CN103983954B - For error compensation system and the method for the test of radar pointing Ground Nuclear Magnetic Resonance - Google Patents

Abstract

The invention discloses a kind of error compensation system for the test of radar pointing Ground Nuclear Magnetic Resonance, comprise: two-dimentional turntable; Be arranged on the radar driving mechanism on two-dimentional turntable; The two-dimentional turntable control computer being connected with two-dimentional turntable; The transfer computer being connected with Radar Signal Processing assembly; The target simulation source being oppositely arranged with radar driving mechanism; The radar radio frequency analog device being connected with target simulation source; The radar Comprehensive control computer being connected with radar radio frequency analog device; The digital space system host being connected with two-dimentional turntable control computer, transfer computer and radar Comprehensive control computer respectively. The invention also discloses a kind of error compensating method for the test of radar pointing Ground Nuclear Magnetic Resonance. The present invention can implementation space relative motion angle the feedforward compensation of simulation, improve the measuring accuracy of radar pointing Ground Nuclear Magnetic Resonance test macro.

Description

For error compensation system and the method for the test of radar pointing Ground Nuclear Magnetic Resonance

Technical field

The present invention relates to the Ground Nuclear Magnetic Resonance checking of space relative measurement technical field, relate in particular to a kind of thunderReach pointing Ground Nuclear Magnetic Resonance test error bucking-out system and method.

Background technology

Microwave radar is a kind of following that space searches for, catches, follows the tracks of for noncooperative target that be applied toTake aim at equipment, relative angle and relative distance information between continuous measurement star, offer GNC subsystem and carry outRelative Navigation calculates, and is the basis of realizing Autonomous Relative Navigation.

Radar pointing Ground Nuclear Magnetic Resonance verification system adopts turntable to rotate a contrary angle and goes to simulate between starRelative motion angle. And due to turntable diaxon and not conllinear of radar pointing diaxon, cause the angle of turntable simulationDegree can not be simulated relative motion relation between star effectively, and then makes radar pointing produce diaxon cross-couplingsMeasure error.

Along with the development of pointing equipment of new generation, to the high precision measurement demand of ground Authentication devices more and moreHeight, therefore needs the measuring accuracy that improves existing equipment badly.

Summary of the invention

The object of the present invention is to provide a kind of radar pointing Ground Nuclear Magnetic Resonance test error bucking-out system and sideMethod, can implementation space relative motion angle the feedforward compensation of simulation, improve radar pointing Ground Nuclear Magnetic ResonanceThe measuring accuracy of test macro.

In order to achieve the above object, the present invention is achieved through the following technical solutions: a kind of for radar pointingThe error compensation system of Ground Nuclear Magnetic Resonance test, is characterized in, comprises:

Two dimension turntable;

Be arranged on the radar driving mechanism on two-dimentional turntable;

The two-dimentional turntable control computer being connected with two-dimentional turntable;

The transfer computer being connected with Radar Signal Processing assembly;

The target simulation source being oppositely arranged with radar driving mechanism;

The radar radio frequency analog device being connected with target simulation source;

The radar Comprehensive control computer being connected with radar radio frequency analog device;

Be connected with two-dimentional turntable control computer, transfer computer and radar Comprehensive control computer respectivelyDigital space system host;

Described transfer computer measurement radar data;

The radar measured data of transfer computer is accepted and processed to described digital space system host, andSend echo enabled instruction to radar Comprehensive control computer and send the instruction of two-dimentional turntable controlled quentity controlled variable to two dimensionTurntable control computer.

Described two-dimentional turntable pitch axis and the quadrature position of two-dimentional turntable yaw axis and target simulation source phaseRight.

For an error compensating method for radar pointing Ground Nuclear Magnetic Resonance test, be characterized in, comprise withLower step:

Step 1, set up two-dimentional turntable coordinate system and radar surveying coordinate system respectively;

Step 2, set up the equation of motion of target simulation source in the time that two-dimentional turntable turns an angle;

Step 3, by the target simulation source movement relationship conversion obtaining in step 2 to radar surveying coordinate system,Obtain the target simulation source movement equation under radar surveying coordinate system;

Step 4, according to the angle of pitch and yaw angle computing formula, sat in radar surveying by target simulation source 5The equation of motion under mark system calculates two dimensional motion luffing angle α and the yaw angle β in target simulation source 5Computing formula;

Step 5, by the computing formula of the two dimensional motion luffing angle α in target simulation source 5 and yaw angle βCarry out inverse, obtain the computing formula of two-dimentional turntable 1 required rotational angle, i.e. error compensation model, rightError compensation model carries out after computing, draw the angle [alpha] that two-dimentional turntable 1 actual needs rotates ' and β ', generalThis result of calculation, as two-dimentional turntable 1 angle input instruction, realizes error compensation.

Described two-dimentional turntable coordinate system is with the quadrature position of two-dimentional turntable pitch axis and two-dimentional turntable yaw axisFor origin of coordinates O_Turn，Z_TurnAxle is with origin of coordinates O_TurnAlong two-dimentional turntable pitch axis and two-dimentional turntable yaw axisWhen orthogonal center of turntable vertically downward directed towards ground be forward, X_TurnAxle is with origin of coordinates O_TurnPoint to target mouldThe opposite direction in plan source is forward, Y_TurnAxle forward is determined by the right-hand rule.

Described radar surveying coordinate system is taking radar driving mechanism diaxon intersection as origin of coordinates O, Z axisTaking origin of coordinates O, along driving mechanism vertical axis center directed towards ground as forward, X-axis is with origin of coordinates O edgeIt is forward that radar antenna points to target simulation source, and Y-axis forward is determined by the right-hand rule.

What in described step 2, two-dimentional turntable rotated turns order is that after first pitch rotation, driftage is rotated.

In described step 2, the equation of motion of target simulation source in the time that two-dimentional turntable turns an angle is:

O'_TurnM＝A(β')A(α')O_TurnM

Wherein, rotation matrix A (α ') and rotation matrix A (β ') are respectively:

$A\left({\mathrm{\α}}^{\′}\right)=\left[\begin{array}{ccc}\cos \left({\mathrm{\α}}^{\′}\right)& 0& -\sin \left({\mathrm{\α}}^{\′}\right)\\ 0& 1& 0\\ \sin \left({\mathrm{\α}}^{\′}\right)& 0& \cos \left({\mathrm{\α}}^{\′}\right)\end{array}\right],A\left({\mathrm{\β}}^{\′}\right)=\left[\begin{array}{ccc}\cos \left({\mathrm{\β}}^{\′}\right)& \sin \left({\mathrm{\β}}^{\′}\right)& 0\\ -\sin \left({\mathrm{\β}}^{\′}\right)& \cos \left({\mathrm{\β}}^{\′}\right)& 0\\ 0& 0& 1\end{array}\right],$

In formula, α ' is that two-dimentional turntable rotates the angle of pitch,

β ' is that two-dimentional turntable rotates yaw angle,

M represents the position in target simulation source,

O_TurnM is the coordinate vector of target simulation source under two-dimentional turntable zero-bit coordinate system.

In described step 3, the equation of motion of target simulation source under radar surveying coordinate system is:

O'M＝O'_TurnM-O'_TurnO'

Substitution O'_TurnM and O'_TurnO', has

$\begin{array}{c}{O}^{\′}M=\left[\begin{array}{c}{x}_M\\ y_M\\ z_M\end{array}\right]=\left[\begin{array}{ccc}-1& 0& 0\\ 0& -1& 0\\ 0& 0& 1\end{array}\right]\{\left[\begin{array}{ccc}\cos \left({\mathrm{\β}}^{\′}\right)& \sin \left({\mathrm{\β}}^{\′}\right)& 0\\ -\sin \left({\mathrm{\β}}^{\′}\right)& \cos \left({\mathrm{\β}}^{\′}\right)& 0\\ 0& 0& 1\end{array}\right]\left[\begin{array}{ccc}\cos \left({\mathrm{\α}}^{\′}\right)& 0& -\sin \left({\mathrm{\α}}^{\′}\right)\\ 0& 1& 0\\ \sin \left({\mathrm{\α}}^{\′}\right)& 0& \cos \left({\mathrm{\α}}^{\′}\right)\end{array}\right]\left[\begin{array}{c}-(L+l)\\ 0\\ -H\end{array}\right]-\left[\begin{array}{c}-l\\ 0\\ -H\end{array}\right]\}\\ =\left[\begin{array}{c}\cos \left({\mathrm{\β}}^{\′}\right)[(L+l)\cos \left({\mathrm{\α}}^{\′}\right)-H\sin \left({\mathrm{\α}}^{\′}\right)]-l\\ -\sin \left({\mathrm{\β}}^{\′}\right)[(L+l)\cos \left({\mathrm{\α}}^{\′}\right)-H\sin \left({\mathrm{\α}}^{\′}\right)]\\ -(L+l)\sin \left({\mathrm{\α}}^{\′}\right)-H\cos \left({\mathrm{\α}}^{\′}\right)+H\end{array}\right]\end{array},$

In formula, α ' is that two-dimentional turntable rotates the angle of pitch,

β ' is that two-dimentional turntable rotates yaw angle,

H is the origin of coordinates O of two-dimentional turntable coordinate system_TurnAnd between radar surveying coordinate system origin of coordinates OVertical range,

L is the origin of coordinates O of two-dimentional turntable coordinate system_TurnAnd between radar surveying coordinate system origin of coordinates OHorizontal range,

L is the distance of target simulation source and radar surveying coordinate system origin of coordinates O,

M represents the position in target simulation source,

O'_TurnThe coordinate of O' under two-dimentional turntable zero-bit coordinate system is (l, 0 ,-H).

In described step 4, the angle of pitch and yaw angle computing formula are respectively:

α＝arctan(-z_Mx_M),

$\mathrm{\β}=\arctan (y_M/\sqrt{x_M^2+z_M^2}).,$

X in formula_MFor the abscissa of target simulation source under radar surveying coordinate system,

y_MFor the ordinate of target simulation source under radar surveying coordinate system,

z_MFor the ordinate of target simulation source under radar surveying coordinate system.

The inversion formula that calculates the required rotational angle of two-dimentional turntable in described step 5 is:

$\mathrm{\α}=\arctan (-\frac{-(L+1)\sin \left({\mathrm{\α}}^{\′}\right)-H\cos \left({\mathrm{\α}}^{\′}\right)+H}{\cos \left({\mathrm{\β}}^{\′}\right)[(L+l)\cos \left({\mathrm{\α}}^{\′}\right)-H\sin \left({\mathrm{\α}}^{\′}\right)]-l}),$

$\mathrm{\β}=\arctan \left(\frac{-\sin \left({\mathrm{\β}}^{\′}\right)[(L+l)\cos \left({\mathrm{\α}}^{\′}\right)-H\sin \left({\mathrm{\α}}^{\′}\right)]}{\sqrt{{\left(\cos \left({\mathrm{\β}}^{\′}\right)\right[(L+l)\cos \left({\mathrm{\α}}^{\′}\right)-H\sin \left({\mathrm{\α}}^{\′}\right)]-l)}^2+{(-(L+l)\sin \left({\mathrm{\α}}^{\′}\right)-H\cos \left({\mathrm{\α}}^{\′}\right)+H)}^2}}\right).,$

α ' rotates the angle of pitch for two-dimentional turntable 1,

β ' rotates yaw angle for two-dimentional turntable 1,

H is the origin of coordinates O of two-dimentional turntable coordinate system_TurnAnd between radar surveying coordinate system origin of coordinates OVertical range,

L is the origin of coordinates O of two-dimentional turntable coordinate system_TurnAnd between radar surveying coordinate system origin of coordinates OHorizontal range,

L is the distance of target simulation source and radar surveying coordinate system origin of coordinates O.

A kind of radar pointing Ground Nuclear Magnetic Resonance test error bucking-out system of the present invention and method and prior art phaseThan having the following advantages: compensate the cross-coupling error of radar pointing Ground Nuclear Magnetic Resonance verification system, realShow the effective simulation to relative motion relation between star, improved the measuring accuracy of ground validation system, forThe Ground Nuclear Magnetic Resonance checking of space relative measurement technology provides strong support.

Brief description of the drawings

Fig. 1 is that the overall structure of a kind of radar pointing of the present invention Ground Nuclear Magnetic Resonance test error bucking-out system is shownIntention.

Fig. 2 is the flow chart of a kind of radar pointing of the present invention Ground Nuclear Magnetic Resonance test error compensation method.

Fig. 3 is system deviation schematic diagram when two-dimentional turntable pitch axis rotates in the present invention.

Fig. 4 is the spatial relationship figure of two-dimentional turntable coordinate system and radar surveying coordinate system.

Detailed description of the invention

Below in conjunction with accompanying drawing, by describing a preferably specific embodiment in detail, the present invention is done into oneStep is set forth.

Radar is made up of mechanism controls device, signal processing component, antenna and driving mechanism, transfer computerBe connected with signal processing component, signal processing component send and gives transfer after radar surveying primary signal is processedComputer; The motion of driving mechanism driven antenna, signal processing component transmitting antenna movement instruction is controlled to mechanismDevice processed; Mechanism controls device is according to the instruction control antenna motion receiving. After antenna reception microwave signal, firstThrough being fixed on the high frequency receiving unit processing of mechanism side, then issue signal processing component by waveguide,Signal processing component, after integrated treatment, just can produce the angle and distance data that need to use, by thisA little angle and distance data are issued transfer computer.

As shown in Figure 1, a kind of error compensation system for the test of radar pointing Ground Nuclear Magnetic Resonance, comprises:Two dimension turntable 1; Be arranged on the radar driving mechanism 2 on two-dimentional turntable 1; Be connected with two-dimentional turntable 1 twoDimension turntable control computer 3; The transfer computer 4 being connected with Radar Signal Processing assembly; Drive with radarThe target simulation source 5 that mechanism 2 is oppositely arranged; The radar radio frequency analog device 6 being connected with target simulation source 5;The radar Comprehensive control computer 7 being connected with radar radio frequency analog device 6; Respectively with two-dimentional turntable control meterThe digital space system host 8 that calculation machine 3, transfer computer 4 and radar Comprehensive control computer 7 connect;Transfer computer 4 instrumentation radar data; Transfer meter is accepted and processed to described digital space system host 8The radar measured data of calculation machine 4, and send echo enabled instruction to radar Comprehensive control computer 7 andSend the instruction of two-dimentional turntable controlled quentity controlled variable to two-dimentional turntable control computer 3.

Two dimension turntable 1, radar driving mechanism 2, target simulation source 5, radar radio frequency analog device 6 are placed in micro-In ripple darkroom, two-dimentional turntable 1 and target simulation source 5 are placed on respectively the two ends of microwave dark room, spacing 5More than rice, diaxon (pitch axis and the yaw axis) quadrature position of two-dimentional turntable 1 is set to zero-bit, willThe quadrature position of radar two dimension driving mechanism is made as radar antenna zero-bit, the position of adjustment aim dummy source 5,Make itself and radar antenna zero position; Two dimension turntable control computer 3 is placed on outside microwave dark room, passes throughRS422 serial ports control two dimension turntable 1; Radar Comprehensive control computer 7 is placed on outside microwave dark room, logicalCross CAN line traffic control radar radio frequency analog device 6; Radar radio frequency analog device 6 passes through high with target simulation source 5Frequently cable connects.

Two dimension turntable 1 pitch axis is relative with target simulation source 5 with the quadrature position of two-dimentional turntable 1 yaw axis.

As shown in Figure 2, a kind of error compensating method for the test of radar pointing Ground Nuclear Magnetic Resonance, comprisesFollowing steps:

Step 1, set up two-dimentional turntable coordinate system and radar surveying coordinate system respectively;

Step 2, set up the equation of motion of target simulation source 5 in the time that two-dimentional turntable 1 turns an angle;

Step 3, target simulation source 5 movement relations that obtain in step 2 are transformed into radar surveying coordinateSystem, obtains target simulation source 5 equations of motion under radar surveying coordinate system;

Step 4, according to the angle of pitch and yaw angle computing formula, sat in radar surveying by target simulation source 5The equation of motion under mark system calculates two dimensional motion luffing angle α and the yaw angle β in target simulation source 5Computing formula, this computing formula contains unknown quantity α ' and β ';

Step 5, utilize MATLAB instrument, by the two dimensional motion luffing angle α in target simulation source 5 andThe computing formula of yaw angle β is carried out inverse, obtains the computing formula of two-dimentional turntable 1 required rotational angle,Be error compensation model, when needs two dimensions turntable 1 removes the two dimensional motion angle of pitch of simulated target dummy source 5When degree α and yaw angle β, but after compensation model carries out computing, show that actual needs two dimension turnsThe luffing angle α ' that platform 1 rotates and yaw angle β ', this result of calculation is defeated as two-dimentional turntable 1 angleEnter instruction, realize error compensation.

Two dimension turntable coordinate system taking the quadrature position of two-dimentional turntable 1 pitch axis and two-dimentional turntable 1 yaw axis asOrigin of coordinates O_Turn，Z_TurnAxle is with origin of coordinates O_TurnGo off course along two-dimentional turntable 1 pitch axis and two-dimentional turntable 1When axle is orthogonal center of turntable vertically downward directed towards ground be forward, X_TurnAxle is with origin of coordinates O_TurnPoint to targetThe opposite direction of dummy source 5 is forward, Y_TurnAxle forward is determined by the right-hand rule.

Radar surveying coordinate system is taking radar driving mechanism 2 diaxon intersections as origin of coordinates O, and Z axis is to sitMark initial point O is forward along driving mechanism 2 vertical axis center directed towards ground, X-axis with origin of coordinates O along thunderReach antenna direction target simulation source 5 for forward, Y-axis forward is determined by the right-hand rule.

What in step 2, two-dimentional turntable 1 rotated turns order is that after first pitch rotation, driftage is rotated, two-dimentional turntable 1Rotate angle of pitch α ' and yaw angle β ', two-dimentional turntable coordinate system rotates respective angles, now radar surveyingUnder coordinate system, rotating the angle of pitch is that α and yaw angle are β.

In step 2, the equation of motion of target simulation source 5 in the time that two-dimentional turntable 1 turns an angle is:

O'_TurnM＝A(β')A(α')O_TurnM

Wherein, rotation matrix A (α ') and rotation matrix A (β ') are respectively:

$A\left({\mathrm{\α}}^{\′}\right)=\left[\begin{array}{ccc}\cos \left({\mathrm{\α}}^{\′}\right)& 0& -\sin \left({\mathrm{\α}}^{\′}\right)\\ 0& 1& 0\\ \sin \left({\mathrm{\α}}^{\′}\right)& 0& \cos \left({\mathrm{\α}}^{\′}\right)\end{array}\right],A\left({\mathrm{\β}}^{\′}\right)=\left[\begin{array}{ccc}\cos \left({\mathrm{\β}}^{\′}\right)& \sin \left({\mathrm{\β}}^{\′}\right)& 0\\ -\sin \left({\mathrm{\β}}^{\′}\right)& \cos \left({\mathrm{\β}}^{\′}\right)& 0\\ 0& 0& 1\end{array}\right],$

In formula, α ' rotates the angle of pitch for two-dimentional turntable 1,

β ' rotates yaw angle for two-dimentional turntable 1,

M represents the position in target simulation source 5,

O_TurnM is the coordinate vector of target simulation source 5 under two-dimentional turntable zero-bit coordinate system.

In step 3, the equation of motion of target simulation source 5 under radar surveying coordinate system is:

O'M＝O'_TurnM-O'_TurnO'

Substitution O'_TurnM and O'_TurnO', has

$\begin{array}{c}{O}^{\′}M=\left[\begin{array}{c}{x}_M\\ y_M\\ z_M\end{array}\right]=\left[\begin{array}{ccc}-1& 0& 0\\ 0& -1& 0\\ 0& 0& 1\end{array}\right]\{\left[\begin{array}{ccc}\cos \left({\mathrm{\β}}^{\′}\right)& \sin \left({\mathrm{\β}}^{\′}\right)& 0\\ -\sin \left({\mathrm{\β}}^{\′}\right)& \cos \left({\mathrm{\β}}^{\′}\right)& 0\\ 0& 0& 1\end{array}\right]\left[\begin{array}{ccc}\cos \left({\mathrm{\α}}^{\′}\right)& 0& -\sin \left({\mathrm{\α}}^{\′}\right)\\ 0& 1& 0\\ \sin \left({\mathrm{\α}}^{\′}\right)& 0& \cos \left({\mathrm{\α}}^{\′}\right)\end{array}\right]\left[\begin{array}{c}-(L+l)\\ 0\\ -H\end{array}\right]-\left[\begin{array}{c}-l\\ 0\\ -H\end{array}\right]\}\\ =\left[\begin{array}{c}\cos \left({\mathrm{\β}}^{\′}\right)[(L+l)\cos \left({\mathrm{\α}}^{\′}\right)-H\sin \left({\mathrm{\α}}^{\′}\right)]-l\\ -\sin \left({\mathrm{\β}}^{\′}\right)[(L+l)\cos \left({\mathrm{\α}}^{\′}\right)-H\sin \left({\mathrm{\α}}^{\′}\right)]\\ -(L+l)\sin \left({\mathrm{\α}}^{\′}\right)-H\cos \left({\mathrm{\α}}^{\′}\right)+H\end{array}\right]\end{array},$

In formula, α ' rotates the angle of pitch for two-dimentional turntable 1,

β ' rotates yaw angle for two-dimentional turntable 1,

H is the origin of coordinates O of two-dimentional turntable coordinate system_TurnAnd between radar surveying coordinate system origin of coordinates OVertical range,

L is the origin of coordinates O of two-dimentional turntable coordinate system_TurnAnd between radar surveying coordinate system origin of coordinates OHorizontal range,

L is the distance of target simulation source 5 and radar surveying coordinate system origin of coordinates O,

M represents the position in target simulation source 5,

O'_TurnThe coordinate of O' under two-dimentional turntable zero-bit coordinate system is (l, 0 ,-H).

In step 4, the angle of pitch and yaw angle computing formula are respectively:

α＝arctan(-z_Mx_M),

$\mathrm{\β}=\arctan (y_M/\sqrt{x_M^2+z_M^2}).,$

X in formula_MFor the abscissa of target simulation source under radar surveying coordinate system,

y_MFor the ordinate of target simulation source under radar surveying coordinate system,

z_MFor the ordinate of target simulation source under radar surveying coordinate system.

The inversion formula that calculates two-dimentional turntable 1 required rotational angle in described step 5 is:

$\mathrm{\α}=\arctan (-\frac{-(L+1)\sin \left({\mathrm{\α}}^{\′}\right)-H\cos \left({\mathrm{\α}}^{\′}\right)+H}{\cos \left({\mathrm{\β}}^{\′}\right)[(L+l)\cos \left({\mathrm{\α}}^{\′}\right)-H\sin \left({\mathrm{\α}}^{\′}\right)]-l}),$

$\mathrm{\β}=\arctan \left(\frac{-\sin \left({\mathrm{\β}}^{\′}\right)[(L+l)\cos \left({\mathrm{\α}}^{\′}\right)-H\sin \left({\mathrm{\α}}^{\′}\right)]}{\sqrt{{\left(\cos \left({\mathrm{\β}}^{\′}\right)\right[(L+l)\cos \left({\mathrm{\α}}^{\′}\right)-H\sin \left({\mathrm{\α}}^{\′}\right)]-l)}^2+{(-(L+l)\sin \left({\mathrm{\α}}^{\′}\right)-H\cos \left({\mathrm{\α}}^{\′}\right)+H)}^2}}\right).,$

In formula, α ' rotates the angle of pitch for two-dimentional turntable 1,

β ' rotates yaw angle for two-dimentional turntable 1,

H is the origin of coordinates O of two-dimentional turntable coordinate system_TurnAnd between radar surveying coordinate system origin of coordinates OVertical range,

L is the origin of coordinates O of two-dimentional turntable coordinate system_TurnAnd between radar surveying coordinate system origin of coordinates OHorizontal range,

L is the distance of target simulation source 5 and radar surveying coordinate system origin of coordinates O.

Concrete application:

In Analysis of Radar pointing ground validation system, two-dimentional turntable 1 produces machine with the cross-coupling error of radarReason, carries out mathematical description to the cross-coupling error between radar and ground measurement equipment.

Adopt two-dimentional turntable 1 to simulate relative motion relation between star, due to designed test macro two dimensionTurntable 1 is connected with radar, but not with target simulation source 5, because this place examining system uses two-dimentional turntable 1Rotate a contrary angle and simulate relative motion between star. In this process, due to two-dimentional turntable 1The yaw axis of pitch axis, two-dimentional turntable 1 and not conllinear of the diaxon of driving mechanism, can cause between star and relatively transportWhen moving measurement, between radar pointing measured value and two-dimentional turntable 1 analogue value, there is deviation, produce radar pointingCross-couplings measure error. In the time only having pitch axis to rotate, its deviation delta alpha schematic diagram is as shown in 3.

Set up two-dimentional turntable coordinate system and radar surveying coordinate system as shown in Figure 4.

Two dimension turntable coordinate system taking the quadrature position of two-dimentional turntable 1 pitch axis and two-dimentional turntable 1 yaw axis asOrigin of coordinates O_Turn，Z_TurnAxle (O_TurnZ_Turn) with origin of coordinates O_TurnAlong two-dimentional turntable 1 pitch axis and two dimensionTurntable 1 yaw axis when orthogonal center of turntable vertically downward directed towards ground be forward, X_TurnAxle (O_TurnX_Turn)With origin of coordinates O_TurnThe opposite direction of pointing to target simulation source 5 is forward, Y_TurnAxle (O_TurnY_Turn) forward byThe right-hand rule is determined.

Radar surveying coordinate system is taking radar driving mechanism 2 diaxon intersections as origin of coordinates O, Z axis (OZ)Taking origin of coordinates O, along driving mechanism 2 vertical axis center directed towards ground as forward, X-axis (OX) is with coordinateIt is forward that initial point O points to target simulation source 5 along radar antenna, and Y-axis (OY) forward is true by the right-hand ruleFixed.

Pilot system is carried out to actual measurement, obtain following distance measurements: two-dimentional turntable 1 pitch axis and two dimensionThe vertical range H=0.6 rice of turntable 1 yaw axis and radar driving mechanism 2 diaxons, two-dimentional turntable 1 pitchingThe longitudinal separation l=0.13 rice of axle and two-dimentional turntable 1 yaw axis and radar driving mechanism 2 diaxons, target mouldDistance L=8.91 meter of plan source 5 and radar driving mechanism 2 diaxon intersections.

Two dimension turntable zero-bit during with radar zero-bit two-dimentional turntable coordinate system and radar surveying coordinate system parallel, byBe connected with radar driving mechanism 2 in two-dimentional turntable 1, therefore, in rotation process, two coordinate systems are still flatOK; When radar zero-bit, antenna is just to target simulation source 5.

In Fig. 4, O_TurnX_TurnZ_TurnCoplanar with OXZ, and target simulation source 5 (in figure, being some M) is flat at thisIn face. O_TurnX_TurnY_TurnZ_TurnFor two-dimentional turntable zero-bit coordinate system, O'_TurnX'_TurnY'_TurnZ'_TurnFor (the angle of pitch α ' that turns an angleWith yaw angle β ') after coordinate system. The coordinate of putting M under two-dimentional turntable zero-bit coordinate system is O_TurnM(-L，0 ,-H), some O_TurnThe coordinate of O is (l, 0 ,-H).

Two dimension turntable 1 rotates angle of pitch α ' and yaw angle β ', and two-dimentional turntable coordinate system rotates respective angles,Now, radar is tracking target, rotates angle of pitch α and yaw angle β under radar surveying coordinate system, rightStandard target dummy source 5, line of sight O'M is now required.

Under two dimension turntable zero-bit coordinate system, vectorial O_TurnM is (L, 0 ,-H), vectorial O_TurnO be (l, 0,-H), because radar driving mechanism 2 and two-dimentional turntable 1 are connected, so vectorial O_TurnO is in two-dimentional turntable zero-bitCoordinate system rotates after α ' and β ', still constant, i.e. O_TurnO＝O'_TurnO'; And because target simulation source 5 is fixing,Therefore at coordinate system O'_TurnX'_TurnY'_TurnZ'_TurnIn, O'_TurnM rotates and changes with coordinate system. Owing to being subject to demonstration test systemTwo dimension turntable 1 configuration affects, two-dimentional turntable 1 pitch axis immobilizes in two-dimentional turntable 1 rotation process,Define the order that turns of going off course after first pitching, therefore line of sight equation first turns pitching, has line of sight sideJourney:

O'_TurnM＝A(β')A(α')O_TurnM

Wherein, rotating matrix A (α ') and A (β ') is:

$A\left({\mathrm{\α}}^{\′}\right)=\left[\begin{array}{ccc}\cos \left({\mathrm{\α}}^{\′}\right)& 0& -\sin \left({\mathrm{\α}}^{\′}\right)\\ 0& 1& 0\\ \sin \left({\mathrm{\α}}^{\′}\right)& 0& \cos \left({\mathrm{\α}}^{\′}\right)\end{array}\right],A\left({\mathrm{\β}}^{\′}\right)=\left[\begin{array}{ccc}\cos \left({\mathrm{\β}}^{\′}\right)& \sin \left({\mathrm{\β}}^{\′}\right)& 0\\ -\sin \left({\mathrm{\β}}^{\′}\right)& \cos \left({\mathrm{\β}}^{\′}\right)& 0\\ 0& 0& 1\end{array}\right],$

In formula, α ' rotates the angle of pitch for two-dimentional turntable 1,

β ' rotates yaw angle for two-dimentional turntable 1.

Between two-dimentional turntable coordinate system and radar surveying coordinate system, carry out the conversion of line of sight equation, obtain thunderReach the line of sight equation under Department of Survey; Because two-dimentional turntable coordinate system and radar surveying coordinate system three axles are flatOK, X '_TurnY′_TurnTwo axles are contrary with X'Y' bis-direction of principal axis, and origin of coordinates difference can by the geometrical relationship in Fig. 4Obtain the transforming relationship of two coordinate systems:

O'M＝O'_TurnM-O'_TurnO'

Substitution O'_TurnM and O'_TurnO', has

$\begin{array}{c}{O}^{\′}M=\left[\begin{array}{c}{x}_M\\ y_M\\ z_M\end{array}\right]=\left[\begin{array}{ccc}-1& 0& 0\\ 0& -1& 0\\ 0& 0& 1\end{array}\right]\{\left[\begin{array}{ccc}\cos \left({\mathrm{\β}}^{\′}\right)& \sin \left({\mathrm{\β}}^{\′}\right)& 0\\ -\sin \left({\mathrm{\β}}^{\′}\right)& \cos \left({\mathrm{\β}}^{\′}\right)& 0\\ 0& 0& 1\end{array}\right]\left[\begin{array}{ccc}\cos \left({\mathrm{\α}}^{\′}\right)& 0& -\sin \left({\mathrm{\α}}^{\′}\right)\\ 0& 1& 0\\ \sin \left({\mathrm{\α}}^{\′}\right)& 0& \cos \left({\mathrm{\α}}^{\′}\right)\end{array}\right]\left[\begin{array}{c}-(L+l)\\ 0\\ -H\end{array}\right]-\left[\begin{array}{c}-l\\ 0\\ -H\end{array}\right]\}\\ =\left[\begin{array}{c}\cos \left({\mathrm{\β}}^{\′}\right)[(L+l)\cos \left({\mathrm{\α}}^{\′}\right)-H\sin \left({\mathrm{\α}}^{\′}\right)]-l\\ -\sin \left({\mathrm{\β}}^{\′}\right)[(L+l)\cos \left({\mathrm{\α}}^{\′}\right)-H\sin \left({\mathrm{\α}}^{\′}\right)]\\ -(L+l)\sin \left({\mathrm{\α}}^{\′}\right)-H\cos \left({\mathrm{\α}}^{\′}\right)+H\end{array}\right]\end{array},$

In conjunction with the angle of pitch and yaw angle computing formula,

α＝arctan(-z_Mx_M),

$\mathrm{\β}=\arctan (y_M/\sqrt{x_M^2+z_M^2}).$

Line of sight solution of equation calculates two dimensional motion luffing angle and the yaw angle in target simulation source 5

$\mathrm{\α}=\arctan (-\frac{-(L+1)\sin \left({\mathrm{\α}}^{\′}\right)-H\cos \left({\mathrm{\α}}^{\′}\right)+H}{\cos \left({\mathrm{\β}}^{\′}\right)[(L+l)\cos \left({\mathrm{\α}}^{\′}\right)-H\sin \left({\mathrm{\α}}^{\′}\right)]-l}),$

$\mathrm{\β}=\arctan \left(\frac{-\sin \left({\mathrm{\β}}^{\′}\right)[(L+l)\cos \left({\mathrm{\α}}^{\′}\right)-H\sin \left({\mathrm{\α}}^{\′}\right)]}{\sqrt{{\left(\cos \left({\mathrm{\β}}^{\′}\right)\right[(L+l)\cos \left({\mathrm{\α}}^{\′}\right)-H\sin \left({\mathrm{\α}}^{\′}\right)]-l)}^2+{(-(L+l)\sin \left({\mathrm{\α}}^{\′}\right)-H\cos \left({\mathrm{\α}}^{\′}\right)+H)}^2}}\right).$

By above formula inverse can obtain two-dimentional turntable 1 required rotation angle [alpha] ' and β ', by two-dimentional turntable 1The angle fusion of required rotation is inputted instruction to two-dimentional turntable 1 angle, and then realizes turntable to relative between starEffective simulation of motion.

Consider computational speed that algorithm realizes and compatible etc., based on two-dimentional turntable 1 required rotationAngle [alpha] ' and β ', set up model real-time simulation validation module, it is fused in ground testing system software,By two-dimentional turntable 1 angle input instruction in correction software, realize cross-coupling error compensation.

The inverse of nonlinear equation adopts numerical solution Newton iteration. Emulation module select can with dSPACEThe embeddedmatlabfunction module that (digital space system) is compatible is write and is surveyed software intermediate stationInstruction correction program part.

Although content of the present invention has been done detailed introduction by above preferred embodiment, should be familiar withShould not be considered to limitation of the present invention to above-mentioned description. Read above-mentioned those skilled in the artAfter content, for multiple amendment of the present invention and substitute will be all apparent. Therefore, of the present inventionProtection domain should be limited to the appended claims.

Claims (9)

1. for an error compensation system for radar pointing Ground Nuclear Magnetic Resonance test, it is characterized in that, comprise:

Two dimension turntable (1);

Be arranged on the radar driving mechanism (2) on two-dimentional turntable (1);

The two-dimentional turntable control computer (3) being connected with two-dimentional turntable (1);

The transfer computer (4) being connected with Radar Signal Processing assembly;

With the target simulation source (5) that radar driving mechanism (2) is oppositely arranged, described target simulation source (5)Relative with the quadrature position of two-dimentional turntable (1) pitch axis and two-dimentional turntable (1) yaw axis;

The radar radio frequency analog device (6) being connected with target simulation source (5);

The radar Comprehensive control computer (7) being connected with radar radio frequency analog device (6);

Calculate with two-dimentional turntable control computer (3), transfer computer (4) and radar Comprehensive Control respectivelyThe digital space system host (8) that machine (7) connects;

Described transfer computer (4) instrumentation radar data;

The radar surveying of transfer computer (4) is accepted and processed to described digital space system host (8)Data, and send echo enabled instruction to radar Comprehensive control computer (7) and send two-dimentional turntable controlAmount instruction processed is to two-dimentional turntable control computer (3).

2. for an error compensating method for radar pointing Ground Nuclear Magnetic Resonance test, it is characterized in that, comprise withLower step:

Step 1, set up two-dimentional turntable coordinate system and radar surveying coordinate system respectively;

Step 2, suppose two-dimentional turntable (1) actual rotation angle of pitch α ' and yaw angle β ' to set up target mouldThe equation of motion of plan source (5) in the time that two-dimentional turntable (1) rotates angle of pitch α ' and yaw angle β ';

Step 3, by target simulation source (5) movement relation obtaining in step 2 be transformed into radar surveying sitMark system, obtains target simulation source (5) equation of motion under radar surveying coordinate system;

Step 4, according to the angle of pitch and yaw angle computing formula, by target simulation source (5) in radar surveyingThe equation of motion under coordinate system calculates two dimensional motion luffing angle α and the yaw angle in target simulation source (5)Degree β computing formula;

Step 5, by the calculating of the two dimensional motion luffing angle α of target simulation source (5) and yaw angle βFormula carries out inverse, obtains the computing formula of the required rotational angle of two-dimentional turntable (1), i.e. error compensation mouldType, this error compensation model is two dimensional motion luffing angle α and the yaw angle β in target simulation source (5)Function, error compensation model is carried out after computing, show that two-dimentional turntable (1) is simulated target dummy source(5) when two dimensional motion luffing angle α and yaw angle β, the angle [alpha] of required rotation ' and β ', willThis result of calculation, as two-dimentional turntable (1) angle input instruction, realizes error compensation.

3. error compensating method as claimed in claim 2, is characterized in that, described two-dimentional turntable coordinate systemTaking the quadrature position of two-dimentional turntable (1) pitch axis and two-dimentional turntable (1) yaw axis as origin of coordinates O_Turn，Z_TurnAxle is with origin of coordinates O_TurnAlong two-dimentional turntable (1) pitch axis and two-dimentional turntable (1) yaw axis when orthogonalCenter of turntable vertically downward directed towards ground is forward, X_TurnAxle is with origin of coordinates O_TurnPoint to target simulation source (5)Opposite direction be forward, Y_TurnAxle forward is determined by the right-hand rule.

4. error compensating method as claimed in claim 3, is characterized in that, described radar surveying coordinate systemTaking radar driving mechanism (2) diaxon intersection as origin of coordinates O, Z axis with origin of coordinates O along drivingMechanism (2) vertical axis center directed towards ground is forward, and X-axis is pointed to along radar antenna with origin of coordinates OTarget simulation source (5) is forward, and Y-axis forward is determined by the right-hand rule;

The origin of coordinates O of described two-dimentional turntable coordinate system_TurnWith radar surveying coordinate system origin of coordinates O itBetween vertical range be H;

The origin of coordinates O of described two-dimentional turntable coordinate system_TurnWith radar surveying coordinate system origin of coordinates O itBetween horizontal range be l.

5. error compensating method as claimed in claim 4, is characterized in that, in described step 2, two dimension turnsWhat platform (1) rotated turns order is that after first pitch rotation, driftage is rotated.

6. error compensating method as claimed in claim 5, is characterized in that, target mould in described step 2The equation of motion of plan source (5) in the time that two-dimentional turntable (1) turns an angle is:

O'_TurnM＝A(β')A(α')O_TurnM

Wherein, rotation matrix A (α ') and rotation matrix A (β ') are respectively:

$A\left({\mathrm{\α}}^{\′}\right)=\left[\begin{array}{ccc}\cos \left({\mathrm{\α}}^{\′}\right)& 0& -\sin \left({\mathrm{\α}}^{\′}\right)\\ 0& 1& 0\\ \sin \left({\mathrm{\α}}^{\′}\right)& 0& \cos \left({\mathrm{\α}}^{\′}\right)\end{array}\right],A\left({\mathrm{\β}}^{\′}\right)=\left[\begin{array}{ccc}cos\left({\mathrm{\β}}^{\′}\right)& sin\left({\mathrm{\β}}^{\′}\right)& 0\\ -sin\left({\mathrm{\β}}^{\′}\right)& cos\left({\mathrm{\β}}^{\′}\right)& 0\\ 0& 0& 1\end{array}\right],$

In formula, α ' is that two-dimentional turntable (1) rotates the angle of pitch,

β ' is that two-dimentional turntable (1) rotates yaw angle,

M represents the position of target simulation source (5),

O_TurnM is the coordinate vector of target simulation source (5) under two-dimentional turntable zero-bit coordinate system.

7. error compensating method as claimed in claim 6, is characterized in that, target mould in described step 3The equation of motion of plan source (5) under radar surveying coordinate system is:

O'M＝O'_TurnM-O'_TurnO'

Substitution O'_TurnM and O'_TurnO', has

$\begin{array}{c}{O}^{\′}M=\left[\begin{array}{c}{x}_M\\ y_M\\ z_M\end{array}\right]=\left[\begin{array}{ccc}-1& 0& 0\\ 0& -1& 0\\ 0& 0& 1\end{array}\right]\left\{\left[\begin{array}{ccc}\cos \left({\mathrm{\β}}^{\′}\right)& \sin \left({\mathrm{\β}}^{\′}\right)& 0\\ -\sin \left({\mathrm{\β}}^{\′}\right)& \cos \left({\mathrm{\β}}^{\′}\right)& 0\\ 0& 0& 1\end{array}\right]\left[\begin{array}{ccc}\cos \left({\mathrm{\α}}^{\′}\right)& 0& -\sin \left({\mathrm{\α}}^{\′}\right)\\ 0& 1& 0\\ \sin \left({\mathrm{\α}}^{\′}\right)& 0& \cos \left({\mathrm{\α}}^{\′}\right)\end{array}\right]\left[\begin{array}{c}-\left(L+l\right)\\ 0\\ -H\end{array}\right]-\left[\begin{array}{c}-l\\ 0\\ -H\end{array}\right]\right\}\\ =\left[\begin{array}{c}\cos \left({\mathrm{\β}}^{\′}\right)\[\left(L+l\right)\cos \left({\mathrm{\α}}^{\′}\right)-H\sin \left({\mathrm{\α}}^{\′}\right)\]-l\\ -\sin \left({\mathrm{\β}}^{\′}\right)\[\left(L+l\right)\cos \left({\mathrm{\α}}^{\′}\right)-H\sin \left({\mathrm{\α}}^{\′}\right)\]\\ -\left(L+l\right)\sin \left({\mathrm{\α}}^{\′}\right)-H\cos \left({\mathrm{\α}}^{\′}\right)+H\end{array}\right]\end{array},$

In formula, α ' is that two-dimentional turntable (1) rotates the angle of pitch,

β ' is that two-dimentional turntable (1) rotates yaw angle,

H is the origin of coordinates O of two-dimentional turntable coordinate system_TurnAnd hanging down between radar surveying coordinate system origin of coordinates OStraight distance,

L is the origin of coordinates O of two-dimentional turntable coordinate system_TurnAnd the water between radar surveying coordinate system origin of coordinates OFlat distance,

L is the distance of target simulation source (5) and radar surveying coordinate system origin of coordinates O,

M represents the position of target simulation source (5),

O'_TurnThe coordinate of O' under two-dimentional turntable zero-bit coordinate system is (l, 0 ,-H).

8. error compensating method as claimed in claim 2, is characterized in that, the angle of pitch in described step 4Be respectively with yaw angle computing formula:

α＝arctan(-z_M/x_M),

$\mathrm{\β}=\arctan (y_M/\sqrt{x_M^2+z_M^2}).,$

X in formula_MFor target simulation source (5) abscissa under radar surveying coordinate system,

y_MFor target simulation source (5) ordinate under radar surveying coordinate system,

z_MFor target simulation source (5) ordinate under radar surveying coordinate system.

9. error compensating method as claimed in claim 5, is characterized in that, calculates two in described step 5The inversion formula of the required rotational angle of dimension turntable (1) is:

$\mathrm{\α}=\arctan (-\frac{-(L+l)sin\left({\mathrm{\α}}^{\′}\right)-Hcos\left({\mathrm{\α}}^{\′}\right)+H}{cos\left({\mathrm{\β}}^{\′}\right)\[(L+l)\cos \left({\mathrm{\α}}^{\′}\right)-Hsin\left({\mathrm{\α}}^{\′}\right)\]-l}),$

$\mathrm{\β}=\arctan \left(\frac{-\sin \left({\mathrm{\β}}^{\′}\right)\[(L+l)cos\left({\mathrm{\α}}^{\′}\right)-Hsin\left({\mathrm{\α}}^{\′}\right)\]}{\sqrt{{\left(cos\right({\mathrm{\β}}^{\′})\[(L+l\left)cos\right({\mathrm{\α}}^{\′})-H\sin ({\mathrm{\α}}^{\′})\]-l)}^2+{(-(L+l\left)\sin \right({\mathrm{\α}}^{\′})-Hcos({\mathrm{\α}}^{\′})+H)}^2}}\right).,$

α ' is that two-dimentional turntable (1) rotates the angle of pitch,

β ' is that two-dimentional turntable (1) rotates yaw angle,

H is the origin of coordinates O of two-dimentional turntable coordinate system_TurnAnd between radar surveying coordinate system origin of coordinates OVertical range,

L is the origin of coordinates O of two-dimentional turntable coordinate system_TurnAnd between radar surveying coordinate system origin of coordinates OHorizontal range,

L is the distance of target simulation source (5) and radar surveying coordinate system origin of coordinates O.