual mode respectively has quality.For first kind of mode, we can obtain the most original data, simplify the FPGA indoor design, and simultaneously follow-up going being disturbed to wait has more practical meaning.But it is bigger directly to transmit the wave file data volume, will guarantee transmitting speed in transmission course.For the second way, for the first time to compare original waveform file data volume very little for the data volume behind the FFT, can transmit easily.But increased the design of FPGA inside, strengthened the resource overhead of FPGA.In the reality, because our sampling rate is 160KHz, each frequency sweep cycle is 0.1s, and data bits is 8, and corresponding data volume is 160KByte/s.Can satisfy the real-time Transmission of original waveform with USB.
So we have adopted first kind biography data acquisition plan.
As Fig. 6 and Fig. 7, be the test findings 1,2 of UHF-SVR of the present invention: in the test, we have simulated the river echoed signal of a fixed range unit by the time-delay to transmitting.After this signal and the local oscillation signal mixing, a fixing frequency shift (FS) can take place on the basis of 21.4MHz intermediate frequency.Can obtain the Doppler spectrum that we need by twice FFT to this signal.Because we come analog echo signal by the time-delay that transmits, so the speed of this simulated target is 0.Because FFT does the FFT conversion to single frequency sweep cycle for the first time, and for the second time FFT is that FFT result's first time to a plurality of frequency sweep cycles does FFT conversion for the second time, so corresponding target velocity is 0 signal, FFT result's first time of each frequency sweep cycle should be on all four, and the spectrum peak should appear at the zero-frequency place in the FFT signal second time of corresponding a plurality of frequency sweep cycles.As shown in the figure, be monocycle FFT and the multicycle result of FFT for the second time for the first time.
According to our design, the range resolution of the UHF-SVR system that we design is 5-30m, and flow velocity resolution is 0.5cm/s.Has the incomparable superhigh precision of other test modes.
As table 1, be emission and the antenna index of UHF-SVR of the present invention: than the high-power transmitter of creeping radar, our UHF-SVR system need not very big emissive power, and emissive power only needs about 1～5W.Here we can realize our power amplifier module with field effect transistor, constitute our transmission channel.In conjunction with our actual conditions of signal generator, and according to our actual needs, our power amplifier and antenna index are as shown in table 1.
Table 1
Claims (9)
1. use the method for detecting surface flow speed of river lake using radar electric wave, it is characterized in that: utilize current that the radial velocity that flow on the river surface is surveyed in the Doppler Doppler frequency displacement of radar wave Prague Bragg scattering, the used working frequency range of radar wave FM signal is the 300-350MHz of hyper band UHF; Transmitting of radar wave delivered to emitting antenna through transmission channel, and antenna surface is to river to be measured target, and signal to be transmitted and surface, river stream interact and produces back scattering; Receiving antenna receives behind this signal through receiving cable and local oscillation signal generation mixing, and the intermediate frequency after the mixing is 21.4MHz; Coherent demodulation, the intermediate-freuqncy signal after the coherent demodulation is carried out data processing through data acquisition and disposal system, and the data after the sampling processing are sent to microsystem and carry out follow-up signal Processing, can obtain the radial velocity of river surface stream.
2. the method for claim 1 is characterized in that: radar adopts a mixing structure, and the if sampling rate is 160KHz.
3. the method for claim 1 is characterized in that: signal generator is realized by the DDS chip of special use.
4. as claim 1 or 2 or 3 described methods, it is characterized in that: the data acquisition system (DAS) of radar is realized by ADC+FPGA+USB.
5. as claim 1 or 2 or 3 described methods, it is characterized in that: the isochronous controller of radar is realized by FPGA.
6. acquisition radar system is flowed on the rivers and lakes surface, it comprises dual-mode antenna system, transmission channel, receiving cable, clock source, frequency multiplication of phase locked loop, frequency synthesis, isochronous controller, data acquisition process and microsystem, it is characterized in that: emitting antenna, transmission channel, frequency synthesis, clock source and frequency multiplication of phase locked loop are electrically connected successively, and receiving antenna, receiving cable, data acquisition process and microsystem are electrically connected successively; Isochronous controller is electrically connected with transmission channel, frequency synthesis, frequency multiplication of phase locked loop, receiving cable, data acquisition process respectively, and the used working frequency range of radar wave FM signal is the 300-350MHz of hyper band UHF, and the frequency sweep bandwidth is 5-30MHz.
7. radar system as claimed in claim 6 is characterized in that: radar adopts a mixing structure, and the if sampling rate is 160KHz.
8. radar system as claimed in claim 6, it is characterized in that: signal generator adopts special-purpose DDS chip in clock source and the frequency synthesis, the clock source adopts ADF4360-7 or AD4106 to produce the system clock of 1G, and frequency synthesis adopts AD9858 to produce linear FM signal.
9. as claim 6 or 7 or 8 described radar systems, it is characterized in that: the isochronous controller of radar is realized by FPGA.
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| US7688251B2 (en) * | 2008-02-05 | 2010-03-30 | CODAR Ocean Sensors, Ltd | Systems and methods for monitoring river flow parameters using a VHF/UHF radar station |
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