CN105717509B - A kind of flight instruments with environment sensing ability - Google Patents
A kind of flight instruments with environment sensing ability Download PDFInfo
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- CN105717509B CN105717509B CN201610089744.4A CN201610089744A CN105717509B CN 105717509 B CN105717509 B CN 105717509B CN 201610089744 A CN201610089744 A CN 201610089744A CN 105717509 B CN105717509 B CN 105717509B
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- 238000012545 processing Methods 0.000 claims abstract description 31
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- 238000001514 detection method Methods 0.000 claims description 72
- 238000005259 measurement Methods 0.000 claims description 32
- 230000000694 effects Effects 0.000 claims description 31
- 230000033001 locomotion Effects 0.000 claims description 30
- 230000003111 delayed effect Effects 0.000 claims description 28
- 238000000034 method Methods 0.000 claims description 22
- 238000005070 sampling Methods 0.000 claims description 12
- 238000006243 chemical reaction Methods 0.000 claims description 9
- 230000003287 optical effect Effects 0.000 claims description 7
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- 238000012937 correction Methods 0.000 description 15
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- 230000009286 beneficial effect Effects 0.000 description 1
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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
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/933—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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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
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Abstract
The invention discloses a kind of flight instruments with environment sensing ability, including aircraft and mounted on carry-on millimetre-wave radar three-dimensional environment sensory perceptual system；Millimetre-wave radar three-dimensional environment sensory perceptual system includes millimetre-wave radar, rotation mechanism, control unit and data processing unit；Rotation mechanism includes the first rotary shaft, rotating disk and the second rotary shaft.This flight instruments is simple and practical in structure, can realize that front is scanned without dead angle and cover, and has many advantages, such as that control is accurate, setting accuracy is high, real-time is good.
Description
Technical field
The present invention relates to aircraft fields, and in particular to a kind of flight instruments with environment sensing ability.
Background technology
The mankind never stop the exploration of sky, and understanding of the mankind to sky has been widened in the invention of various aircraft, also pole
Big facilitates people’s lives.
The major function of intelligent environment sensory perceptual system is to obtain aircraft and environmental information by sensor, is specially flown
The pose and state information acquisition of row device, the recognition and tracking of aircraft peripheral obstacle are (including dynamic and static-obstacle
Object) and aircraft flight spatial domain traffic analysis etc..
Flight instruments set intelligent environment sensory perceptual system to be to improve the comprehensive performances such as its safety, multifunction on it
Inevitable development trend at present.But present context aware systems often exist perceive dimension is insufficient, computational accuracy is not high,
The problems such as real-time is not strong.
Invention content
In view of the above-mentioned problems, the present invention provides a kind of flight instruments with environment sensing ability.
The purpose of the present invention is realized using following technical scheme：
A kind of flight instruments with environment sensing ability, including aircraft and mounted on carry-on millimetre-wave radar
Three-dimensional environment sensory perceptual system；Millimetre-wave radar three-dimensional environment sensory perceptual system includes millimetre-wave radar, rotation mechanism, control list
Member and data processing unit；Rotation mechanism includes the first rotary shaft, rotating disk and the second rotary shaft, and the first rotary shaft is vertical
It arranges and affixed with the center of rotating disk, first rotary shaft passes through the first stepper motor and drives rotation；By the second stepping electricity
Second rotation axis horizontal of machine driving rotation is sleeved in bearing block, and the support shaft that the bearing block is arranged vertically by 2 is consolidated
It connects on the rotating pan；The midpoint of second rotary shaft is provided with connecting portion, the connecting portion perpendicular to the second rotary shaft and
It is integrally formed with the second rotary shaft, millimetre-wave radar is vertical with connecting portion affixed；Itself intrinsic scanning of the millimetre-wave radar
Plane is perpendicular to plane where rotating disk, and scanning range angle is ± 30 °；The rotating disk is cut in the side of arrangement support shaft
Mouthful, the straight line parallel where notch is in the straight line where the second rotary shaft, and the distance of straight line where any support shaft and notch
Less than 50mm；First stepper motor and the second stepper motor are controlled by microcontroller, and microcontroller controls for receiving
Order, and signal is sent to motor, while according to the initial position of device and two stepping electricity in order to control by control command conversion
The goniometer that machine turns over calculates the current location of rotation mechanism, and the current position state of rotation mechanism is fed back to
Data processing unit；The rotation mechanism is whole to do water under the drive of the first stepper motor towards aircraft direction of advance
Period back and forth movement 180 ° flat, while millimetre-wave radar is done under the drive of the second stepper motor towards aircraft direction of advance
Vertical 180 ° of period back and forth movement；
Data processing unit includes data acquisition unit, delay revise subelemen and coordinate output subelement；Data are adopted
Collection subelement receives its distance value ρ with target that millimetre-wave radar measurement obtains, while receives the vertical rotation of microcontroller transmission
Corner α and horizontal rotation angle beta and itself scan angle theta of millimetre-wave radar；If millimetre-wave radar is to the reading of a certain target
(ρ, α, β, θ), and define：α=0 ° when radar is horizontal, α values is just when radar is horizontal top, thunder
Be negative up to α values when being horizontal lower section, radar is worked as in β=0 ° when the second rotary shaft and aircraft front direction are vertical
β is positive value during positioned at the right side of β=0 °, and β is negative value when radar is located at the left side of β=0 °；When itself sweeping for millimetre-wave radar
θ=0 ° when plane where retouching direction and millimetre-wave radar is vertical, θ is positive value when itself scanning direction is located at the top of θ=0 °,
θ is negative value when itself scanning direction is located at the lower section of θ=0 °；
Preferably, delay revise subelemen includes range measurement correcting module, horizontal sweep correcting module and vertical scanning
Correcting module：Range measurement correcting module is carried out for the measured value for the value ρ that adjusts the distance for prolonging in detections of radar wave two-way process
The amendment of Shi Xiaoying, the modifying factor of output are：
When | α1+θ1| ＞ | α2+θ2| and | β1| ＞ | β2| when, above formula takes positive sign, otherwise takes negative sign；
Vertical scanning correcting module, for carrying out imitating for being delayed in detections of radar wave two-way process to vertical rotary angle α
The amendment answered, the modifying factor of outputWhen | α1| ＞ | α2| when, above formula takes positive sign, otherwise takes
Negative sign；
Horizontal sweep correcting module, for rotating horizontally angle beta imitate for being delayed in detections of radar wave two-way process
The amendment answered, the modifying factor of outputWhen | β1| ＞ | β2| when, above formula takes positive sign, otherwise
Take negative sign；
Maximum detectable ranges of the wherein m for millimetre-wave radar, and ρ≤m；For reaction detection target and millimeter wave thunder
Influence of the distance to delay effect between reaching, target be then delayed closer to radar it is smaller, otherwise delay it is bigger；t1For to the target
The time that detections of radar wave is sent out, t2The time returned for detections of radar wave；|t1-t2| it represents detections of radar wave and travels to and fro between mesh
Time needed between mark and radar；T1For the horizontal rotation period of millimetre-wave radar, T2Vertical revolution for millimetre-wave radar
Phase；α1For t1When α values, α2For t2When α values；β1For t1When β value, β2For t2When β value；θ1For t1When θ values, θ2For t2When
θ values；T1=2s, T2=2.4s, the sampling interval of millimetre-wave radar is 2 °/s；
Coordinate exports subelement：The object space coordinate exported after being delayed revise subelemen amendment is：
Wherein,
Data processing unit further includes target RCS fluctuation characteristics and measures subelement, for the RCS sequence variations system to target
Number measures：
For being in the complex target of optical region, it is assumed that be made of N number of scattering center, then multi-scattering centers targets
RCS is expressed as the function of azimuth of target：
Wherein, σiRepresent that i-th of scattering center RCS, α+θ represents target with respect to the azimuth of millimetre-wave radar, RiRepresent the
I scattering center is with respect to radar center distance；λ is the parameter being manually set；
Then RCS sequence variations coefficient is expressed as：Wherein σ (k) represents kth time detection
The RCS values of target, RCS serial means
This flight instruments has the beneficial effect that：New millimetre-wave radar three-dimensional environment sensory perceptual system is devised, so as to fulfill
180 ° of front horizontal and being scanned without dead angle for 180 ° of vertical direction cover, and economy and durability simple in structure, strong antijamming capability；Profit
Other components is coordinated to realize Automatic Control function with step-by-step motor, it is easy to control accurate；For new-type rotating radar system
The characteristics of system and delay effect devise range measurement correcting module, horizontal sweep correcting module, vertical scanning correcting module
Wait correcting modules so that the coordinate setting function of radar is more accurate, and real-time is stronger；Give accurate coordinate calculating side
Method provides the foundation to automatically control with control errors；For the Novel rotary mechanical device, employ new RCS and play volt
Property measuring device so that the measurement of the RCS coefficient of variation is more accurate, more advantageous to target identification；The components such as rotating disk, rotary shaft
Size can flexibly choose as the case may be, the applicability for various different size of flight instruments provides condition；With milli
Metre wave radar replaces traditional light wave radar, and attenuation when being propagated using atmospheric window is small, is influenced by natural light and infrared source
It is small, effectively identification and avoiding barrier can be carried out to flight environment of vehicle under atrocious weather situation, being provided for safe flight can
By ensureing that there are the superiority such as high resolution, high-precision, miniature antenna bore.
Description of the drawings
Using attached drawing, the invention will be further described, but the embodiment in attached drawing does not form any limit to the present invention
System, for those of ordinary skill in the art, without creative efforts, can also obtain according to the following drawings
Other attached drawings.
Fig. 1 is a kind of structure diagram of the flight instruments with environment sensing ability；
Fig. 2 is the structure diagram of rotation mechanism；
Fig. 3 is millimetre-wave radar itself scanning schematic diagram；
Schematic diagram when Fig. 4 is detections of radar target；
Fig. 5 is the structure diagram of data processing unit.
Reference numeral：Millimetre-wave radar -1；Rotating disk -2；First rotary shaft -3；Second rotary shaft -4；Bearing block -5；Branch
Support axis -6；Connecting portion -7；First stepper motor -8；Second stepper motor -9；Rotation mechanism -10；Control unit -11；Number
According to processing unit -12；Data acquisition unit 13；Be delayed revise subelemen -14；Coordinate exports subelement -15；Notch -16；Mesh
Mark -17；Aircraft direction of advance -18.
Specific embodiment
The invention will be further described with the following Examples.
Embodiment 1：
A kind of flight instruments with environment sensing ability as shown in Figs 1-4, including aircraft and mounted on aircraft
On millimetre-wave radar three-dimensional environment sensory perceptual system；Millimetre-wave radar three-dimensional environment sensory perceptual system includes millimetre-wave radar 1, rotation
Mechanical device 10, control unit 11 and data processing unit 12；Rotation mechanism packet 10 includes the first rotary shaft 3,2 and of rotating disk
Second rotary shaft 4, the first rotary shaft 3 arrangement and affixed with the center of rotating disk 2 vertically, first rotary shaft 3 passes through first
The driving rotation of stepper motor 8；4 horizontal set of the second rotary shaft of rotation is driven in bearing block 5 by the second stepper motor 9, institute
Bearing block 5 is stated to be fixed in rotating disk 2 by 2 support shafts arranged vertically 6；The midpoint setting of second rotary shaft 4
There is connecting portion 7, the connecting portion 7 is integrally formed perpendicular to the second rotary shaft 4 and with the second rotary shaft 4, and millimetre-wave radar 1 is with connecting
Socket part 7 is vertical affixed；Itself intrinsic plane of scanning motion of the millimetre-wave radar 1 scans model perpendicular to 2 place plane of rotating disk
It is ± 30 ° to enclose angle；The rotating disk 2 has notch 16 in the side of arrangement support shaft 6, and the straight line parallel where notch 16 is in second
Straight line where rotary shaft 4, and any support shaft 6 and the distance of 16 place straight line of notch are less than 50mm；The first stepping electricity
8 and second stepper motor 9 of machine is controlled by microcontroller, and microcontroller is used to receive control command, and converting control command into
Signal is sent to motor in order to control, while calculates rotation according to the goniometer that the initial position of device and two stepper motors turn over
The current location of mechanical device, and the current position state of rotation mechanism 10 is fed back into data processing unit 12；It is described
The whole period for doing 180 ° of level towards aircraft direction of advance 18 under the drive of the first stepper motor 8 of rotation mechanism 10
Back and forth movement, while millimetre-wave radar 1 does vertical 180 ° under the drive of the second stepper motor 9 towards aircraft direction of advance 20
Period back and forth movement；
As shown in figure 5, data processing unit 12 is defeated including data acquisition unit 13, delay revise subelemen 14 and coordinate
Go out subelement 15, data acquisition unit 13 receives millimetre-wave radar 1 and measures its obtained distance value ρ with target, connects simultaneously
The vertical rotary angle α and rotate horizontally angle beta and millimetre-wave radar 1 scan angle theta of itself that microcontroller sends are received, so as to obtain
The position of complete millimetre-wave radar data and the plane of scanning motion；As shown in figure 5, set a certain target 17 that millimetre-wave radar 1 measures
Reading for (ρ, α, β, θ), and define：α=0 ° when millimetre-wave radar 1 is horizontal, when millimetre-wave radar 1 is in water
α values are just, α values are negative when millimetre-wave radar 1 is horizontal lower section when prosposition puts top；When the second rotary shaft 4 and flight
β=0 ° when direction is vertical immediately ahead of device, β is positive value when millimetre-wave radar 1 is located at the right side of β=0 °, when millimetre-wave radar 1
β is negative value when the left side of β=0 °；When itself scanning direction of millimetre-wave radar 1 is vertical with 1 place plane of millimetre-wave radar
θ=0 °, θ is positive value when itself scanning direction is located at the top of θ=0 °, the θ when itself scanning direction is located at the lower section of θ=0 °
For negative value.The rotation angle β of the first rotary shaft 3 is 1 rotation angle in the horizontal direction of millimetre-wave radar as shown in Figure 3.
Preferably, delay effect refers to, since the present apparatus is using the technical solution of three dimensionality dual rotary, in thunder
Up to detection wave during be issued to return, the position of radar has occurred that certain offset, although this period is very short,
But when rotary speed is higher, the error of this part is still very important, this is that the present apparatus is filled with the detection of other fixed radars
Put different place, it is therefore necessary to introduce dedicated delay correction factor.Delay revise subelemen 14 is repaiied including range measurement
Positive module, horizontal sweep correcting module and vertical scanning correcting module：Range measurement correcting module, for the survey for the value ρ that adjusts the distance
Magnitude carries out the amendment for delay effect in detections of radar wave two-way process, and the modifying factor of output is：
When | α1+θ1| ＞ | α2+θ2| and | β1| ＞ | β2| when, illustrate that the rotation of device is towards the direction movement of target point
, the actual value measured at this time is less than normal, therefore above formula uses positive sign, at this time λρ＞ 1, otherwise using negative sign, at this time λρ＜ 1；Meanwhile
Due to t1-t2It is the value of a very little, therefore the specific correction value of this correcting module depends entirely on the swing circle T of motor, rotation
Turn faster T it is smaller, then correction factor with 1 absolute value of the difference it is bigger, it is on the contrary then smaller.
Vertical scanning correcting module, for carrying out imitating for being delayed in detections of radar wave two-way process to vertical rotary angle α
The amendment answered, the modifying factor of outputWhen | α1| ＞ | α2| when, above formula takes positive sign, otherwise takes
Negative sign；
Horizontal sweep correcting module, for rotating horizontally angle beta imitate for being delayed in detections of radar wave two-way process
The amendment answered, the modifying factor of outputWhen | β1| ＞ | β2| when, above formula takes positive sign, otherwise
Take negative sign；
Maximum detectable ranges of the wherein m for millimetre-wave radar 1, and ρ≤m；For reaction detection target 17 and millimeter wave
Influence of the distance to delay effect between radar 1, target 17 be then delayed closer to millimetre-wave radar 1 it is smaller, otherwise delay it is bigger；
t1For the time sent out to the 17 detections of radar wave of target, t2For detections of radar wave return time, then | t1-t2| represent thunder
Time needed for being travelled to and fro between target 17 and millimetre-wave radar 1 up to detection wave；t1Horizontal rotation week for millimetre-wave radar 1
Phase, t2Vertical swing circle for millimetre-wave radar 1；α1For t1When α values, α2For t2When α values；β1For t1When β value, β2For
t2When β value；θ1For t1When θ values, θ2For t2When θ values；T1=2s, T2=2.4s, sampling interval of millimetre-wave radar for 2 °/
s。
Coordinate exports subelement 15：The object space coordinate exported after being delayed revise subelemen amendment is：
Wherein,
Data processing unit further includes target RCS fluctuation characteristics and measures subelement, for the RCS sequence variations system to target
Number measures, the ability of radar cross section (RCS) value characterization reception antenna direction target echo, by measuring target
RCS fluctuation characteristics, which can compare, determines different target types.
For being in the complex target of optical region, it is assumed that it is made of N number of scattering center, it can according to radar scattering theory
Know, radar return can regard the echo Vector modulation of multi-scattering centers as, due to sight of each scattering center with respect to radar
Angle is different so that in Vector modulation, respective relative phase changes the fluctuations for leading to echo signal amplitude, RCS at random
Value, which follows, also there are fluctuations.Therefore radar target RCS changes very sensitive, target RCS time sequences to the attitude angle of target
Row are substantially variable quantities of the RCS with azimuth of target, are a relief volumes, then the RCS of multi-scattering centers target is expressed as mesh
Mark azimuthal function：
Wherein, σiRepresent that i-th of scattering center RCS, α+θ represents target with respect to the azimuth of millimetre-wave radar, RiRepresent the
I scattering center is with respect to radar center distance；λ is the parameter being manually set；
Then RCS sequence variations coefficient is expressed as：Wherein σ (k) represents kth time detection
The RCS values of target, RCS serial meansSequence variations coefficient and azimuth are inputted as characteristic parameter
Target identification system is the identification completed to target.
In this embodiment, new millimetre-wave radar three-dimensional environment sensory perceptual system is devised for flight instruments, so as to fulfill
180 ° of front horizontal and being scanned without dead angle for 180 ° of vertical direction cover, and economy and durability simple in structure, strong antijamming capability；Profit
Other components is coordinated to realize Automatic Control function with step-by-step motor, it is easy to control accurate；For new-type rotating radar system
The characteristics of system and delay effect devise range measurement correcting module, horizontal sweep correcting module, vertical scanning correcting module
Wait correcting modules so that the coordinate setting function of radar is more accurate, sets T1=2s, T2=2.4s, between the sampling of millimetre-wave radar
2 °/s is divided into, is realizing that measurement error is less than 1% while detection without dead angle, is measuring delay rate and be less than 0.5%, and real-time
It is stronger；Accurate Coordinate calculation method is given, is provided the foundation to automatically control with control errors；It makes a connection for the novel rotary
Tool device employs new RCS fluctuation characteristic measuring devices so that the measurement of the RCS coefficient of variation is more accurate, to target identification
It is more advantageous；The size of the components such as rotating disk, rotary shaft can flexibly be chosen as the case may be, for various different size of flight dresses
The applicability put provides condition；Replace traditional light wave radar, attenuation when being propagated using atmospheric window with millimetre-wave radar
It is small, it is influenced by natural light and infrared source small, flight environment of vehicle effectively can be identified and be hided under atrocious weather situation
Obstacle avoidance object provides reliable guarantee for safe flight, has the superiority such as high resolution, high-precision, miniature antenna bore, achieves
Unexpected effect.
Embodiment 2：
A kind of flight instruments with environment sensing ability as shown in Figs 1-4, including aircraft and mounted on aircraft
On millimetre-wave radar three-dimensional environment sensory perceptual system；Millimetre-wave radar three-dimensional environment sensory perceptual system includes millimetre-wave radar 1, rotation
Mechanical device 10, control unit 11 and data processing unit 12；Rotation mechanism packet 10 includes the first rotary shaft 3,2 and of rotating disk
Second rotary shaft 4, the first rotary shaft 3 arrangement and affixed with the center of rotating disk 2 vertically, first rotary shaft 3 passes through first
The driving rotation of stepper motor 8；4 horizontal set of the second rotary shaft of rotation is driven in bearing block 5 by the second stepper motor 9, institute
Bearing block 5 is stated to be fixed in rotating disk 2 by 2 support shafts arranged vertically 6；The midpoint setting of second rotary shaft 4
There is connecting portion 7, the connecting portion 7 is integrally formed perpendicular to the second rotary shaft 4 and with the second rotary shaft 4, and millimetre-wave radar 1 is with connecting
Socket part 7 is vertical affixed；Itself intrinsic plane of scanning motion of the millimetre-wave radar 1 scans model perpendicular to 2 place plane of rotating disk
It is ± 30 ° to enclose angle；The rotating disk 2 has notch 16 in the side of arrangement support shaft 6, and the straight line parallel where notch 16 is in second
Straight line where rotary shaft 4, and any support shaft 6 and the distance of 16 place straight line of notch are less than 50mm；The first stepping electricity
8 and second stepper motor 9 of machine is controlled by microcontroller, and microcontroller is used to receive control command, and converting control command into
Signal is sent to motor in order to control, while calculates rotation according to the goniometer that the initial position of device and two stepper motors turn over
The current location of mechanical device, and the current position state of rotation mechanism 10 is fed back into data processing unit 12；It is described
The whole period for doing 180 ° of level towards aircraft direction of advance 18 under the drive of the first stepper motor 8 of rotation mechanism 10
Back and forth movement, while millimetre-wave radar 1 does vertical 180 ° under the drive of the second stepper motor 9 towards aircraft direction of advance 20
Period back and forth movement；
As shown in figure 5, data processing unit 12 is defeated including data acquisition unit 13, delay revise subelemen 14 and coordinate
Go out subelement 15, data acquisition unit 13 receives millimetre-wave radar 1 and measures its obtained distance value ρ with target, connects simultaneously
The vertical rotary angle α and rotate horizontally angle beta and millimetre-wave radar 1 scan angle theta of itself that microcontroller sends are received, so as to obtain
The position of complete millimetre-wave radar data and the plane of scanning motion；As shown in figure 5, set a certain target 17 that millimetre-wave radar 1 measures
Reading for (ρ, α, β, θ), and define：α=0 ° when millimetre-wave radar 1 is horizontal, when millimetre-wave radar 1 is in water
α values are just, α values are negative when millimetre-wave radar 1 is horizontal lower section when prosposition puts top；When the second rotary shaft 4 and flight
β=0 ° when direction is vertical immediately ahead of device, β is positive value when millimetre-wave radar 1 is located at the right side of β=0 °, when millimetre-wave radar 1
β is negative value when the left side of β=0 °；When itself scanning direction of millimetre-wave radar 1 is vertical with 1 place plane of millimetre-wave radar
θ=0 °, θ is positive value when itself scanning direction is located at the top of θ=0 °, the θ when itself scanning direction is located at the lower section of θ=0 °
For negative value.The rotation angle β of the first rotary shaft 3 is 1 rotation angle in the horizontal direction of millimetre-wave radar as shown in Figure 3.
Preferably, delay effect refers to, since the present apparatus is using the technical solution of three dimensionality dual rotary, in thunder
Up to detection wave during be issued to return, the position of radar has occurred that certain offset, although this period is very short,
But when rotary speed is higher, the error of this part is still very important, this is that the present apparatus is filled with the detection of other fixed radars
Put different place, it is therefore necessary to introduce dedicated delay correction factor.Delay revise subelemen 14 is repaiied including range measurement
Positive module, horizontal sweep correcting module and vertical scanning correcting module：Range measurement correcting module, for the survey for the value ρ that adjusts the distance
Magnitude carries out the amendment for delay effect in detections of radar wave two-way process, and the modifying factor of output is：
When | α1+θ1| ＞ | α2+θ2| and | β1| ＞ | β2| when, illustrate that the rotation of device is towards the direction movement of target point
, the actual value measured at this time is less than normal, therefore above formula uses positive sign, at this time λρ＞ 1, otherwise using negative sign, at this time λρ＜ 1；Meanwhile
Due to t1-t2It is the value of a very little, therefore the specific correction value of this correcting module depends entirely on the swing circle T of motor, rotation
Turn faster T it is smaller, then correction factor with 1 absolute value of the difference it is bigger, it is on the contrary then smaller.
Vertical scanning correcting module, for carrying out imitating for being delayed in detections of radar wave two-way process to vertical rotary angle α
The amendment answered, the modifying factor of outputWhen | α1| ＞ | α2| when, above formula takes positive sign, otherwise takes
Negative sign；
Horizontal sweep correcting module, for rotating horizontally angle beta imitate for being delayed in detections of radar wave two-way process
The amendment answered, the modifying factor of outputWhen | β1| ＞ | β2| when, above formula takes positive sign, otherwise
Take negative sign；
Maximum detectable ranges of the wherein m for millimetre-wave radar 1, and ρ≤m；For reaction detection target 17 and millimeter wave
Influence of the distance to delay effect between radar 1, target 17 be then delayed closer to millimetre-wave radar 1 it is smaller, otherwise delay it is bigger；
t1For the time sent out to the 17 detections of radar wave of target, t2For detections of radar wave return time, then | t1-t2| represent thunder
Time needed for being travelled to and fro between target 17 and millimetre-wave radar 1 up to detection wave；t1Horizontal rotation week for millimetre-wave radar 1
Phase, t2Vertical swing circle for millimetre-wave radar 1；α1For t1When α values, α2For t2When α values；β1For t1When β value, β2For
t2When β value；θ1For t1When θ values, θ2For t2When θ values；T1=2s, T2=2.4s, sampling interval of millimetre-wave radar for 2 °/
s。
Coordinate exports subelement 15：The object space coordinate exported after being delayed revise subelemen amendment is：
Wherein,
Data processing unit further includes target RCS fluctuation characteristics and measures subelement, for the RCS sequence variations system to target
Number measures, the ability of radar cross section (RCS) value characterization reception antenna direction target echo, by measuring target
RCS fluctuation characteristics, which can compare, determines different target types.
For being in the complex target of optical region, it is assumed that it is made of N number of scattering center, it can according to radar scattering theory
Know, radar return can regard the echo Vector modulation of multi-scattering centers as, due to sight of each scattering center with respect to radar
Angle is different so that in Vector modulation, respective relative phase changes the fluctuations for leading to echo signal amplitude, RCS at random
Value, which follows, also there are fluctuations.Therefore radar target RCS changes very sensitive, target RCS time sequences to the attitude angle of target
Row are substantially variable quantities of the RCS with azimuth of target, are a relief volumes, then the RCS of multi-scattering centers target is expressed as mesh
Mark azimuthal function：
Wherein, σiRepresent that i-th of scattering center RCS, α+θ represents target with respect to the azimuth of millimetre-wave radar, RiRepresent the
I scattering center is with respect to radar center distance；λ is the parameter being manually set；
Then RCS sequence variations coefficient is expressed as：Wherein σ (k) represents kth time detection
The RCS values of target, RCS serial meansSequence variations coefficient and azimuth are inputted as characteristic parameter
Target identification system is the identification completed to target.
In this embodiment, new millimetre-wave radar three-dimensional environment sensory perceptual system is devised for flight instruments, so as to fulfill
180 ° of front horizontal and being scanned without dead angle for 180 ° of vertical direction cover, and economy and durability simple in structure, strong antijamming capability；Profit
Other components is coordinated to realize Automatic Control function with step-by-step motor, it is easy to control accurate；For new-type rotating radar system
The characteristics of system and delay effect devise range measurement correcting module, horizontal sweep correcting module, vertical scanning correcting module
Wait correcting modules so that the coordinate setting function of radar is more accurate, sets T1=2.2s, T2=2.6s, the sampling of millimetre-wave radar
Between be divided into 1.5 °/s, realizing that measurement error is less than 0.8% while detection without dead angle, measuring delay rate less than 0.4%, and
Real-time is stronger；Accurate Coordinate calculation method is given, is provided the foundation to automatically control with control errors；It is novel for this
Rotation mechanism employs new RCS fluctuation characteristic measuring devices so that the measurement of the RCS coefficient of variation is more accurate, to mesh
Mark is not more advantageous；The size of the components such as rotating disk, rotary shaft can flexibly be chosen as the case may be, be various different size of
The applicability of flight instruments provides condition；Replace traditional light wave radar with millimetre-wave radar, when being propagated using atmospheric window
Attenuation it is small, influenced small, flight environment of vehicle can effectively be known under atrocious weather situation by natural light and infrared source
Not not simultaneously avoiding barrier, reliable guarantee is provided for safe flight, has the superiority such as high resolution, high-precision, miniature antenna bore,
Achieve unexpected effect.
Embodiment 3：
A kind of flight instruments with environment sensing ability as shown in Figs 1-4, including aircraft and mounted on aircraft
On millimetre-wave radar three-dimensional environment sensory perceptual system；Millimetre-wave radar three-dimensional environment sensory perceptual system includes millimetre-wave radar 1, rotation
Mechanical device 10, control unit 11 and data processing unit 12；Rotation mechanism packet 10 includes the first rotary shaft 3,2 and of rotating disk
Second rotary shaft 4, the first rotary shaft 3 arrangement and affixed with the center of rotating disk 2 vertically, first rotary shaft 3 passes through first
The driving rotation of stepper motor 8；4 horizontal set of the second rotary shaft of rotation is driven in bearing block 5 by the second stepper motor 9, institute
Bearing block 5 is stated to be fixed in rotating disk 2 by 2 support shafts arranged vertically 6；The midpoint setting of second rotary shaft 4
There is connecting portion 7, the connecting portion 7 is integrally formed perpendicular to the second rotary shaft 4 and with the second rotary shaft 4, and millimetre-wave radar 1 is with connecting
Socket part 7 is vertical affixed；Itself intrinsic plane of scanning motion of the millimetre-wave radar 1 scans model perpendicular to 2 place plane of rotating disk
It is ± 30 ° to enclose angle；The rotating disk 2 has notch 16 in the side of arrangement support shaft 6, and the straight line parallel where notch 16 is in second
Straight line where rotary shaft 4, and any support shaft 6 and the distance of 16 place straight line of notch are less than 50mm；The first stepping electricity
8 and second stepper motor 9 of machine is controlled by microcontroller, and microcontroller is used to receive control command, and converting control command into
Signal is sent to motor in order to control, while calculates rotation according to the goniometer that the initial position of device and two stepper motors turn over
The current location of mechanical device, and the current position state of rotation mechanism 10 is fed back into data processing unit 12；It is described
The whole period for doing 180 ° of level towards aircraft direction of advance 18 under the drive of the first stepper motor 8 of rotation mechanism 10
Back and forth movement, while millimetre-wave radar 1 does vertical 180 ° under the drive of the second stepper motor 9 towards aircraft direction of advance 20
Period back and forth movement；
As shown in figure 5, data processing unit 12 is defeated including data acquisition unit 13, delay revise subelemen 14 and coordinate
Go out subelement 15, data acquisition unit 13 receives millimetre-wave radar 1 and measures its obtained distance value ρ with target, connects simultaneously
The vertical rotary angle α and rotate horizontally angle beta and millimetre-wave radar 1 scan angle theta of itself that microcontroller sends are received, so as to obtain
The position of complete millimetre-wave radar data and the plane of scanning motion；As shown in figure 5, set a certain target 17 that millimetre-wave radar 1 measures
Reading for (ρ, α, β, θ), and define：α=0 ° when millimetre-wave radar 1 is horizontal, when millimetre-wave radar 1 is in water
α values are just, α values are negative when millimetre-wave radar 1 is horizontal lower section when prosposition puts top；When the second rotary shaft 4 and flight
β=0 ° when direction is vertical immediately ahead of device, β is positive value when millimetre-wave radar 1 is located at the right side of β=0 °, when millimetre-wave radar 1
β is negative value when the left side of β=0 °；When itself scanning direction of millimetre-wave radar 1 is vertical with 1 place plane of millimetre-wave radar
θ=0 °, θ is positive value when itself scanning direction is located at the top of θ=0 °, the θ when itself scanning direction is located at the lower section of θ=0 °
For negative value.The rotation angle β of the first rotary shaft 3 is 1 rotation angle in the horizontal direction of millimetre-wave radar as shown in Figure 3.
Preferably, delay effect refers to, since the present apparatus is using the technical solution of three dimensionality dual rotary, in thunder
Up to detection wave during be issued to return, the position of radar has occurred that certain offset, although this period is very short,
But when rotary speed is higher, the error of this part is still very important, this is that the present apparatus is filled with the detection of other fixed radars
Put different place, it is therefore necessary to introduce dedicated delay correction factor.Delay revise subelemen 14 is repaiied including range measurement
Positive module, horizontal sweep correcting module and vertical scanning correcting module：Range measurement correcting module, for the survey for the value ρ that adjusts the distance
Magnitude carries out the amendment for delay effect in detections of radar wave two-way process, and the modifying factor of output is：
When | α1+θ1| ＞ | α2+θ2| and | β1| ＞ | β2| when, illustrate that the rotation of device is towards the direction movement of target point
, the actual value measured at this time is less than normal, therefore above formula uses positive sign, at this time λρ＞ 1, otherwise using negative sign, at this time λρ＜ 1；Meanwhile
Due to t1-t2It is the value of a very little, therefore the specific correction value of this correcting module depends entirely on the swing circle T of motor, rotation
Turn faster T it is smaller, then correction factor with 1 absolute value of the difference it is bigger, it is on the contrary then smaller.
Vertical scanning correcting module, for carrying out imitating for being delayed in detections of radar wave two-way process to vertical rotary angle α
The amendment answered, the modifying factor of outputWhen | α1| ＞ | α2| when, above formula takes positive sign, otherwise takes
Negative sign；
Horizontal sweep correcting module, for rotating horizontally angle beta imitate for being delayed in detections of radar wave two-way process
The amendment answered, the modifying factor of outputWhen | β1| ＞ | β2| when, above formula takes positive sign, otherwise
Take negative sign；
Maximum detectable ranges of the wherein m for millimetre-wave radar 1, and ρ≤m；For reaction detection target 17 and millimeter wave
Influence of the distance to delay effect between radar 1, target 17 be then delayed closer to millimetre-wave radar 1 it is smaller, otherwise delay it is bigger；
t1For the time sent out to the 17 detections of radar wave of target, t2For detections of radar wave return time, then | t1-t2| represent thunder
Time needed for being travelled to and fro between target 17 and millimetre-wave radar 1 up to detection wave；t1Horizontal rotation week for millimetre-wave radar 1
Phase, t2Vertical swing circle for millimetre-wave radar 1；α1For t1When α values, α2For t2When α values；β1For t1When β value, β2For
t2When β value；θ1For t1When θ values, θ2For t2When θ values；T1=2s, T2=2.4s, sampling interval of millimetre-wave radar for 2 °/
s。
Coordinate exports subelement 15：The object space coordinate exported after being delayed revise subelemen amendment is：
Wherein,
Data processing unit further includes target RCS fluctuation characteristics and measures subelement, for the RCS sequence variations system to target
Number measures, the ability of radar cross section (RCS) value characterization reception antenna direction target echo, by measuring target
RCS fluctuation characteristics, which can compare, determines different target types.
For being in the complex target of optical region, it is assumed that it is made of N number of scattering center, it can according to radar scattering theory
Know, radar return can regard the echo Vector modulation of multi-scattering centers as, due to sight of each scattering center with respect to radar
Angle is different so that in Vector modulation, respective relative phase changes the fluctuations for leading to echo signal amplitude, RCS at random
Value, which follows, also there are fluctuations.Therefore radar target RCS changes very sensitive, target RCS time sequences to the attitude angle of target
Row are substantially variable quantities of the RCS with azimuth of target, are a relief volumes, then the RCS of multi-scattering centers target is expressed as mesh
Mark azimuthal function：
Wherein, σiRepresent that i-th of scattering center RCS, α+θ represents target with respect to the azimuth of millimetre-wave radar, RiRepresent the
I scattering center is with respect to radar center distance；λ is the parameter being manually set；
Then RCS sequence variations coefficient is expressed as：Wherein σ (k) represents kth time detection
The RCS values of target, RCS serial meansSequence variations coefficient and azimuth are inputted as characteristic parameter
Target identification system is the identification completed to target.
In this embodiment, new millimetre-wave radar three-dimensional environment sensory perceptual system is devised for flight instruments, so as to fulfill
180 ° of front horizontal and being scanned without dead angle for 180 ° of vertical direction cover, and economy and durability simple in structure, strong antijamming capability；Profit
Other components is coordinated to realize Automatic Control function with step-by-step motor, it is easy to control accurate；For new-type rotating radar system
The characteristics of system and delay effect devise range measurement correcting module, horizontal sweep correcting module, vertical scanning correcting module
Wait correcting modules so that the coordinate setting function of radar is more accurate, sets T1=2.4s, T2=2.7s, the sampling of millimetre-wave radar
Between be divided into 1.8 °/s, realizing that measurement error is less than 0.7% while detection without dead angle, measuring delay rate less than 0.4%, and
Real-time is stronger；Accurate Coordinate calculation method is given, is provided the foundation to automatically control with control errors；It is novel for this
Rotation mechanism employs new RCS fluctuation characteristic measuring devices so that the measurement of the RCS coefficient of variation is more accurate, to mesh
Mark is not more advantageous；The size of the components such as rotating disk, rotary shaft can flexibly be chosen as the case may be, be various different size of
The applicability of flight instruments provides condition；Replace traditional light wave radar with millimetre-wave radar, when being propagated using atmospheric window
Attenuation it is small, influenced small, flight environment of vehicle can effectively be known under atrocious weather situation by natural light and infrared source
Not not simultaneously avoiding barrier, reliable guarantee is provided for safe flight, has the superiority such as high resolution, high-precision, miniature antenna bore,
Achieve unexpected effect.
Embodiment 4：
A kind of flight instruments with environment sensing ability as shown in Figs 1-4, including aircraft and mounted on aircraft
On millimetre-wave radar three-dimensional environment sensory perceptual system；Millimetre-wave radar three-dimensional environment sensory perceptual system includes millimetre-wave radar 1, rotation
Mechanical device 10, control unit 11 and data processing unit 12；Rotation mechanism packet 10 includes the first rotary shaft 3,2 and of rotating disk
Second rotary shaft 4, the first rotary shaft 3 arrangement and affixed with the center of rotating disk 2 vertically, first rotary shaft 3 passes through first
The driving rotation of stepper motor 8；4 horizontal set of the second rotary shaft of rotation is driven in bearing block 5 by the second stepper motor 9, institute
Bearing block 5 is stated to be fixed in rotating disk 2 by 2 support shafts arranged vertically 6；The midpoint setting of second rotary shaft 4
There is connecting portion 7, the connecting portion 7 is integrally formed perpendicular to the second rotary shaft 4 and with the second rotary shaft 4, and millimetre-wave radar 1 is with connecting
Socket part 7 is vertical affixed；Itself intrinsic plane of scanning motion of the millimetre-wave radar 1 scans model perpendicular to 2 place plane of rotating disk
It is ± 30 ° to enclose angle；The rotating disk 2 has notch 16 in the side of arrangement support shaft 6, and the straight line parallel where notch 16 is in second
Straight line where rotary shaft 4, and any support shaft 6 and the distance of 16 place straight line of notch are less than 50mm；The first stepping electricity
8 and second stepper motor 9 of machine is controlled by microcontroller, and microcontroller is used to receive control command, and converting control command into
Signal is sent to motor in order to control, while calculates rotation according to the goniometer that the initial position of device and two stepper motors turn over
The current location of mechanical device, and the current position state of rotation mechanism 10 is fed back into data processing unit 12；It is described
The whole period for doing 180 ° of level towards aircraft direction of advance 18 under the drive of the first stepper motor 8 of rotation mechanism 10
Back and forth movement, while millimetre-wave radar 1 does vertical 180 ° under the drive of the second stepper motor 9 towards aircraft direction of advance 20
Period back and forth movement；
As shown in figure 5, data processing unit 12 is defeated including data acquisition unit 13, delay revise subelemen 14 and coordinate
Go out subelement 15, data acquisition unit 13 receives millimetre-wave radar 1 and measures its obtained distance value ρ with target, connects simultaneously
The vertical rotary angle α and rotate horizontally angle beta and millimetre-wave radar 1 scan angle theta of itself that microcontroller sends are received, so as to obtain
The position of complete millimetre-wave radar data and the plane of scanning motion；As shown in figure 5, set a certain target 17 that millimetre-wave radar 1 measures
Reading for (ρ, α, β, θ), and define：α=0 ° when millimetre-wave radar 1 is horizontal, when millimetre-wave radar 1 is in water
α values are just, α values are negative when millimetre-wave radar 1 is horizontal lower section when prosposition puts top；When the second rotary shaft 4 and flight
β=0 ° when direction is vertical immediately ahead of device, β is positive value when millimetre-wave radar 1 is located at the right side of β=0 °, when millimetre-wave radar 1
β is negative value when the left side of β=0 °；When itself scanning direction of millimetre-wave radar 1 is vertical with 1 place plane of millimetre-wave radar
θ=0 °, θ is positive value when itself scanning direction is located at the top of θ=0 °, the θ when itself scanning direction is located at the lower section of θ=0 °
For negative value.The rotation angle β of the first rotary shaft 3 is 1 rotation angle in the horizontal direction of millimetre-wave radar as shown in Figure 3.
Preferably, delay effect refers to, since the present apparatus is using the technical solution of three dimensionality dual rotary, in thunder
Up to detection wave during be issued to return, the position of radar has occurred that certain offset, although this period is very short,
But when rotary speed is higher, the error of this part is still very important, this is that the present apparatus is filled with the detection of other fixed radars
Put different place, it is therefore necessary to introduce dedicated delay correction factor.Delay revise subelemen 14 is repaiied including range measurement
Positive module, horizontal sweep correcting module and vertical scanning correcting module：Range measurement correcting module, for the survey for the value ρ that adjusts the distance
Magnitude carries out the amendment for delay effect in detections of radar wave two-way process, and the modifying factor of output is：
When | α1+θ1| ＞ | α2+θ2| and | β1| ＞ | β2| when, illustrate that the rotation of device is towards the direction movement of target point
, the actual value measured at this time is less than normal, therefore above formula uses positive sign, at this time λρ＞ 1, otherwise using negative sign, at this time λρ＜ 1；Meanwhile
Due to t1-t2It is the value of a very little, therefore the specific correction value of this correcting module depends entirely on the swing circle T of motor, rotation
Turn faster T it is smaller, then correction factor with 1 absolute value of the difference it is bigger, it is on the contrary then smaller.
Vertical scanning correcting module, for carrying out imitating for being delayed in detections of radar wave two-way process to vertical rotary angle α
The amendment answered, the modifying factor of outputWhen | α1| ＞ | α2| when, above formula takes positive sign, otherwise takes
Negative sign；
Horizontal sweep correcting module, for rotating horizontally angle beta imitate for being delayed in detections of radar wave two-way process
The amendment answered, the modifying factor of outputWhen | β1| ＞ | β2| when, above formula takes positive sign, otherwise
Take negative sign；
Maximum detectable ranges of the wherein m for millimetre-wave radar 1, and ρ≤m；For reaction detection target 17 and millimeter wave
Influence of the distance to delay effect between radar 1, target 17 be then delayed closer to millimetre-wave radar 1 it is smaller, otherwise delay it is bigger；
t1For the time sent out to the 17 detections of radar wave of target, t2For detections of radar wave return time, then | t1-t2| represent thunder
Time needed for being travelled to and fro between target 17 and millimetre-wave radar 1 up to detection wave；t1Horizontal rotation week for millimetre-wave radar 1
Phase, t2Vertical swing circle for millimetre-wave radar 1；α1For t1When α values, α2For t2When α values；β1For t1When β value, β2For
t2When β value；θ1For t1When θ values, θ2For t2When θ values；T1=2s, T2=2.4s, sampling interval of millimetre-wave radar for 2 °/
s。
Coordinate exports subelement 15：The object space coordinate exported after being delayed revise subelemen amendment is：
Wherein,
Data processing unit further includes target RCS fluctuation characteristics and measures subelement, for the RCS sequence variations system to target
Number measures, the ability of radar cross section (RCS) value characterization reception antenna direction target echo, by measuring target
RCS fluctuation characteristics, which can compare, determines different target types.
For being in the complex target of optical region, it is assumed that it is made of N number of scattering center, it can according to radar scattering theory
Know, radar return can regard the echo Vector modulation of multi-scattering centers as, due to sight of each scattering center with respect to radar
Angle is different so that in Vector modulation, respective relative phase changes the fluctuations for leading to echo signal amplitude, RCS at random
Value, which follows, also there are fluctuations.Therefore radar target RCS changes very sensitive, target RCS time sequences to the attitude angle of target
Row are substantially variable quantities of the RCS with azimuth of target, are a relief volumes, then the RCS of multi-scattering centers target is expressed as mesh
Mark azimuthal function：
Wherein, σiRepresent that i-th of scattering center RCS, α+θ represents target with respect to the azimuth of millimetre-wave radar, RiRepresent the
I scattering center is with respect to radar center distance；λ is the parameter being manually set；
Then RCS sequence variations coefficient is expressed as：Wherein σ (k) represents kth time detection
The RCS values of target, RCS serial meansSequence variations coefficient and azimuth are inputted as characteristic parameter
Target identification system is the identification completed to target.
In this embodiment, new millimetre-wave radar three-dimensional environment sensory perceptual system is devised for flight instruments, so as to fulfill
180 ° of front horizontal and being scanned without dead angle for 180 ° of vertical direction cover, and economy and durability simple in structure, strong antijamming capability；Profit
Other components is coordinated to realize Automatic Control function with step-by-step motor, it is easy to control accurate；For new-type rotating radar system
The characteristics of system and delay effect devise range measurement correcting module, horizontal sweep correcting module, vertical scanning correcting module
Wait correcting modules so that the coordinate setting function of radar is more accurate, sets T1=2.5s, T2=2.8s, the sampling of millimetre-wave radar
Between be divided into 1.3 °/s.It is realizing that measurement error is less than 0.6% while detection without dead angle, is measuring delay rate less than 0.3%, and
Real-time is stronger；Accurate Coordinate calculation method is given, is provided the foundation to automatically control with control errors；It is novel for this
Rotation mechanism employs new RCS fluctuation characteristic measuring devices so that the measurement of the RCS coefficient of variation is more accurate, to mesh
Mark is not more advantageous；The size of the components such as rotating disk, rotary shaft can flexibly be chosen as the case may be, be various different size of
The applicability of flight instruments provides condition；Replace traditional light wave radar with millimetre-wave radar, when being propagated using atmospheric window
Attenuation it is small, influenced small, flight environment of vehicle can effectively be known under atrocious weather situation by natural light and infrared source
Not not simultaneously avoiding barrier, reliable guarantee is provided for safe flight, has the superiority such as high resolution, high-precision, miniature antenna bore,
Achieve unexpected effect.
Embodiment 5：
A kind of flight instruments with environment sensing ability as shown in Figs 1-4, including aircraft and mounted on aircraft
On millimetre-wave radar three-dimensional environment sensory perceptual system；Millimetre-wave radar three-dimensional environment sensory perceptual system includes millimetre-wave radar 1, rotation
Mechanical device 10, control unit 11 and data processing unit 12；Rotation mechanism packet 10 includes the first rotary shaft 3,2 and of rotating disk
Second rotary shaft 4, the first rotary shaft 3 arrangement and affixed with the center of rotating disk 2 vertically, first rotary shaft 3 passes through first
The driving rotation of stepper motor 8；4 horizontal set of the second rotary shaft of rotation is driven in bearing block 5 by the second stepper motor 9, institute
Bearing block 5 is stated to be fixed in rotating disk 2 by 2 support shafts arranged vertically 6；The midpoint setting of second rotary shaft 4
There is connecting portion 7, the connecting portion 7 is integrally formed perpendicular to the second rotary shaft 4 and with the second rotary shaft 4, and millimetre-wave radar 1 is with connecting
Socket part 7 is vertical affixed；Itself intrinsic plane of scanning motion of the millimetre-wave radar 1 scans model perpendicular to 2 place plane of rotating disk
It is ± 30 ° to enclose angle；The rotating disk 2 has notch 16 in the side of arrangement support shaft 6, and the straight line parallel where notch 16 is in second
Straight line where rotary shaft 4, and any support shaft 6 and the distance of 16 place straight line of notch are less than 50mm；The first stepping electricity
8 and second stepper motor 9 of machine is controlled by microcontroller, and microcontroller is used to receive control command, and converting control command into
Signal is sent to motor in order to control, while calculates rotation according to the goniometer that the initial position of device and two stepper motors turn over
The current location of mechanical device, and the current position state of rotation mechanism 10 is fed back into data processing unit 12；It is described
The whole period for doing 180 ° of level towards aircraft direction of advance 18 under the drive of the first stepper motor 8 of rotation mechanism 10
Back and forth movement, while millimetre-wave radar 1 does vertical 180 ° under the drive of the second stepper motor 9 towards aircraft direction of advance 20
Period back and forth movement；
As shown in figure 5, data processing unit 12 is defeated including data acquisition unit 13, delay revise subelemen 14 and coordinate
Go out subelement 15, data acquisition unit 13 receives millimetre-wave radar 1 and measures its obtained distance value ρ with target, connects simultaneously
The vertical rotary angle α and rotate horizontally angle beta and millimetre-wave radar 1 scan angle theta of itself that microcontroller sends are received, so as to obtain
The position of complete millimetre-wave radar data and the plane of scanning motion；As shown in figure 5, set a certain target 17 that millimetre-wave radar 1 measures
Reading for (ρ, α, β, θ), and define：α=0 ° when millimetre-wave radar 1 is horizontal, when millimetre-wave radar 1 is in water
α values are just, α values are negative when millimetre-wave radar 1 is horizontal lower section when prosposition puts top；When the second rotary shaft 4 and flight
β=0 ° when direction is vertical immediately ahead of device, β is positive value when millimetre-wave radar 1 is located at the right side of β=0 °, when millimetre-wave radar 1
β is negative value when the left side of β=0 °；When itself scanning direction of millimetre-wave radar 1 is vertical with 1 place plane of millimetre-wave radar
θ=0 °, θ is positive value when itself scanning direction is located at the top of θ=0 °, the θ when itself scanning direction is located at the lower section of θ=0 °
For negative value.The rotation angle β of the first rotary shaft 3 is 1 rotation angle in the horizontal direction of millimetre-wave radar as shown in Figure 3.
Preferably, delay effect refers to, since the present apparatus is using the technical solution of three dimensionality dual rotary, in thunder
Up to detection wave during be issued to return, the position of radar has occurred that certain offset, although this period is very short,
But when rotary speed is higher, the error of this part is still very important, this is that the present apparatus is filled with the detection of other fixed radars
Put different place, it is therefore necessary to introduce dedicated delay correction factor.Delay revise subelemen 14 is repaiied including range measurement
Positive module, horizontal sweep correcting module and vertical scanning correcting module：Range measurement correcting module, for the survey for the value ρ that adjusts the distance
Magnitude carries out the amendment for delay effect in detections of radar wave two-way process, and the modifying factor of output is：
When | α1+θ1| ＞ | α2+θ2| and | β1| ＞ | β2| when, illustrate that the rotation of device is towards the direction movement of target point
, the actual value measured at this time is less than normal, therefore above formula uses positive sign, at this time λρ＞ 1, otherwise using negative sign, at this time λρ＜ 1；Meanwhile
Due to t1-t2It is the value of a very little, therefore the specific correction value of this correcting module depends entirely on the swing circle T of motor, rotation
Turn faster T it is smaller, then correction factor with 1 absolute value of the difference it is bigger, it is on the contrary then smaller.
Vertical scanning correcting module, for carrying out imitating for being delayed in detections of radar wave two-way process to vertical rotary angle α
The amendment answered, the modifying factor of outputWhen | α1| ＞ | α2| when, above formula takes positive sign, otherwise takes
Negative sign；
Horizontal sweep correcting module, for rotating horizontally angle beta imitate for being delayed in detections of radar wave two-way process
The amendment answered, the modifying factor of outputWhen | β1| ＞ | β2| when, above formula takes positive sign, otherwise
Take negative sign；
Maximum detectable ranges of the wherein m for millimetre-wave radar 1, and ρ≤m；For reaction detection target 17 and millimeter wave
Influence of the distance to delay effect between radar 1, target 17 be then delayed closer to millimetre-wave radar 1 it is smaller, otherwise delay it is bigger；
t1For the time sent out to the 17 detections of radar wave of target, t2For detections of radar wave return time, then | t1-t2| represent thunder
Time needed for being travelled to and fro between target 17 and millimetre-wave radar 1 up to detection wave；t1Horizontal rotation week for millimetre-wave radar 1
Phase, t2Vertical swing circle for millimetre-wave radar 1；α1For t1When α values, α2For t2When α values；β1For t1When β value, β2For
t2When β value；θ1For t1When θ values, θ2For t2When θ values；T1=2s, T2=2.4s, sampling interval of millimetre-wave radar for 2 °/
s。
Coordinate exports subelement 15：The object space coordinate exported after being delayed revise subelemen amendment is：
Wherein,
Data processing unit further includes target RCS fluctuation characteristics and measures subelement, for the RCS sequence variations system to target
Number measures, the ability of radar cross section (RCS) value characterization reception antenna direction target echo, by measuring target
RCS fluctuation characteristics, which can compare, determines different target types.
For being in the complex target of optical region, it is assumed that it is made of N number of scattering center, it can according to radar scattering theory
Know, radar return can regard the echo Vector modulation of multi-scattering centers as, due to sight of each scattering center with respect to radar
Angle is different so that in Vector modulation, respective relative phase changes the fluctuations for leading to echo signal amplitude, RCS at random
Value, which follows, also there are fluctuations.Therefore radar target RCS changes very sensitive, target RCS time sequences to the attitude angle of target
Row are substantially variable quantities of the RCS with azimuth of target, are a relief volumes, then the RCS of multi-scattering centers target is expressed as mesh
Mark azimuthal function：
Wherein, σiRepresent that i-th of scattering center RCS, α+θ represents target with respect to the azimuth of millimetre-wave radar, RiRepresent the
I scattering center is with respect to radar center distance；λ is the parameter being manually set；
Then RCS sequence variations coefficient is expressed as：Wherein σ (k) represents kth time detection
The RCS values of target, RCS serial meansSequence variations coefficient and azimuth are inputted as characteristic parameter
Target identification system is the identification completed to target.
In this embodiment, new millimetre-wave radar three-dimensional environment sensory perceptual system is devised for flight instruments, so as to fulfill
180 ° of front horizontal and being scanned without dead angle for 180 ° of vertical direction cover, and economy and durability simple in structure, strong antijamming capability；Profit
Other components is coordinated to realize Automatic Control function with step-by-step motor, it is easy to control accurate；For new-type rotating radar system
The characteristics of system and delay effect devise range measurement correcting module, horizontal sweep correcting module, vertical scanning correcting module
Wait correcting modules so that the coordinate setting function of radar is more accurate, T1=2.6s, T2=2.9s, the sampling interval of millimetre-wave radar
For 1.2 °/s, realizing that measurement error is less than 0.5% while detection without dead angle, measuring delay rate and be less than 0.2%, and in real time
Property is stronger；Accurate Coordinate calculation method is given, is provided the foundation to automatically control with control errors；For the Novel rotary
Mechanical device employs new RCS fluctuation characteristic measuring devices so that the measurement of the RCS coefficient of variation is more accurate, and target is known
It is more not advantageous；The size of the components such as rotating disk, rotary shaft can flexibly be chosen as the case may be, be various different size of flights
The applicability of device provides condition；Replace traditional light wave radar, declining when being propagated using atmospheric window with millimetre-wave radar
Reduce, influenced by natural light and infrared source it is small, can under atrocious weather situation to flight environment of vehicle carry out effectively identification simultaneously
Avoiding barrier provides reliable guarantee for safe flight, has the superiority such as high resolution, high-precision, miniature antenna bore, obtains
Unexpected effect.
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention rather than the present invention is protected
The limitation of range is protected, although being explained in detail with reference to preferred embodiment to the present invention, those of ordinary skill in the art should
Work as understanding, technical scheme of the present invention can be modified or replaced equivalently, without departing from the reality of technical solution of the present invention
Matter and range.
Claims (1)
1. a kind of flight instruments with environment sensing ability, it is characterized in that, including aircraft and mounted on carry-on milli
Metre wave radar three-dimensional environment sensory perceptual system；Millimetre-wave radar three-dimensional environment sensory perceptual system includes millimetre-wave radar, rotating machinery fills
It puts, control unit and data processing unit；Rotation mechanism include the first rotary shaft, rotating disk and the second rotary shaft, first
Rotary shaft vertically arrangement and it is affixed with the center of rotating disk, first rotary shaft pass through the first stepper motor driving rotation；By
Second rotation axis horizontal of the second stepper motor driving rotation is sleeved in bearing block, and the bearing block passes through 2 vertical arrangements
Support shaft it is affixed on the rotating pan；The midpoint of second rotary shaft is provided with connecting portion, and the connecting portion is perpendicular to
It two rotary shafts and is integrally formed with the second rotary shaft, millimetre-wave radar is vertical with connecting portion affixed；The millimetre-wave radar from
The intrinsic plane of scanning motion of body is perpendicular to plane where rotating disk, and scanning range angle is ± 30 °；The rotating disk is in arrangement support shaft
Side have notch, the straight line parallel where notch in the straight line where the second rotary shaft, and any support shaft with where notch
The distance of straight line is less than 50mm；First stepper motor and the second stepper motor are controlled by microcontroller, and microcontroller is used
In receiving control command, and signal is sent to motor in order to control by control command conversion, at the same according to the initial position of device and
Goniometer that two stepper motors turn over calculates the current location of rotation mechanism, and by the current location of rotation mechanism
Feedback of status is to data processing unit；The rotation mechanism it is whole under the drive of the first stepper motor towards before aircraft
Do the period back and forth movement of 180 ° of level into direction, at the same millimetre-wave radar under the drive of the second stepper motor towards aircraft
Direction of advance does vertical 180 ° of period back and forth movement；
Data processing unit includes data acquisition unit, delay revise subelemen and coordinate output subelement；Data acquisition
Unit receives its distance value ρ with target that millimetre-wave radar measurement obtains, while receives the vertical rotary angle α of microcontroller transmission
With itself scan angle theta for rotating horizontally angle beta and millimetre-wave radar；If millimetre-wave radar to the reading of a certain target for (ρ, α,
β, θ), and define：α=0 ° when radar is horizontal, α values is just when radar is horizontal top, at radar
α values be negative when below the horizontal position, β=0 ° when the second rotary shaft is vertical with aircraft front direction, when radar is located at β
β is positive value during=0 ° of right side, and β is negative value when radar is located at the left side of β=0 °；When itself scanning direction of millimetre-wave radar
θ=0 ° when vertical with plane where millimetre-wave radar, θ is positive value when itself scanning direction is located at the top of θ=0 °, when itself
θ is negative value when scanning direction is located at the lower section of θ=0 °；
The revise subelemen that is delayed includes range measurement correcting module, horizontal sweep correcting module and vertical scanning correcting module：Away from
From measuring correcting module, be directed to delay effect in detections of radar wave two-way process for the measured value for the value ρ that adjusts the distance and repair
Just, the modifying factor of output is：
When | α1+θ1| ＞ | α2+θ2| and | β1| ＞ | β2| when, above formula takes positive sign, otherwise takes negative sign；
Vertical scanning correcting module, for carrying out repairing for delay effect in detections of radar wave two-way process to vertical rotary angle α
Just, the modifying factor of outputWhen | α1| ＞ | α2| when, above formula takes positive sign, otherwise takes negative sign；
Horizontal sweep correcting module, for rotating horizontally angle beta repair for delay effect in detections of radar wave two-way process
Just, the modifying factor of outputWhen | β1| ＞ | β2| when, above formula takes positive sign, otherwise takes negative sign；
Maximum detectable ranges of the wherein m for millimetre-wave radar, and ρ≤m；For reaction detection target and millimetre-wave radar it
Between influence of the distance to delay effect, target be then delayed closer to radar it is smaller, otherwise delay it is bigger；t1For to the target radar
The time that detection wave is sent out, t2The time returned for detections of radar wave；|t1-t2| represent detections of radar wave travel to and fro between target and
Time needed between radar；T1For the horizontal rotation period of millimetre-wave radar, T2Vertical swing circle for millimetre-wave radar；
α1For t1When α values, α2For t2When α values；β1For t1When β value, β2For t2When β value；θ1For t1When θ values, θ2For t2When θ
Value；T1=2s, T2=2.4s, the sampling interval of millimetre-wave radar is 2 °/s；
Coordinate exports subelement：The object space coordinate exported after being delayed revise subelemen amendment is：
Wherein,
Data processing unit further include target RCS fluctuation characteristics measure subelement, for the RCS sequence variations coefficient to target into
Row measures：
For being in the complex target of optical region, it is assumed that be made of N number of scattering center, then the RCS tables of multi-scattering centers target
It is shown as the function of azimuth of target：
Wherein, σiRepresent that i-th of scattering center RCS, α+θ represents target with respect to the azimuth of millimetre-wave radar, RiIt represents i-th
Scattering center is with respect to radar center distance；λ is the parameter being manually set；
Then RCS sequence variations coefficient is expressed as：Wherein σ (k) represents kth time detection target
RCS values, RCS serial means
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| CN111650589A (en) * | 2020-06-18 | 2020-09-11 | 成都纳雷科技有限公司 | Unmanned aerial vehicle millimeter wave radar detection system, detection method and unmanned aerial vehicle |
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