CN103901413A - Three-dimensional radar altitude dynamic calibration device and method based on unmanned helicopter with rotor wings - Google Patents
Three-dimensional radar altitude dynamic calibration device and method based on unmanned helicopter with rotor wings Download PDFInfo
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- CN103901413A CN103901413A CN201410151684.5A CN201410151684A CN103901413A CN 103901413 A CN103901413 A CN 103901413A CN 201410151684 A CN201410151684 A CN 201410151684A CN 103901413 A CN103901413 A CN 103901413A
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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
- G01S7/40—Means for monitoring or calibrating
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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
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4026—Antenna boresight
- G01S7/4034—Antenna boresight in elevation, i.e. in the vertical plane
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Abstract
The invention belongs to a radar calibration device, and relates to a three-dimensional radar altitude dynamic calibration device and method based on an unmanned helicopter with rotor wings. The radar altitude dynamic calibration device comprises three big dipper receiver terminals, a warship-mounted radar data recording device, a flying control system and a calculating sub-system, wherein the three big dipper receiver terminals include a big dipper receiver I which is installed on a reference point of a wharf and serves as a reference station, a big dipper receiver II which is installed in the center of a warship equivalent position and a big dipper receiver III installed on the unmanned helicopter with the rotor wings. During calibration, the big dipper devices are additionally arranged on the unmanned helicopter with the rotor wings and the warship, changes of physical positions of the unmanned helicopter with the rotor wings and the warship are recorded, meanwhile, data are recorded synchronously through a warship radar, error processing analysis is carried out on truth-value data recorded on the unmanned helicopter with the rotor wings and the recorded data of the warship radar, and ultimately a radar elevation error value is obtained.
Description
Technical field
The invention belongs to a kind of Radar Calibration equipment, the particularly three-dimensional radar height dynamic calibration Apparatus for () and method therefor based on rotor unmanned helicopter, can solve the problem of calibrating of radar elevation accuracy.
Background technology
At present, domestic shipborne radar is demarcated research and is mainly concentrated on two dimensional Radar directions, Zhao Xin etc. propose to adopt the Zero positioning method based on technology combinations such as differential GPS, CCD, laser transits, and the positional precision of Calibration System is better than 50cm, and angle precision is better than 0.05mrad; The propositions such as Yao Jingshun adopt GPS technology to carry out dynamic calibration to shipborne radar, and target location precision reaches 1m; Duan Jingxuan etc. propose to adopt GPS RTK technology to three-dimensional radar dynamic calibration method, and distance calibration error is not more than 4cm.
Three-dimensional radar, except measuring the azimuth-range value of target, can also be measured the height value of target.The same with all measurement mechanisms, can there is error in the height measurements of radar, and error can have a strong impact on the use of radar, need to calibrate, to guarantee to measure the accurate of numerical value.But, domesticly there is no special scientific research institution carrier-borne active service three-dimensional radar elevation angle scaling method is carried out to systematic research, radar elevation angle scaling method mainly adopts to be built optional cooperative target while demarcating tower, dynamic calibration and comprises military aircraft, balloon, aircarrier aircraft, specialized helicopter etc.Adopt the requisition procedure complexity of military aircraft, particularly for the demarcation after repairing, apply for more difficult, cost is high, the GPS on military aircraft is difficult according to extracting; Adopting venting ball to utilize balloon is the detection accuracy that can check on the various height of 0～10000m as the advantage of spotting, can obtain enough data, uses balloon to be also better than using military aircraft in economy.But need to carry out aviation management application as spotting with balloon, after balloon kite, generally cannot reclaim, and also have potential safety hazard.The shortcoming of utilizing aircarrier aircraft is that target is noncooperative target, easily occurs hanging the phenomenon of wrong number, because the uncontrollable meeting in air route causes data volume considerably less, the more important thing is that the true value positioning equipment precision carrying of aircarrier aircraft is low, does not reach accuracy requirement.
The present invention is using rotor unmanned helicopter as real-time dynamic calibration cooperative target, and portable two point real-time three-dimensional coordinate position recording units of inserting of this complete equipment of carry, to the processing of Helicopter Trajectory Accurate Analysis.By time synchronized design, differential technique, admission and processing radar measured data, system de-noising and unruly-value rejecting, data Error Analysis, finally draw radar three-dimensional measuring accuracy error.
Summary of the invention
The invention solves the technological deficiency of existing carrier-borne three-dimensional radar scaling method, a kind of carrier-borne three-dimensional radar calibration facility is provided, can carry out to the radar three-dimensional detection accuracy including the elevation angle demarcation operational method of convenient and efficient, safe high-precision.
Technical scheme of the present invention is:
A three-dimensional radar height dynamic calibration equipment based on rotor unmanned helicopter, comprises three Beidou receivers, carrier-borne three-dimensional radar, flight control system reconciliation point counting system, and system composition is shown in Fig. 1.Three Beidou receiver terminals are mounted in respectively the Beidou receiver one as base station on the reference point of harbour, be arranged on the Beidou receiver two at naval vessels equivalent position center and be arranged on the Beidou receiver three of rotor unmanned helicopter, see Fig. 2.Carrier-borne three-dimensional radar admission data, the flight of flight control system control rotor unmanned helicopter, resolves subsystem and carries out resolving of true altitude data.
This three-dimensional radar height dynamic calibrating method, is by install Big Dipper equipment additional on rotor unmanned helicopter and naval vessels, records rotor unmanned helicopter and naval vessels physical location change, synchronously utilizes ship radar admission data simultaneously; After carrying out a series of flare maneuver, the admission data of the true value data that record on rotor unmanned helicopter and ship radar are carried out to Error processing analysis, finally draw radar elevation angle error value.Concrete steps are as follows:
1, measure true altitude data
Three Beidou receivers synchronously receive more than 4 satellite, and real time record raw data.After demarcation finishes, carry out data processing according to data processing and error analysis flow process, obtain the accurate positional information of naval vessels and rotor unmanned helicopter.If the real-time positioning error of dipper system is 1m, reduction is to the deflection in radar fix system and elevation angle error within 0.002 °, and oblique distance error is within 1m, higher than radar fix precision several times.If three-dimensional radar elevation accuracy is 0.5 °, the Point-positioning Precision of true altitude data equipment meets the demands completely within 5m, and the single-point precision of the carrier phase type Big Dipper can reach completely at present, also can not do difference processing.
2, resolve true altitude data
What adopt due to the coordinate system of the Big Dipper is WGS-84 terrestrial coordinate, the position of target must be transformed in the station bulbus cordis coordinate system take radar as initial point when use, converts and obtains distance, position angle and elevation value.The terrestrial coordinate that first Big Dipper will be recorded is converted to space the earth rectangular coordinate, then rectangular space coordinate is converted to station heart rectangular coordinate, finally station heart rectangular coordinate is converted to station bulbus cordis coordinate again, obtains distance, position angle and elevation angle true altitude data.
3, time unification
In dynamic calibration, must carry out time unification to measured value and true altitude data, this is that measurement point mark and true altitude data point mark are compared the precondition that draws error analysis result.True altitude data acquisition provides with Big Dipper equipment, and data itself are with the UTC time.Radargrammetry value admission equipment admission positional information adopts the high stable atomic clock of naval vessels timing equipment as oscillation source, is less than 100ms with true altitude Data Position information error reference time, meets time unification requirement.
The calibration means that adopt at present mainly contain build demarcate tower, venting ball or with the mode such as the ADS-B of civil aviaton system cooperating, a lot of not enough but these methods exist, with calibration means Performance Ratio of the present invention in Table:
| Calibration means | Dynamic property | Security | Calibration cost | Calibration precision | Civil aviaton's declaration |
| Demarcation tower beacon is fixed | Low | High | Higher | High | No |
| Military aircraft test inspection Darts are fixed | High | High | High | Low | Be |
| Hot air balloon is demarcated | Low | Low | Higher | High | Be |
| Civil Aviation System cooperation is demarcated | High | High | High | Low | Be |
| Native system (rotor unmanned helicopter) | High | High | Low | High | No |
Calibration equipment in the elevation angle of the present invention, thought of design novelty, Calibration Method science, Project Realization is simple, execute-in-place is strong.It adopts depopulated helicopter carry particular reflector is cooperative target, and controllability is strong, measurability is strong.The true altitude data capture method merging mutually with " big-dipper satellite+public communication network+real time differential ", stated accuracy is high, and can plan arbitrarily air route, can carry out elevation angle demarcation to radar in full-height, on comprehensive.
Accompanying drawing explanation
Fig. 1 is composition schematic diagram of the present invention.
Fig. 2 is three Taibei bucket receiver location schematic diagram.
Fig. 3 demarcates schematic flow sheet.
Fig. 4 is Big Dipper positioning system measurement of elevation precision simulation figure.
Fig. 5 is target true altitude data solver process flow diagram.
Embodiment
According to naval vessel gadget service technique standard regulation, radar measurement accuracy is carried out to timing signal, the precision that requires its true altitude data equipment is at least the more than 3 times of radar measurement accuracy.If take three-dimensional radar precision representative value as example: elevation accuracy is less than 0.5 °, and range accuracy is less than 100m.Visible, if elevation angle true altitude data essence will, in 0.1 °, can meet the demands in 25m apart from true altitude data precision.
From Big Dipper positioning system measurement of elevation precision simulation Fig. 4, at radar and target distance, when being 284.3687m, measurement of elevation precision is 0.1007 °.As long as radar and target distance are when exceeding 300m, the distance accuracy of Big Dipper positioning system is little on the impact of true altitude data elevation accuracy.In addition, the general blind area of radar low coverage is outside 2-4km, corresponding elevation accuracy is 0.015 °, be less than desired 0.1 °, and in calibration process, for radar is easily found and measurement target, between target and radar, distance is greater than 3km, in whole calibration process, elevation accuracy all meets calibration request as can be seen here.
1, true altitude data and measured value admission and processing
There is the admission implementation method of three kinds of true altitude data and measured value for different naval vessels:
The one, by data recording terminal access surface ship combat system, obtain by monitoring the target data message that on Operations System Network, radar sends, be applicable to Novel surface naval vessels;
The 2nd, download targetpath data from Radar Display and Control Terminal, be applicable to the radar with target data memory function;
The 3rd, by obtaining Targets Dots data with the data record apparatus of radar output interface coupling, be applicable to old-fashioned radar.
For guaranteeing the versatility of admission equipment, the selection that should realize naval vessels model and be marked radar, according to selection situation, setting network interface protocol freely, to enroll radar measured data.After true altitude data data read, carry out the pre-service of data, resolve flow process as Fig. 5.
2, true altitude data data solver is realized
In the present invention, the data acquiring frequency that true altitude data equipment is set is 5Hz, and 0.2s adopts data; Arranging by the rotating speed of mark radar is 15rpm, if there are two fronts to work simultaneously, data acquiring frequency is 0.5Hz, and 2s adopts data.
Analyze known, for guaranteeing to be less than 0.1 ° of elevation angle error, radar and Big Dipper true altitude data data time error should be less than 0.5s, if consider again the impact of stochastic error and system other parts, require radar and Big Dipper true altitude data data time error generally should be less than 0.2s, for meeting accuracy requirement, should carry out interpolation processing to radar measured data.
3, time unification is implemented
In the present invention, for guaranteeing that systematic error resolves correctly, meet stated accuracy index, require radar and Big Dipper true altitude data data time error should be less than 0.5s.This be mainly due to, in the time of cooperative target stabilized flight, flying speed is generally at (40-55) km/h, if the time error 1s of radar and the Big Dipper, to produce the distance error of 15m, and be added in radar system error, the elevation angle error causing thus will be greater than 0.17 °, for guaranteeing to be less than 0.1 ° of elevation angle error, radar and Big Dipper true altitude data data time error should be less than 0.5s.In addition, consider the impact of stochastic error and system other parts, require radar and Big Dipper true altitude data data time error should be less than 0.1s.
For possessing the naval vessels of timing equipment, because timing equipment adopts high stable atomic clock as oscillation source, be less than 100ms with Big Dipper error reference time, can meet the requirement of Radar Calibration, in actual mechanical process, be subject to the impact of human factor, as take manually to time etc., the precision reliability variation of this Timing System, therefore before access, need time and the UTC time of timing equipment output to compare, obtain time error amount, can neglect as being more or less the same, in the time of data processing, this error be compensated to processing if differed more greatly.
For there is no the naval vessels of timing equipment, settling time, stationary problem, was that a set of Timing System is provided separately.The UTC information of utilizing the 1PPS pps pulse per second signal of satellite positioning receiver output and decode in NEMA-0183, as time reference, is that each radar data admission terminal main control computer transmits pulse per second (PPS) and corresponding absolute time, and precision is less than 20ns.In addition, in the time that radar tracking is measured, corresponding time of the Targets Dots of general output and true altitude data time are not exclusively identical, therefore also will carry out interpolation processing to true altitude data data, carry out data and mend point.
Claims (2)
1. the three-dimensional radar height dynamic calibration equipment based on rotor unmanned helicopter, it is characterized in that, this three-dimensional radar height dynamic calibration equipment comprises three Beidou receiver terminals, carrier-borne three-dimensional radar data recording equipment, flight control system reconciliation point counting system; Three Beidou receiver terminals are mounted in respectively the Beidou receiver one as base station on the reference point of harbour, be arranged on the Beidou receiver two at naval vessels equivalent position center and be arranged on the Beidou receiver three of rotor unmanned helicopter; Carrier-borne three-dimensional radar admission data, the flight of flight control system control rotor unmanned helicopter, resolves subsystem and carries out resolving of true altitude data.
2. the three-dimensional radar height dynamic calibrating method based on rotor unmanned helicopter, is characterized in that,
Should comprise three Beidou receiver terminals, shipborne radar data recording equipment, flight control system reconciliation point counting system by the three-dimensional radar height dynamic calibration equipment based on rotor unmanned helicopter; Three Beidou receiver terminals are mounted in respectively the Beidou receiver one as base station on the reference point of harbour, be arranged on the Beidou receiver two at naval vessels equivalent position center and be arranged on the Beidou receiver three of rotor unmanned helicopter;
This three-dimensional radar height dynamic calibrating method, is by install Big Dipper equipment additional on rotor unmanned helicopter and naval vessels, records rotor unmanned helicopter and naval vessels physical location change, synchronously utilizes ship radar admission data simultaneously; After carrying out a series of flare maneuver, the admission data of the true value data that record on rotor unmanned helicopter and ship radar are carried out to Error processing analysis, finally draw radar elevation angle error value; Concrete steps are as follows:
1, measure true altitude data: three Beidou receivers synchronously receive more than 4 satellite, and real time record raw data.After demarcation finishes, carry out data processing according to data processing and error analysis flow process, obtain the accurate positional information of naval vessels and rotor unmanned helicopter; If the real-time positioning error of dipper system is 1m, reduction is to the deflection in radar fix system and elevation angle error within 0.002 °, and oblique distance error is within 1m, higher than radar fix precision several times; If three-dimensional radar elevation accuracy is 0.5 °, the Point-positioning Precision of true altitude data equipment meets the demands completely within 5m;
2, resolve true altitude data: what the coordinate system of the Big Dipper adopted is WGS-84 terrestrial coordinate, when use, the position of target must be transformed in the station bulbus cordis coordinate system take radar as initial point, convert and obtain distance, position angle and elevation value; The terrestrial coordinate that first Big Dipper will be recorded is converted to space the earth rectangular coordinate, then rectangular space coordinate is converted to station heart rectangular coordinate, finally station heart rectangular coordinate is converted to station bulbus cordis coordinate again, obtains distance, position angle and elevation angle true altitude data.
3, time unification: true altitude data acquisition provides with Big Dipper equipment, data itself are with the UTC time; Radargrammetry value admission equipment admission positional information adopts the high stable atomic clock of naval vessels timing equipment as oscillation source, is less than 100ms with true altitude Data Position information error reference time, meets time unification requirement.
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104864900A (en) * | 2015-04-09 | 2015-08-26 | 中宇嘉华（北京）科技有限公司 | Mobile azimuth mark positioning device and method |
| CN108181618A (en) * | 2018-03-01 | 2018-06-19 | 中国人民解放军陆军炮兵防空兵学院郑州校区 | A kind of Radar Calibration method |
| WO2018108400A1 (en) * | 2016-12-15 | 2018-06-21 | Thales | Device for measuring the electromagnetic performance of a ground radar |
| CN108775845A (en) * | 2018-08-01 | 2018-11-09 | 上海宾通智能科技有限公司 | A kind of calibration element of automatic controlled height |
| CN109375183A (en) * | 2018-11-22 | 2019-02-22 | 北京遥感设备研究所 | A kind of missile-borne high resolution range radar Dynamic High-accuracy is apart from Calibration System and method |
| CN109765532A (en) * | 2018-12-04 | 2019-05-17 | 中国科学院遥感与数字地球研究所 | Remote sensing satellite based on unmanned plane receives the long-range calibration device and method of system |
| CN110068803A (en) * | 2019-04-16 | 2019-07-30 | 北京遥感设备研究所 | A kind of aerial bracketing device and method of radar equipment |
| CN110837095A (en) * | 2019-11-22 | 2020-02-25 | 中国人民解放军63636部队 | Method for calibrating orientation zero offset of telemetering equipment based on small unmanned aerial vehicle and RTK |
| CN111060059A (en) * | 2019-12-30 | 2020-04-24 | 武汉武船计量试验有限公司 | Total station three-dimensional measurement method under dynamic condition |
| US11131751B2 (en) | 2017-12-31 | 2021-09-28 | Elta Systems Ltd. | Methods and systems for calibrating and/or testing radars or antennas |
| CN114061537A (en) * | 2021-10-26 | 2022-02-18 | 西安电子工程研究所 | Device and method for calibrating positioning accuracy of radar rotary table by adopting electronic theodolite |
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Cited By (15)
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|---|---|---|---|---|
| CN104864900A (en) * | 2015-04-09 | 2015-08-26 | 中宇嘉华（北京）科技有限公司 | Mobile azimuth mark positioning device and method |
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| CN108775845A (en) * | 2018-08-01 | 2018-11-09 | 上海宾通智能科技有限公司 | A kind of calibration element of automatic controlled height |
| CN109375183A (en) * | 2018-11-22 | 2019-02-22 | 北京遥感设备研究所 | A kind of missile-borne high resolution range radar Dynamic High-accuracy is apart from Calibration System and method |
| CN109765532A (en) * | 2018-12-04 | 2019-05-17 | 中国科学院遥感与数字地球研究所 | Remote sensing satellite based on unmanned plane receives the long-range calibration device and method of system |
| CN110068803A (en) * | 2019-04-16 | 2019-07-30 | 北京遥感设备研究所 | A kind of aerial bracketing device and method of radar equipment |
| CN110837095A (en) * | 2019-11-22 | 2020-02-25 | 中国人民解放军63636部队 | Method for calibrating orientation zero offset of telemetering equipment based on small unmanned aerial vehicle and RTK |
| CN110837095B (en) * | 2019-11-22 | 2021-07-27 | 中国人民解放军63636部队 | Method for calibrating orientation zero offset of telemetering equipment based on small unmanned aerial vehicle and RTK |
| CN111060059A (en) * | 2019-12-30 | 2020-04-24 | 武汉武船计量试验有限公司 | Total station three-dimensional measurement method under dynamic condition |
| CN114061537A (en) * | 2021-10-26 | 2022-02-18 | 西安电子工程研究所 | Device and method for calibrating positioning accuracy of radar rotary table by adopting electronic theodolite |
| CN114061537B (en) * | 2021-10-26 | 2023-08-29 | 西安电子工程研究所 | Device and method for calibrating radar turntable setting precision by adopting electronic theodolite |
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Correction item: Applicant Correct: Dalian Naval Vessels College, the Navy, P. L. A. False: NAVAL DALIAN SHIP COLLEGE Number: 27 Volume: 30 |
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| CI02 | Correction of invention patent application |
Correction item: Applicant Correct: Dalian Naval Vessels College, the Navy, P. L. A. False: NAVAL DALIAN SHIP COLLEGE Number: 27 Page: The title page Volume: 30 |
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| ERR | Gazette correction |
Free format text: CORRECT: APPLICANT; FROM: DALIAN NAVAL ACADEMY OF THE PLA TO: DALIAN NAVAL VESSELS COLLEGE, THE NAVY, P.L.A. |
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| RECT | Rectification | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20140702 |