CN101389935A - 使用步进频率脉冲的雷达液位检测 - Google Patents
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Abstract
本发明涉及一种通过发射到液面的雷达信号和从液面反射的雷达信号准确确定液位L的方法。本发明还涉及一种通过根据本发明的方法准确确定液位的设备,所述设备至少包括:雷达天线,所述雷达天线设置在液体上方,用于向液体发射雷达信号并接收从液面反射的雷达信号;以及根据发射雷达信号和反射雷达信号确定液位的装置。
Description
技术领域
本发明涉及一种通过发射到液面的雷达信号和从液面反射的雷达信号准确确定液体的液位L的基于相位的方法。
本发明还涉及一种通过根据本发明的方法准确确定液体的液位的设备,所述设备至少包括:雷达天线,所述雷达天线设置在液体上方,用于向液体发射雷达信号并接收从液面反射的雷达信号;以及根据发射雷达信号和反射雷达信号确定液位的装置。
背景技术
雷达(无线电探测和测距)广泛地用于非接触式距离测量。一种非常熟知的原理是时差法。根据该方法,雷达天线发射撞击物体(例如液面)的雷达信号。物体朝雷达天线的方向往回反射发射的雷达信号/雷达波,雷达天线接收反射的雷达信号/雷达波。
虽然能够使用分开的雷达天线以用于发射的雷达信号和反射的雷达信号,但一般惯例是使用同一雷达天线以用于发射和接收。雷达系统测量发射的雷达信号和接收的雷达信号之间的时间差Δt。如果发射的雷达信号的速度是已知的,那么使用合适的测量手段就能以简单的方式确定距液体表面的距离。
一种如序言所述的采用上述测量原理的设备经常用于通过雷达信号准确地确定过程工业或炼油厂中的储罐中的液体(例如水或油)的液位。所使用的雷达信号一般是脉冲雷达信号。
目前已知的方法特别是基于发射的雷达信号和反射的雷达信号之间的相位差。不幸的是,目前使用的雷达接收机不能直接测量实际相位差。由于关于测得的相位差的不可靠性和不确定性,不可能确定明确且可靠的液体的实际液位值。
发明内容
根据本发明的方法的目的是消除上述缺点并提出更准确的测量原理,在所述测量原理中考虑了目前使用的测量方法中的上述不准确性。为了达到该目的,根据本发明的方法包括以下步骤:
iv)部分地根据所确定的相位差推导液位L。
更具体地,根据本发明的方法的特征在于步骤iv)包括以下步骤:
v)确定相继发射的具有频率f1、f2、...的雷达信号之间的频率差Δf1-2、...;
根据本发明,然后根据在步骤v和vi中确定的频率差Δf1-2和相移ΔΨ1-2在步骤vii中推导较不准确的液位值L’。
通过在根据本发明的步骤viii中根据步骤vii中确定的较不准确的液位值L’推导发射雷达信号和反射雷达信号之间的数值k,随后可以确定实际相位差,根据所述实际相位差,根据步骤viii中确定的数值k和步骤iii中确定的相位差以高准确度确定液体的液位L。
这提供了比用通常的测量方法可能获得的对实际液位的更准确的描述。基于相位的信号处理方法能够以小于1mm的误差容限实现液位测量。本发明利用了不同频率的雷达信号的相位差。
依照根据本发明的测量方法,液位L由下式确定:
v 通过介质的雷达信号的速度;
f1 雷达信号的频率;
根据所述方法,首先实施不准确的液位测量,其中,不准确的液位L’由下式确定:
L’=Ψ12V/(4πΔf12),其中
v 通过介质的雷达信号的速度;
Δf12 雷达信号f1和f2之间的频率差;
具有频率f1的发射的雷达信号和反射的雷达信号之间的实际相位差由下式确定:
的相位差;
k 数值。
通过依照本发明的测量方法根据k=|2fL′/v|可以确定数值k,在确定数值k后,可以确定具有频率f1的发射的雷达信号和反射的雷达信号之间的实际相位差,根据所述实际相位差可以获得实际的液位测量值L。
根据本发明的设备的特征在于,雷达天线被设置成用于按时序向液面发射具有频率f1、f2、...和相位...的雷达信号;以及用于按时序接收从液面反射的具有频率f1、f2、...和相位的雷达信号;其中,所述装置被设置成用于确定发射雷达信号和反射雷达信号之间的相位差并且部分地根据所确定的相位差推导液位L。
更具体地,所述装置被设置用于确定相继发射的具有频率f1、f2、...的雷达信号之间的频率差Δf1-2、...,以及确定相继确定的相位差...之间的相移ΔΨ1-2、...,其中,所述装置还设置用于根据所确定的频率差Δf1-2和相移ΔΨ1-2推导较不准确的液位值L’,且还用于根据较不准确的液位值L’推导发射雷达信号和反射雷达信号之间的数值k。
类似于上文所述的测量方法,根据本发明,所述装置被设置用于根据所确定的数值k和所确定的相位差来确定液位L。
具体实施方式
现在将参照附图更详细地解释根据本发明的方法和设备。
如上文已经提出的,本发明涉及一种用于以可靠且非常准确的方式确定液体的液位的基于相位的方法。所述方法使用雷达信号以确定存储在例如储罐中的产品的液位,其中,罐中存在的各种障碍物或部件不会干扰该测量方法。
一种熟知的液位测量的原理是使用脉冲雷达信号。图1示意地示出根据该已知的测量原理确定罐中的液体的液位的设备。设备10设置在罐1的上部,所述罐1由壁1a、顶部1b和底部1c构成。罐1的高度由字母H表示。
罐1中存有一定量的液体2,液位3的高度由字母L表示。
设备10具有至少一个雷达天线12,其设有用于朝液面3的方向发射雷达信号4a的发射面11。雷达信号4a从液面3部分地反射,反射的雷达信号4b继而被雷达天线12截获。当然,也能够使用向液面发射雷达信号的分立天线和截获反射的雷达信号的分立接收机。
根据现有技术的设备10也设有用于根据发射的雷达信号4a和反射的雷达信号4b确定液位3(L)的装置,其中,该测量系统是基于确定发射信号脉冲和接收信号脉冲之间的时间差Δt。因为雷达信号的速度是已知的,所以距测量物体的距离(或者在本情况下是距液面的距离)可由下式确定:
L=H-h=1/2.v.Δt (1)
其中
H =罐的高度(m)
L =雷达天线和液面之间的距离(m)
h =液面的高度(m)
v =通过该介质的雷达波的传播速度(m/sec)
Δt =发射雷达信号和反射雷达信号之间的时间差(sec)
基于脉冲雷达信号的液位测量的缺点在于发射雷达信号和接收雷达信号之间的时间测量必须非常高。不准确的时间测量会不可避免地导致不准确的液位测量。除其它因素外,基于脉冲雷达信号的测量还取决于雷达信号的脉冲形状,并且还可能取决于脉冲振幅。除此之外,雷达信号从液面之外的物体的反射也会干扰这种方法。
一种更广泛的方法通常使用频率调制(频率调制连续波(FMCW)雷达),其中,雷达信号的频率随时间改变。所述信号可例如为三角形形状,如图3所示。由于在天线和目标表面之间所要经过的距离引起的时间延迟,因此在发射雷达信号4a和反射雷达信号4b之间存在频率差fbeat。可通过傅里叶变换计算所述频率差fbeat(见图4)。从而可针对三角形信号确定距离L:
其中
fm =调制频率(Hz)
ΔF =“扫描(sweep)”频带(Hz)
fbeat =发射雷达信号与接收雷达信号之间的“拍(beat)”频(Hz)
v =通过介质的雷达波的传播速度(m/sec)
FMCW技术没有脉冲雷达测量的缺点。更准确的频数已经代替了时间延迟测量。能够在数字信号处理中使用快速傅里叶变换(FFT)以获得功率谱密度(PSD),其中,在拍频信号的频带内看到的功率分布显示为单个峰值。如果发生了由物体(障碍物)出现在信号路线而引起的反射,那么所述反射在PSD曲线图中将表现为多峰值,也如图4所示。普通的软件算法可用于确定正确选定的峰值的中频fbeat,其对应于从液面的反射。
然而,FMCW雷达的上述测量方法具有许多显著的缺点。首先,对频率“扫描”的斜率的稳定性提出很高要求,其必须高度恒定。其次,难以维持“扫描”形状的高线性,因此频带的中频是不容易辨认的。再次,利用对拍频的精确中心进行傅里叶变换而进行的计算非常易受由障碍物造成的反射(在图1中在4’处表示)的干扰,因此这可导致几个毫米范围内的误差,所述障碍物例如为罐混合器(在图1中以5表示并设有搅动元件5a)、罐底(1c)、罐壁(1a)、梯子、热交换器、所述驱动器。
为此,已经发展形成了称作步进频率-连续波(SF-CW)的测量技术。SF-CW雷达法以离散频率发射和接收一系列正弦信号,这些离散频率填充了测量和控制中所需的频带(图5)。使用SF-CW雷达装置,通过确定相位-距离关系来确立目标距离,或者:
其中
L =雷达天线和待测物体之间的距离(m)
f =“离散”频率之一(Hz)
v =通过介质的雷达波的传播速度(m/sec)
由于相位特征中的相位不确定度2π和不确定的干扰,不能通过雷达仪器直接测量这个实际相位差测量相位差表示为通常,相位信号表示为正弦信号,例如表示为或由于k为整数,因此丢失准确信息。因为精确值k是未知的,所以测量也将是不准确的。系数k称作“包裹(wrapping)”系数,并且该系数k导致相位不确定度,即“包裹”相位也参见图6。在离散信号的情况下,该相位表示为:
例如,基于雷达的液位测量设备主要在8-12.5GHz(X波段)的频带宽度内操作。10GHz的频率对应于在真空中等于30mm的波长λ。如果数值k变化1,那么这就对应于15mm的距离变化。因此,数值k对液位距离L的准确测量具有较大的重要性。
在数字化的数据中,可以在频带宽度的中心频率或中频处计算相位不确定度。用于从信号确定距离L的常用方法(称作PSD法,如上所述)是要在如图7所示的频率测量期间确定正弦波的周期数。这与PSD法中的傅里叶变换相同。因此,可以推导出适用于所述距离的下式:
其中,m是信号的周期数。通过使用基于振幅(PSD)的起始距离LPSD,可根据下式确定数值k的不确定度系数:
系数int[...]代表舍入(rounding-off)系数,其使k舍入为最接近的整数。通过如此获得的不确定度系数(“包裹系数”)k,可类似于(5)式得到标准的基于相位的距离LCONV:
然而,如果基于PSD的距离LPSD的误差大于四分之一波长(即,在10GHz时为7.5mm),那么这将导致不正确的不确定度系数kPSD,也相应地导致具有若干倍于二分之一波长大小的误差的不正确的相位距离LCONV。这意味着标准的基于相位的液位的准确度高度取决于基于PSD的液位。通常已知基于PSD的方法易受到各种干扰。如果干扰物体存在于雷达波束的路径中,在基于PSD的液位测量中可能出现十分之几毫米大小的误差。该干扰物体或障碍物可以例如是存储容器1的壁1a、底部1c等,以及混合器(5-5a)、加热线圈或梯子。参见图1。
已经发现,在PSD谱中的峰值附近的百分之几的误差已经足够产生不正确的不确定度系数kPSD。除此之外,如果储罐中的介质的液位上升到靠近天线的高度,那么来自天线区域附近的干扰也可导致显著的误差。通常,常用的PSD方法是非常易受影响的,这导致了不稳定且不准确的计算方法。因此,在该标准的“基于相位”的方法中,误差包括二分之一波长的“液位跳跃”(level leap),其在X带宽中为15mm。这种液位跳跃在一些应用中是很不理想的。
此外,一些已知的基于相位的FMCW和/或SFCW测量方法使用相对相位测量以便校正两个连续测量之间的距离变化。
LCONV=LO+ΔL1+ΔL2+..+ΔL1 (9)
其中
L0 =起始距离(m)
ΔL1、ΔL2 =两个连续测量之间的距离差(m)
应当理解,即使LPSD代表仅仅一次性的不正确的不确定度系数,但是累积误差可变为很大的误差。标准的基于相位的距离计算的脆弱性受不正确的基于PSD的方法影响,导致准确度差的性能。
根据本发明的方法的目的在于消除这种测量误差。从上述等式(3)已经确定,如果在一个或多个频率处的实际相位是已知的,那么距目标的绝对距离(L)可以根据下式确定:
数字控制的SF-CW雷达技术的已知特征在于所产生的每个步进频率是已知的。根据本发明,所述方法使用不同频率处的相位变化来解决半波长的相位不确定性问题,从而准确地确定绝对距离L。根据本发明的方法涉及使用在两个不同频率处测得或形成的相位以根据下式确定粗略距离:
在该情况中,系数int[..]也表示舍入系数,其使k舍入为最接近的整数。因此,相位和数值可用来确定发射雷达信号和反射雷达信号之间的绝对相位,也从而确定绝对的、非常准确的液位距离LINV:
根据本发明的测量方法的特征在于一种独立的基于相位的信号处理方法。使用上述方法,即使在复杂的测量条件下也能实现±1mm或更好的非常可靠且可重复的准确度。
因此,根据本发明的方法不使用已知的、较不准确的PSD作为相位不确定度的参考。相比于已知方法,根据本发明的方法不采用影响当前距离的相对于先前测量的相对相位距离变化。所述方法在每次测量中计算绝对相位和距离,这给出了对当前目标距离的绝对度量。因此,使用本方法完全避免了来自先前测量的相位误差累积。
根据本发明,图1所示的设备10的液位确定装置13还包括信息处理单元13a,按照根据本发明的方法的步骤,所述信息处理单元13a设置成用于确定发射信号4a和反射雷达信号4b之间的相位差 并且部分地根据所确定的相位差来推导液位L。
在图8、9和10中示出一些试验结果或测量数据。障碍物试验示于图8a-8b-8c中。
在液位测量中实施这个所谓的障碍物试验,以确定在目标测量期间将出现在雷达波束中的不期望的物体的存在。所述不期望的物体可以是所谓的罐混合器5-5a、梯子、加热线圈、罐底1c、罐壁1a等(见图1)。这些不期望的物体或障碍物可电磁地干扰正常的目标探测和目标测量。
为了说明这点,图8a-8c示出用确定储罐中的液位的不同的测量方法获得的试验结果,这些不同的方法是:已知的、基于振幅的方法(图8a,称为“使用PSD-振幅方法时的液位LPSD误差”);基于相位的方法(图8b,称为“使用标准的相位方法时的液位LCONV误差”);以及根据本发明的方法(图8c,称为“使用根据本发明的方法时的液位LINV误差”)。显然,如本专利申请所述的新的相位无关的新方法的准确度和可重复性比用已知的基于相位和/或基于PSD的方法获得的准确度和可重复性更高。本发明方法的准确度比用已知方法获得的准确度高大约50倍。
在图9a“LINV-新方法”中示出针对罐壁效应、障碍物和附近效应(near effect)的试验,其中,根据本发明的方法的准确度与标准的基于PSD的方法(图9b,称为“LPSD-已知的傅里叶FMCW方法”)相比较。本发明方法的准确度比用常用方法获得的准确度高大约55倍。
在图10(称为“靠近底部的障碍物(加热元件)”)中示出所实施的用以确定底部对测量的影响的试验结果。用化学液体填充空罐。底部反射对通过已知方法实施的液位测量具有大的影响,而对通过根据本发明的方法实施的液位测量的影响较少。
Claims (13)
2.根据权利要求1所述的方法,其特征在于,步骤iv)包括下列步骤:
v)确定相继发射的具有频率f1、f2、...的雷达信号之间的频率差Δf1-2、...;
vi)确定相继确定的相位差...之间的相移ΔΨ1-2、...。
3.根据权利要求2所述的方法,其特征在于:在步骤vii)中,根据在步骤v和vi中确定的频率差Δf1-2和相移ΔΨ1-2推导较不准确的液位值L’。
4.根据权利要求3所述的方法,其特征在于:在步骤viii)中,根据步骤vii中确定的较不准确的液位值L’推导发射雷达信号和反射雷达信号之间的数值k。
5.根据权利要求4所述的方法,其特征在于:所述相位被过滤以推导所述数值k。
6.根据权利要求4或5所述的方法,其特征在于:在步骤ix)中,根据在步骤viii中确定的数值k和步骤iii中确定的相位差确定液位L。
13.根据权利要求12所述的设备,其特征在于:所述装置还设置成用于根据所确定的频率差Δf1-2和相移ΔΨ1-2推导较不准确的液位值L’,还用于根据所述较不准确的液位值L’推导发射雷达信号和反射雷达信号之间的数值k。
14.根据权利要求13所述设备,其特征在于:所述装置设置成用于根据所确定的数值k和所确定的相位差来确定液位L。
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US8659472B2 (en) * | 2008-09-18 | 2014-02-25 | Enraf B.V. | Method and apparatus for highly accurate higher frequency signal generation and related level gauge |
US8224594B2 (en) * | 2008-09-18 | 2012-07-17 | Enraf B.V. | Apparatus and method for dynamic peak detection, identification, and tracking in level gauging applications |
US8234084B2 (en) * | 2009-03-17 | 2012-07-31 | Enraf B.V. | Apparatus and method for automatic gauge reading in an inventory control and management system |
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2007
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102650689A (zh) * | 2012-05-17 | 2012-08-29 | 中国路桥工程有限责任公司 | 一种步进频率脉冲雷达位移测量方法 |
CN109298423A (zh) * | 2018-10-22 | 2019-02-01 | 南京信大气象科学技术研究院有限公司 | 一种基于连续波的测浪雷达 |
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EP1994379A2 (en) | 2008-11-26 |
EP1994379B1 (en) | 2014-03-19 |
CN101389935B (zh) | 2011-05-25 |
AU2007230003A1 (en) | 2007-10-04 |
JP5276451B2 (ja) | 2013-08-28 |
MX2008010118A (es) | 2009-01-27 |
WO2007111498A2 (en) | 2007-10-04 |
RU2008137555A (ru) | 2010-03-27 |
CA2640427A1 (en) | 2007-10-04 |
US8319680B2 (en) | 2012-11-27 |
JP2009527760A (ja) | 2009-07-30 |
AU2007230003B2 (en) | 2012-07-19 |
RU2431809C2 (ru) | 2011-10-20 |
NL1031209C2 (nl) | 2007-08-24 |
NO20084017L (no) | 2008-09-22 |
US20110163910A1 (en) | 2011-07-07 |
CA2640427C (en) | 2016-03-22 |
WO2007111498A3 (en) | 2007-11-22 |
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