CN103926571A - Method for evaluating distance measuring and angle measuring errors of radar based on satellite-based navigation sonde - Google Patents
Method for evaluating distance measuring and angle measuring errors of radar based on satellite-based navigation sonde Download PDFInfo
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- CN103926571A CN103926571A CN201410099374.3A CN201410099374A CN103926571A CN 103926571 A CN103926571 A CN 103926571A CN 201410099374 A CN201410099374 A CN 201410099374A CN 103926571 A CN103926571 A CN 103926571A
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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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- Computer Networks & Wireless Communication (AREA)
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- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
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Abstract
The invention discloses a method for evaluating distance measuring and angle measuring errors of a radar based on a satellite-based navigation sonde. The method includes the steps that firstly, erecting, demarcating and geodetic coordinate and height measuring work of the radar to be tested and evaluated are finished, an observation tracer is selected according to the working attributes of the radar to be tested and evaluated, and the observation tracer comprises a primary radar selection reflection target, a secondary radar selection reflection target and the sonde matched with the secondary radar selection reflection target; secondly, a proper sounding balloon is selected and carries the satellite-based navigation sonde and the observation tracer at the same time to lift off; thirdly, in the lifting-off process of the sounding balloon carrying the satellite-based navigation sonde and the observation tracer, a satellite-based navigation sounding air testing system ground portion is respectively used for receiving and collecting data of the real-time direction, the angle of elevation, the slope distance, the longitude and latitude, the elevation and the like of the satellite-based navigation sonde; the tested and evaluated radar is used for obtaining the data of the real-time direction, the angle of elevation and the slope distance of the observation tracer; coordinate transformation is performed, data calculation is finished, and the distance measuring and angle measuring errors of the tested and evaluated radar are evaluated.
Description
Technical field
The present invention relates to a kind of method of utilizing the evaluation radar range finding of satellite-based navigation sonde and angle error.
Background technology
Range finding and angle error are one of important examination projects of radar test evaluation.For a long time, the examination for radar range finding and angle error mainly contains the methods such as standard radar comparison, the comparison of high-precision optical transit, fixed object scanning.
Standard radar is with respect to being examined radar, and its range finding and angle error are conventionally little more than 1/3rd, and like this, the range finding of standard radar and angle error are almost negligible, and the measured value of standard radar is used with respect to just being can be used as true value by examination radar.As the range error of certain the type phased array instrumentation radar using as standard radar be ± 3m, angle error be ± 0.011 °.Weak point is that the involving great expense of standard radar, use cost are high, and standard radar is at China's negligible amounts, during use, is subject to certain restrictions.
The transit that high-precision optical transit Comparison Method is used has optics cinetheodollite, Optical Wind Transit etc. conventionally, the advantage of this transit is that angle measurement accuracy is high, easy for operation, if the angle error of 160 cinetheodollites is ± 0.005 °, USSR (Union of Soviet Socialist Republics) ATK-II pilot balloon theodolite angle error is ± 0.03 °.Weak point is the restriction due to optical texture, and optical theodolite is applied and is restricted and cannot be for the comparison of finding range in the situation that remote and weather condition is bad; Optics cinetheodollite uses cinefilm, and cost is more high.
Fixed object scanning method selects the fixed object of known coordinate as object, and tested radar carries out scanning probe to fixed object, and compares and obtain range finding and the angle error of tested radar with known coordinate.The restriction that fixed object scanning method is chosen by place and object, is generally used for the static test of radar range finding and angle error.
Existing satellite-based navigation sonde mainly contains GPS sonde, the Big Dipper sonde based on Chinese Beidou satellite navigation and positioning system, bimodulus (GPS, the Big Dipper) navigation sonde, the sonde based on other satellite navigation and location systems or the bimodulus based on U.S.'s worldwide navigation positioning system, the satellite-based navigation sonde of multimode.Satellite-based navigation sonde has that ground receiving equipment is simple, positioning precision advantages of higher, by having coordinated the detection of temperature aloft, air pressure, humidity, wind with ground receiving equipment.
Summary of the invention
Object of the present invention: identify that for current radar test field is to the deficiency and the defect that exist in range finding and the various assessment methods of angle error, a kind of method based on satellite-based navigation sonde evaluation radar range finding and angle error is proposed, utilize lower cost and more conveniently method complete the evaluation to radar range finding and angle error.
Technical scheme of the present invention: a kind of method based on the evaluation radar range finding of satellite-based navigation sonde and angle error, described satellite-based navigation sonde is the GPS sonde based on GPS, or the Big Dipper sonde based on Beidou satellite navigation and positioning system, or the satellite-based navigation sonde of the sonde based on other satellite navigation and location systems or bimodulus, multimode.The ground receiving equipment of above-mentioned satellite-based navigation sonde also can be used as improving the difference orientator of satellite-based navigation sonde measuring accuracy.
Concrete operation step of the present invention is as follows:
(1) complete by work such as the setting up of test for identification radar, demarcation, terrestrial coordinate and the measurements of higher degree, according to selected observation tracer (as selected reflecting target for primary radar, secondary radar can be selected the sonde supporting with it) by the working attributes of test for identification radar;
(2) select suitable sounding balloon to carry satellite-based navigation sonde and the lift-off of observation tracer with ball;
(3) sounding balloon carries in satellite-based navigation sonde and observation tracer lift-off process, is received and gathered respectively the data such as real-time orientation, the elevation angle, oblique distance and longitude and latitude, elevation of satellite-based navigation sonde by satellite-based navigation sounding wind measuring system above ground portion; By real-time orientation, the elevation angle, the oblique distance data of being obtained observation tracer by test for identification radar;
(4) the real-time orientation of the observation tracer being obtained by test for identification radar in step (3), the elevation angle, oblique distance data are carried out to refraction correction;
(5) carry out coordinate conversion and complete data calculating, by the real-time orientation of satellite-based navigation sonde obtaining in step (3), the elevation angle, oblique distance data with by the observation tracer being obtained by test for identification radar and through real-time orientation, the elevation angle, the oblique distance data of refraction correction, be transformed in the same coordinate system, the range finding that the satellite-based navigation sonde of take obtains and angle measurement data are worth to evaluate by the range finding of test for identification radar and angle error as relative standard.
Above-mentioned satellite-based navigation sonde is for GPS sonde or the Big Dipper sonde based on Beidou satellite navigation and positioning system or the sonde based on other country and other satellite navigation and location systems based on GPS or have certain two or three satellite navigation location compatibility or the satellite-based navigation sonde of bimodulus, multimode.
Further, above-mentioned satellite-based navigation sounding wind measuring system above ground portion can also be as the difference orientator that improves satellite-based navigation sonde measuring accuracy.
Further, in data handling procedure, coordinate conversion can be converted to standard device observed result and using the measurement result as true origin by test for identification radar antenna, also can by by test for identification radar observation results conversion for take the observed result that standard device (certain satellite-based navigation sounding wind measuring system) antenna is true origin.
Beneficial effect of the present invention: by a kind of method based on the evaluation radar range finding of satellite-based navigation sonde and angle error, utilize lower cost and more conveniently method complete the evaluation to radar range finding and angle error, overcome the deficiency and the defect that in the methods such as standard radar comparison, the comparison of high-precision optical transit, fixed object scanning, exist.
Embodiment
Utilize this method to being evaluated by test for identification radar range finding and angle error, its concrete steps are as follows:
(1) complete by work such as the setting up of test for identification radar, demarcation, terrestrial coordinate and the measurements of higher degree, according to selected observation tracer (as selected reflecting target for primary radar by the working attributes of test for identification radar, secondary radar can be selected the sonde supporting with it, adopts prior art scheme);
(2) select suitable sounding balloon to carry satellite-based navigation sonde and the lift-off of observation tracer with ball;
(3) sounding balloon carries in satellite-based navigation sonde and observation tracer lift-off process, is received and gathered respectively the data such as real-time orientation, the elevation angle, oblique distance and longitude and latitude, elevation of satellite-based navigation sonde by satellite-based navigation sounding wind measuring system above ground portion; By real-time orientation, the elevation angle, the oblique distance data of being obtained observation tracer by test for identification radar;
(4) the real-time orientation of the observation tracer being obtained by test for identification radar in step (3), the elevation angle, oblique distance data are carried out to refraction correction;
(5) carry out coordinate conversion and complete data calculating, by the real-time orientation of satellite-based navigation sonde obtaining in step (3), the elevation angle, oblique distance data with by the observation tracer being obtained by test for identification radar and through real-time orientation, the elevation angle, the oblique distance data of refraction correction, be transformed in the same coordinate system, the range finding that the satellite-based navigation sonde of take obtains and angle measurement data are worth to evaluate by the range finding of test for identification radar and angle error as relative standard.
Coordinate transformation method is as follows:
If standard device (certain satellite-based navigation sounding wind measuring system) terrestrial receiving antenna coordinate is that latitude is
, longitude λ
0with sea level elevation h
0, by test for identification radar antenna coordinate, be latitude
, longitude λ
1with sea level elevation h
1.
Coordinate conversion can be converted to standard device (certain satellite-based navigation sounding wind measuring system) observed result in the coordinate system that to take by test for identification radar antenna be true origin, also can by by test for identification radar observation results conversion for take the observed result that standard device (certain satellite-based navigation sounding wind measuring system) antenna is true origin.Here standard device (certain satellite-based navigation sounding wind measuring system) observed result is transformed into measurement result that to take by test for identification radar antenna be true origin as example, in experimental data processing process, coordinate conversion step is as follows:
(a) coordinate in geocentric coordinate system by standard device (certain satellite-based navigation sounding wind measuring system)
according to following formula, be converted to the value (X of geocentric rectangular coordinate system
0, Y
0, Z
0).
In formula:
The radius-of-curvature of N-the earth,
The excentricity of e-the earth, e
2=(a
2-b
2) a
2, generally get 0.00669437999013;
H
0-survey station sea level elevation (m);
-survey station geographic latitude (rad);
λ
0-survey station geographic longitude (rad);
The major axis radius of a-earth ellipsoid, gets 6378137m;
The minor axis radius of b-earth ellipsoid, gets 6356752m.
(b) standard device (certain satellite-based navigation sounding wind measuring system) is measured to the i group polar coordinates (α that satellite-based navigation sonde obtains
i, β
i, R
i) measurement data be converted to as follows take standard device (certain satellite-based navigation sounding wind measuring system) be the rectangular coordinate system of the station heart value (X '
i, Y '
i, Z '
i).
(c) measurement target being take to standard device (certain satellite-based navigation sounding wind measuring system) is that the rectangular coordinate of the station heart is converted to the value (X of geocentric rectangular coordinate system
i, Y
i, Z
i).
(d) by by the coordinate in geocentric coordinate system by test for identification radar
according to following formula, be converted to the value (X of geocentric rectangular coordinate
1, Y
1, Z
1).
(e) value (X in geocentric rectangular coordinate system by standard device (certain satellite-based navigation sounding wind measuring system)
i, Y
i, Z
i) the following formula of substitution calculate tentative standard equipment (certain satellite-based navigation sounding wind measuring system) the value of the station heart rectangular coordinate that to take by test for identification radar site be initial point (X '
1, Y '
1, Z '
1).
(f) with following formula by the result of standard device (certain satellite-based navigation sounding wind measuring system) coordinate conversion (X '
1, Y '
1, Z '
1) be converted to polar value that to take by test for identification radar be initial point (α '
i, β '
i, R '
i).Azimuthal angle beta wherein '
1with formula, also need to judge in conjunction with coordinate actual conditions.
(g) to the standard device observation data obtaining through coordinate conversion (α '
i, β '
i, R '
i) and through refraction correction by test for identification radar observation data (α '
i1, β '
i1, R '
i1) carry out data processing.
Data handling procedure is as follows:
1. data are rejected
During computation and measurement error, should first according to following criterion, carry out data rejecting (referring to the military meteorological equipment qualification test of GJB6556.8-2008 < < method data recording and processing > >), while calculating standard deviation, adopt " three times of standard deviation criterions " to reject gross error.
2. the test data of every group, all should be with by formula (7) calculated difference.
X＝A-A
0………………………………(7)
In formula:
X-the difference of test specimen one-shot measurement;
A-assessed radar observation data (α '
i1, β '
i1, R '
i1), during actual computation, according to the elevation angle, orientation, oblique distance, separate calculating;
A
0-the standard device observation data that obtains after data processing (α '
i, β '
i, R '
i), during actual computation, according to the elevation angle, orientation, oblique distance, separate calculating.
3. first by one group of difference x
1, x
2, x
3... x
kx
nseveral x of middle absolute value maximum
kbe assumed to be gross error, after rejecting, use respectively formula (8) and formula (9) to calculate systematic error x and the standard deviation s of this group difference.
In formula:
-systematic error;
X
i-gained difference is measured in each time;
The number of times of n-measurement.
In formula: s-standard deviation;
-the mean value of systematic error or measurement result;
X
i-errors or measurement result are measured in each time.
If 4. difference x
kdrop on
beyond definite error burst, should think that gross error is rejected, otherwise should not reject.If the several x through check absolute value maximum
kfor gross error, should select again several x of an absolute value maximum
kproceed check, until do not contain gross error in one group of difference.Rejecting the systematic error and the standard deviation that after gross error, recalculate, is the statistics of this group difference.The sample value that participates in statistics, all drops on
in.
5. to take time comparison difference be sample to radar measurement errors (elevation angle, orientation, oblique distance), and the standard deviation of the measuring error (elevation angle, orientation, oblique distance) of data is respectively organized in statistics test each time, provides system poor simultaneously.Finally each test figure criticized to statistics and provide composite measurement error.
Above-mentioned satellite-based navigation sonde is the GPS sonde based on GPS, or the Big Dipper sonde based on Beidou satellite navigation and positioning system, or the satellite-based navigation sonde of the sonde based on other satellite navigation and location systems or bimodulus, multimode.The ground receiving equipment of satellite-based navigation sonde also can be used as improving the difference orientator of satellite-based navigation sonde measuring accuracy, adopts the difference orientator sonde measuring accuracy that can make to navigate higher.
Claims (4)
1. the method based on satellite-based navigation sonde evaluation radar range finding and angle error: it is characterized in that utilizing range finding and the angle measurement data that satellite-based navigation sonde obtains to be worth to evaluate by the range finding of test for identification radar and angle error as relative standard;
Concrete operation step is as follows:
(1) complete by the setting up of test for identification radar, demarcation, terrestrial coordinate and the measurement of higher degree and work, according to selected observation tracer, observation tracer to comprise primary radar selection reflecting target by the working attributes of test for identification radar, secondary radar is selected the sonde supporting with it;
(2) select suitable sounding balloon to carry satellite-based navigation sonde and the lift-off of observation tracer with ball;
(3) sounding balloon carries in satellite-based navigation sonde and observation tracer lift-off process, is received and gathered respectively the data such as real-time orientation, the elevation angle, oblique distance and longitude and latitude, elevation of satellite-based navigation sonde by satellite-based navigation sounding wind measuring system above ground portion; By real-time orientation, the elevation angle, the oblique distance data of being obtained observation tracer by test for identification radar;
(4) the real-time orientation of the observation tracer being obtained by test for identification radar in step (3), the elevation angle, oblique distance data are carried out to refraction correction;
(5) carry out coordinate conversion and complete data calculating, by the real-time orientation of satellite-based navigation sonde obtaining in step (3), the elevation angle, oblique distance data with by the observation tracer being obtained by test for identification radar and through real-time orientation, the elevation angle, the oblique distance data of refraction correction, be transformed in the same coordinate system, the range finding that the satellite-based navigation sonde of take obtains and angle measurement data are worth to evaluate by the range finding of test for identification radar and angle error as relative standard.
Based on satellite-based navigation sonde evaluation by the method for test for identification radar range finding and angle error: it is characterized in that above-mentioned satellite-based navigation sonde for GPS sonde or the Big Dipper sonde based on Beidou satellite navigation and positioning system or the sonde based on other country and other satellite navigation and location systems based on GPS or there is certain two or three satellite navigation location compatibility or the satellite-based navigation sonde of bimodulus, multimode.
3. based on satellite-based navigation sonde, evaluate by the method for test for identification radar range finding and angle error: it is characterized in that above-mentioned satellite-based navigation sounding wind measuring system above ground portion is as the difference orientator that improves satellite-based navigation sonde measuring accuracy.
Based on satellite-based navigation sonde evaluation by the method for test for identification radar range finding and angle error: it is characterized in that in data handling procedure that coordinate conversion is converted to standard device observed result to using the measurement result as true origin by test for identification radar antenna, or by by test for identification radar observation results conversion for take the observed result that standard device antenna is true origin.
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| CN105158822A (en) * | 2015-09-06 | 2015-12-16 | 北京长峰微电科技有限公司 | Air sounding method based on navigation differential positioning principle |
| CN106767677A (en) * | 2015-12-22 | 2017-05-31 | 中国电子科技集团公司第二十研究所 | A kind of measuring method for microwave guiding device orientation angle inspection |
| CN109782271A (en) * | 2018-12-26 | 2019-05-21 | 中国电子科技集团公司第二十研究所 | Radionavigation range measurement refraction error of radio (light) wave modification method |
| CN109917345A (en) * | 2019-05-05 | 2019-06-21 | 北京无线电测量研究所 | Monopulse radar directional sensitivity scaling method and device |
| CN110275145A (en) * | 2019-06-27 | 2019-09-24 | 高力 | Ground Penetrating Radar measurement error calculation method and device |
| 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 |
| CN112363129A (en) * | 2020-11-03 | 2021-02-12 | 江苏省气象探测中心(江苏省(金坛)气象综合试验基地) | Weather radar differential reflectivity factor parameter calibration method |
| CN113359122A (en) * | 2021-06-03 | 2021-09-07 | 广东石油化工学院 | Method and device for checking reasonability of pulse radar measurement data |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104614736A (en) * | 2015-02-03 | 2015-05-13 | 芜湖航飞科技股份有限公司 | Calibration method of GPS receiver |
| CN105158822A (en) * | 2015-09-06 | 2015-12-16 | 北京长峰微电科技有限公司 | Air sounding method based on navigation differential positioning principle |
| CN106767677A (en) * | 2015-12-22 | 2017-05-31 | 中国电子科技集团公司第二十研究所 | A kind of measuring method for microwave guiding device orientation angle inspection |
| CN109782271A (en) * | 2018-12-26 | 2019-05-21 | 中国电子科技集团公司第二十研究所 | Radionavigation range measurement refraction error of radio (light) wave modification method |
| CN109917345A (en) * | 2019-05-05 | 2019-06-21 | 北京无线电测量研究所 | Monopulse radar directional sensitivity scaling method and device |
| CN109917345B (en) * | 2019-05-05 | 2020-07-10 | 北京无线电测量研究所 | Method and device for calibrating directional sensitivity of monopulse radar |
| CN110275145A (en) * | 2019-06-27 | 2019-09-24 | 高力 | Ground Penetrating Radar measurement error calculation method and device |
| CN110275145B (en) * | 2019-06-27 | 2023-02-21 | 高力 | Method and device for calculating measurement error of ground penetrating radar |
| 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 |
| CN112363129A (en) * | 2020-11-03 | 2021-02-12 | 江苏省气象探测中心(江苏省(金坛)气象综合试验基地) | Weather radar differential reflectivity factor parameter calibration method |
| CN113359122A (en) * | 2021-06-03 | 2021-09-07 | 广东石油化工学院 | Method and device for checking reasonability of pulse radar measurement data |
| CN113359122B (en) * | 2021-06-03 | 2023-09-22 | 广东石油化工学院 | Pulse radar measurement data rationality checking method and device |
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