CN104991250A - Small-sized unmanned aerial vehicle-mounted millimeter wave interference synthetic aperture mapping radar - Google Patents
Small-sized unmanned aerial vehicle-mounted millimeter wave interference synthetic aperture mapping radar Download PDFInfo
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- CN104991250A CN104991250A CN201510357070.7A CN201510357070A CN104991250A CN 104991250 A CN104991250 A CN 104991250A CN 201510357070 A CN201510357070 A CN 201510357070A CN 104991250 A CN104991250 A CN 104991250A
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
- G01S13/90—Radar or analogous systems specially adapted for specific applications for mapping or imaging using synthetic aperture techniques, e.g. synthetic aperture radar [SAR] techniques
- G01S13/9021—SAR image post-processing techniques
- G01S13/9023—SAR image post-processing techniques combined with interferometric techniques
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- Variable-Direction Aerials And Aerial Arrays (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses a small-sized unmanned aerial vehicle-mounted millimeter wave interference synthetic aperture mapping radar, including the following modules: a servo device, a first antenna, a second antenna, a first radio frequency front end, a second radio frequency front end, a channel extension, a master control device, a combined navigator and a power supply device. The small-sized unmanned aerial vehicle-mounted millimeter wave interference synthetic aperture mapping radar adopts single-transmitting double-receiving antennas, performs synthetic aperture imaging on mapping areas at the same time, and uses signals phases in two images to interfere, so as to obtain height dimension information, thereby obtaining a three-dimensional image.
Description
Technical Field
The invention relates to a small unmanned aerial vehicle-mounted millimeter wave interferometric synthetic aperture mapping radar.
Background
With the rapid development of the unmanned aerial vehicle technology, the mode of adopting the unmanned aerial vehicle to carry out surveying and mapping has gradually become an important mode in the civil surveying and mapping field. At present, three methods of visible light, laser radar and small synthetic aperture radar are mainly adopted as surveying and mapping methods adopted by a small unmanned aerial vehicle. The visible light plotting method has high image resolution and low cost, but only can acquire two-dimensional plane image information, can not acquire height information, is seriously influenced by weather, and cannot normally work under the weather conditions of cloud, fog and rain and under the conditions of cloudy days and dark days; the laser radar can obtain three-dimensional image information including height information, but is also limited by climate, cannot normally work under the climate conditions of cloud, fog and rain and under strong illumination, and has large volume, heavy weight, high requirement on a small unmanned aerial vehicle platform and high price; the small synthetic aperture radar is not affected by weather, can work all day long, but can only obtain two-dimensional plane image information.
Disclosure of Invention
The invention aims to provide a small unmanned aerial vehicle-mounted millimeter wave interferometric synthetic aperture mapping radar.
In order to achieve the purpose, the technical scheme of the invention is to design a small unmanned aerial vehicle-mounted millimeter wave interferometric synthetic aperture mapping radar, which comprises the following modules: the system comprises a servo device, a first antenna, a second antenna, a first radio frequency front end, a second radio frequency front end, a channel extension, a main control device, a combined navigator and a power supply device;
the first antenna and the second antenna are carried by the servo device and move under the driving of the servo device;
the first radio frequency front end is fixed behind the first antenna, moves along with the first antenna and works in cooperation with the first antenna; the radio frequency front end comprises a transmitting branch and a receiving branch; the second radio frequency front end is fixed behind the second antenna, moves along with the second antenna and works in cooperation with the second antenna; the radio frequency front end comprises a receiving branch; in a transmitting state, the first radio frequency front end up-converts an intermediate frequency transmitting signal of the channel extension to a millimeter wave band and transmits the millimeter wave band to the first antenna; in a receiving state, the two radio frequency front ends respectively down-convert the millimeter wave signals received by the corresponding antennas and transmit the millimeter wave signals to the channel extension set;
the servo device includes: the device comprises a pair of double-shaft motors, a pair of double-shaft gyroscopes and a servo control device, wherein the double-shaft motors are respectively used for controlling the two antennas to move; the servo control device receives navigation information of the combined navigator, instruction information of the main control device and antenna angle information measured by the pair of double-shaft gyroscopes, and controls the pair of double-shaft motors to drive the antennas to move on the azimuth axis and the pitching axis according to the navigation information, the instruction information and the antenna angle information;
the channel extension set comprises: the device comprises a direct digital frequency synthesizer, a transmitting branch and a receiving branch; the direct digital frequency synthesizer is used for generating a dot frequency signal or a linear frequency modulation signal of 0-200 MHz; the frequency synthesizer is used for generating a full-system working clock, a frequency hopping local oscillator signal and an up-down frequency conversion local oscillator signal; the up-down frequency conversion local oscillation signal is used for signal frequency conversion of the transmitting branch and the receiving branch; the transmitting branch of the channel extension converts the signal to the intermediate frequency and sends the intermediate frequency to the corresponding radio frequency front end; the receiving branch of the channel extension converts the signal sent by the radio frequency front end down to a low intermediate frequency and transmits the signal to the main control device;
the main control device comprises a signal processing module and a communication module; the signal processing module is used for converting the low-intermediate frequency signals sent by the receiving branch of the channel extension set into digital signals and carrying out digital signal processing or direct storage on the digital signals to obtain radar detection data; the communication module is used for outputting radar detection data outwards and receiving external instruction information;
the combined navigator is a small six-degree-of-freedom combined navigator, is provided with a GPS antenna, adopts two combined navigation modes of GPS/INS and AHRS/DR, and provides navigation information for a servo control device; wherein, the GPS is a Global Positioning System (GPS); the INS is an Inertial Navigation System; the AHRS is an attitude and heading reference system, which includes a plurality of axial sensors capable of providing heading, roll and roll information for the aircraft, and such a system is used to provide accurate and reliable attitude and navigation information for the aircraft; DR is Dead Reckoning;
and the power supply device is used for converting the voltage of the external power supply into the working voltage of each power utilization module and supplying power to each power utilization module.
Preferably, the servo control device is configured to isolate the carrier motion between the two antennas, so as to ensure stability of a radar beam emitted by the antennas.
Preferably, the integrated navigator includes: the system comprises a three-axis gyroscope, a three-axis accelerometer, a GPS module and a differential GPS base station which is arranged on the ground in addition, and provides accurate navigation information in all directions for the radar.
The invention relates to a small unmanned aerial vehicle-mounted millimeter wave interference synthetic aperture mapping radar which adopts a single-transmitting and double-receiving antenna to simultaneously perform synthetic aperture imaging on a mapping area, and utilizes signal phases in two images to perform interference to acquire height dimension information so as to obtain a three-dimensional image.
Compared with three mapping methods of visible light, laser radar and small-sized synthetic aperture radar, the small-sized interferometric synthetic aperture radar has obvious advantages. The small interferometric synthetic aperture radar can acquire comprehensive three-dimensional information of a surveying and mapping area, is not influenced by weather, can normally work under any weather condition, and greatly improves surveying and mapping efficiency. In addition, the small interferometric synthetic aperture radar is less than 3kg, light in weight, small in size, low in requirement on a carrying platform of the small unmanned aerial vehicle, and easy to popularize.
The invention relates to a small-sized unmanned aerial vehicle-mounted millimeter wave interferometric synthetic aperture mapping radar which can be mounted on a small-sized unmanned aerial vehicle-mounted platform and used for mapping. The invention has the technical difficulty that the height information is influenced by the height measurement precision, the resolution ratio and the like of the carrier platform, and the measurement precision is not easy to improve. Therefore, the invention applies the millimeter wave radar technology and the stepping bandwidth synthesis technology to the small-sized unmanned aerial vehicle-mounted interferometric synthetic aperture radar, realizes the resolution of 0.08m on the small-sized synthetic aperture radar for the first time, and simultaneously uses the differential GPS system to measure the height of the vehicle-mounted platform, so that the height measurement precision is within 0.2m, and the general surveying and mapping requirements are met.
The invention has the following advantages:
1. the antenna is light and small, the total weight is not more than 3kg, the volume is 12cm multiplied by 15cm multiplied by 20cm, the length of the antenna base line is 0.2m, and the antenna is easy to carry.
2. The resolution is high, a three-dimensional image can be provided, the distance dimension and azimuth dimension resolution can reach 0.08m, the height measurement precision can reach 0.2m, and the surveying and mapping requirements are met.
3. The all-weather all-day-long work is not limited by weather conditions, and the all-weather all-day-long work can be carried out normally at any time, so that the surveying and mapping efficiency is greatly improved.
Drawings
FIG. 1 is a schematic representation of the geometry of a compact interferometric synthetic aperture mapping radar in operation;
FIG. 2 is a schematic diagram of the in-band measurement of high accuracy.
Detailed Description
The following description of the embodiments of the present invention will be made with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
The technical scheme of the specific implementation of the invention is as follows:
a small-sized unmanned aerial vehicle carries millimeter wave and interferes synthetic aperture survey and drawing radar, includes the following module: the system comprises a servo device, a first antenna, a second antenna, a first radio frequency front end, a second radio frequency front end, a channel extension, a main control device, a combined navigator and a power supply device;
the first antenna and the second antenna are carried by the servo device and move under the driving of the servo device;
the first radio frequency front end is fixed behind the first antenna, moves along with the first antenna and works in cooperation with the first antenna; the radio frequency front end comprises a transmitting branch and a receiving branch; the second radio frequency front end is fixed behind the second antenna, moves along with the second antenna and works in cooperation with the second antenna; the radio frequency front end comprises a receiving branch; in a transmitting state, the first radio frequency front end up-converts an intermediate frequency transmitting signal of the channel extension to a millimeter wave band and transmits the millimeter wave band to the first antenna; in a receiving state, the two radio frequency front ends respectively down-convert the millimeter wave signals received by the corresponding antennas and transmit the millimeter wave signals to the channel extension set;
the servo device includes: the device comprises a pair of double-shaft motors, a pair of double-shaft gyroscopes and a servo control device, wherein the double-shaft motors are respectively used for controlling the two antennas to move; the servo control device receives navigation information of the combined navigator, instruction information of the main control device and antenna angle information measured by the pair of double-shaft gyroscopes, and controls the pair of double-shaft motors to drive the antennas to move on the azimuth axis and the pitching axis according to the navigation information, the instruction information and the antenna angle information;
the channel extension set comprises: the device comprises a direct digital frequency synthesizer, a transmitting branch and a receiving branch; the direct digital frequency synthesizer is used for generating a dot frequency signal or a linear frequency modulation signal of 0-200 MHz; the frequency synthesizer is used for generating a full-system working clock, a frequency hopping local oscillator signal and an up-down frequency conversion local oscillator signal; the up-down frequency conversion local oscillation signal is used for signal frequency conversion of the transmitting branch and the receiving branch; the transmitting branch of the channel extension converts the signal to the intermediate frequency and sends the intermediate frequency to the corresponding radio frequency front end; the receiving branch of the channel extension converts the signal sent by the radio frequency front end down to a low intermediate frequency and transmits the signal to the main control device;
the main control device comprises a signal processing module and a communication module; the signal processing module is used for converting the low-intermediate frequency signals sent by the receiving branch of the channel extension set into digital signals and carrying out digital signal processing or direct storage on the digital signals to obtain radar detection data; the communication module is used for outputting radar detection data outwards and receiving external instruction information;
the combined navigator is a small six-degree-of-freedom combined navigator, is provided with a GPS antenna, adopts two combined navigation modes of GPS/INS and AHRS/DR, and provides navigation information for a servo control device;
and the power supply device is used for converting the voltage of the external power supply into the working voltage of each power utilization module and supplying power to each power utilization module.
And the servo control device is used for isolating the carrier motion of the two antennas and ensuring the stability of radar beams emitted by the antennas.
The integrated navigator includes: the system comprises a three-axis gyroscope, a three-axis accelerometer, a GPS module and a differential GPS base station which is arranged on the ground in addition, and provides accurate navigation information in all directions for the radar.
The two directions of the two-dimensional planar image of the synthetic aperture radar are referred to as the range direction and the azimuth direction, respectively. In the distance direction, the radar adopts an advanced step frequency synthesis broadband technology, the synthesis bandwidth can reach 2.4GHz, and the resolution can reach 0.08 m; in the azimuth direction, the radar works in a millimeter wave band, compared with other radar wave bands, the millimeter wave band has high angular resolution, high-resolution images in the azimuth direction of the images are easy to obtain, and after the platform flies for 140m, high-resolution images of 0.08m can be obtained in the azimuth direction.
The radar product has the total weight of not more than 3kg, the volume of 12cm multiplied by 15cm multiplied by 20cm, the length of an antenna base line of 0.2m, light weight, small volume and easy carrying on a small unmanned aerial vehicle platform. The weight statistics for each module are shown in table 1:
TABLE 1 weight statistics
| Module name | Quality (g) |
| First and second antennas | 240 |
| First and second RF front ends | 40 |
| Channel extension | 500 |
| Power supply device | 185 |
| Master control device | 120 |
| Servo frame | 700 |
| Servo control board | 60 |
| Frame structure | 300 |
| Combined navigator | 500 |
| Total of | 2700 |
The main parameters of the radar system of the invention are as follows:
center frequency: 35.6GHz
Working waveform: linear frequency modulated step frequency
Peak power: 20W
The working mode is as follows: front side, strip
Swath range: 0.5km-2km
Resolution ratio: 0.08 m.times.0.08 m
Beam width: 4 degree x 6 degree
Antenna gain: 28.5dB
Base line inclination angle: 10 degree
Base length: 0.2m
Noise coefficient: not more than 4.5dB
The small unmanned aerial vehicle-mounted millimeter wave interferometric synthetic aperture mapping radar has the following high-precision measurement analysis:
the geometrical relationship of the small interferometric synthetic aperture mapping radar during operation is shown in figure 1;
wherein, the meanings and typical values of the parameters are shown in the following table 2:
TABLE 2 meanings and typical values of the parameters
| Parameter symbol | Means of | Typical value |
| B | Length of base line, distance between two antennas | 0.2m |
| H | Aircraft flying height | 200m |
| R | Distance of action | 500m～2000m |
| ΔR | Difference in distance of action between two antennas | —— |
| h | Height of each point in surveying and mapping area | —— |
| a | Inclination angle of base line, angle between base line and horizontal plane | 10° |
| θ | Down angle, angle between radar beam line of sight and plumb line | 6°～24° |
The height measurement precision is related to the system parameter precision such as the platform height H, the target distance R, the base line length B, the base line inclination angle alpha and the like, and the phase precision phi. The specific expression is
Wherein,r, B, alpha, H, and phi, respectively.
Through analysis, the in-band height measurement precision of the mapping band is shown in figure 2 within the range of the action distance of 500 m-2000 m.
As can be seen from figure 2, the height measurement precision in the surveying and mapping belt is within 0.2m, and the requirement of general surveying and mapping is met
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the technical principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (4)
1. Small-size unmanned aerial vehicle carries millimeter wave and interferes synthetic aperture mapping radar, its characterized in that includes following module: the system comprises a servo device, a first antenna, a second antenna, a first radio frequency front end, a second radio frequency front end, a channel extension, a main control device, a combined navigator and a power supply device;
the first antenna and the second antenna are carried by the servo device and move under the driving of the servo device;
the first radio frequency front end is fixed behind the first antenna, moves along with the first antenna and works in cooperation with the first antenna; the radio frequency front end comprises a transmitting branch and a receiving branch; the second radio frequency front end is fixed behind the second antenna, moves along with the second antenna and works in cooperation with the second antenna; the radio frequency front end comprises a receiving branch; in a transmitting state, the first radio frequency front end up-converts an intermediate frequency transmitting signal of the channel extension to a millimeter wave band and transmits the millimeter wave band to the first antenna; in a receiving state, the two radio frequency front ends respectively down-convert the millimeter wave signals received by the corresponding antennas and transmit the millimeter wave signals to the channel extension set;
the servo device includes: the device comprises a pair of double-shaft motors, a pair of double-shaft gyroscopes and a servo control device, wherein the double-shaft motors are respectively used for controlling the two antennas to move; the servo control device receives navigation information of the combined navigator, instruction information of the main control device and antenna angle information measured by the pair of double-shaft gyroscopes, and controls the pair of double-shaft motors to drive the antennas to move on the azimuth axis and the pitching axis according to the navigation information, the instruction information and the antenna angle information;
the channel extension set comprises: the device comprises a direct digital frequency synthesizer, a transmitting branch and a receiving branch; the direct digital frequency synthesizer is used for generating a dot frequency signal or a linear frequency modulation signal; the frequency synthesizer is used for generating a full-system working clock, a frequency hopping local oscillator signal and an up-down frequency conversion local oscillator signal; the up-down frequency conversion local oscillation signal is used for signal frequency conversion of the transmitting branch and the receiving branch; the transmitting branch of the channel extension converts the signal to the intermediate frequency and sends the intermediate frequency to the corresponding radio frequency front end; the receiving branch of the channel extension converts the signal sent by the radio frequency front end down to a low intermediate frequency and transmits the signal to the main control device;
the main control device comprises a signal processing module and a communication module; the signal processing module is used for converting the low-intermediate frequency signals sent by the receiving branch of the channel extension set into digital signals and carrying out digital signal processing or direct storage on the digital signals to obtain radar detection data; the communication module is used for outputting radar detection data outwards and receiving external instruction information;
the combined navigator is a six-degree-of-freedom combined navigator, is provided with a GPS antenna, adopts two combined navigation modes of GPS/INS and AHRS/DR, and provides navigation information for a servo control device;
and the power supply device is used for converting the voltage of the external power supply into the working voltage of each power utilization module and supplying power to each power utilization module.
2. The SMIMEI mapping radar according to claim 1, wherein the servo control device is configured to perform isolated carrier motion for the two antennas to ensure stability of radar beams emitted from the antennas.
3. The cmpd sar of claim 2, wherein the frequency hopping local oscillator is configured to step-synthesize the signals generated by the direct digital frequency synthesizer to generate a wideband signal up to 2.4 GHz.
4. The small drone-based millimeter wave interferometric synthetic aperture mapping radar according to claim 3, wherein the combined navigator comprises: the system comprises a three-axis gyroscope, a three-axis accelerometer and a GPS module; in addition, a differential GPS base station is arranged on the ground to provide accurate navigation information in all directions for the radar.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2020140141A1 (en) * | 2018-12-30 | 2020-07-09 | T - Jump Tecnologias Ltda | Radar for cartography and monitoring |
| CN112379376A (en) * | 2020-10-26 | 2021-02-19 | 中国科学院空天信息创新研究院 | Double-antenna SAR wide-sending and two-narrow-receiving based swath imaging method and device |
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| CN103064080A (en) * | 2012-12-25 | 2013-04-24 | 西安天伟电子系统工程有限公司 | Target guiding radar with continuous waves |
| CN203521593U (en) * | 2013-09-24 | 2014-04-02 | 上海无线电设备研究所 | Dual-antenna interference airborne captive flight structure |
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2015
- 2015-06-25 CN CN201510357070.7A patent/CN104991250A/en active Pending
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| EP1422533A1 (en) * | 2000-08-16 | 2004-05-26 | Raytheon Company | Radar receiver and radar system |
| CN102236089A (en) * | 2010-04-28 | 2011-11-09 | 中国科学院电子学研究所 | Transceiving system of synthetic aperture radar with super-high resolution |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020140141A1 (en) * | 2018-12-30 | 2020-07-09 | T - Jump Tecnologias Ltda | Radar for cartography and monitoring |
| EP3916428A4 (en) * | 2018-12-30 | 2022-10-19 | T - Jump Tecnologias Ltda | Radar for cartography and monitoring |
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| CN112379376A (en) * | 2020-10-26 | 2021-02-19 | 中国科学院空天信息创新研究院 | Double-antenna SAR wide-sending and two-narrow-receiving based swath imaging method and device |
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