CN106338716A - Three-coordinate radar technology based civil UAV (Unmanned Aerial Vehicle) capturing technology and system thereof - Google Patents
Three-coordinate radar technology based civil UAV (Unmanned Aerial Vehicle) capturing technology and system thereof Download PDFInfo
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- CN106338716A CN106338716A CN201610972504.9A CN201610972504A CN106338716A CN 106338716 A CN106338716 A CN 106338716A CN 201610972504 A CN201610972504 A CN 201610972504A CN 106338716 A CN106338716 A CN 106338716A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/38—Jamming means, e.g. producing false echoes
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Abstract
The invention discloses a three-coordinate radar technology based civil VAV capturing technology and a system thereof. The technology comprises that a three-coordinate radar technology is used to detect exotic objects in the air rotationally according to certain detection manner, a target signal is obtained, and the width of an orientation wave beam emitted during detection is greater than the width of an elevation angle wave beam; the target signal is received and processed to obtain and send a pre-processed signal; the pre-processed signal is received, digital processing is carried out on the pre-processed signal, and a distinguishable digital signal is obtained and sent; the digital signal is received and decoded to obtain a decoded signal; and the decoded signal is analyzed and determined, if the decoded signal is a UAV signal, a tracking and locking instruction is sent, and otherwise, rotary detection is continued. According to the three-coordinate radar technology based civil VAV capturing technology and the system thereof, the exotic objects in the air are searched, tracked and locked, the capturing range of the exotic objects in the air is increased, the speed is high, and the scanning range is wide.
Description
Technical field
The present invention relates to civilian unmanned plane field is and in particular to a kind of caught based on the civilian unmanned plane of three-dimensional radar technology
Obtain technology and its system.
Background technology
With the constantly development of technology, unmanned plane also gets more and more, and has all obtained on military and civilian widely
With；Unmanned plane at this stage captures it and all relies on greatly radar scanning system, but in civilian unmanned plane field, it then exists
High cost, bulky problem, this kind of beyond doubt waste；Therefore design that a kind of small volume, acquisition speed be fast, degree of accuracy is high and
Lower-cost civilian unmanned plane capture systems are emphasis of increasingly research.
Content of the invention
For above-mentioned deficiency of the prior art, what the present invention provided is caught based on the civilian unmanned plane of three-dimensional radar technology
Obtain technology and its system has the advantages that small volume, acquisition speed are fast, degree of accuracy is high and cost is relatively low.
In order to reach foregoing invention purpose, the technical solution used in the present invention is: provides one kind to be based on three-dimensional radar skill
The civilian unmanned plane capture technique of art, comprising:
S1. adopt three-dimensional radar technology according to the aerial foreign body of certain detection mode rotated detection, obtain target letter
Number；Wherein, the azimuth beamwidth sending during detection is more than elevation beamwidth；
S2. receive echo signal, and it is processed, obtain preprocessed signal and send；
S3. receive preprocessed signal, and digital processing is carried out to it, obtain discernible digital signal and send；
S4. connect and state digital signal, and it is decoded, obtain decoded signal；
S5. decoded signal is analyzed judging, if unmanned plane signal, then sends tracking, lock instruction, otherwise, then
Repeating said steps s1.
Further, the concretely comprising the following steps of s1: send detectable signal and detect aerial foreign body, change by the elevation angle and detect letter
Number repetition period, and coordinate change detectable signal pulse width, be set in different elevation directions and aerial foreign body visited
The residence time surveyed；
If the horizontal beam width sending and vertical beam width are respectively when detectingWith δ θ1/2, rotated detection
Rotating speed is ω, and the detectable signal repetition period is fr, elevation angle hunting zone is θ=θmax-θmin, the elevation beam number in θ is n1
(set n1=θ/δ θ1/2), then the inswept azimuth beamwidth of antenna beamTime:During search, each
Average wave beam residence time on individual elevation beam is:Detectable signal is in an average wave beam residence time
Pulse number is:
Further, the concretely comprising the following steps of s2: secondary down coversion is carried out to detectable signal, obtaining frequency is 70 ± 15mhz,
Output is -35～-5dbm, the adjustable dynamically down-conversion signal for 30db, then this down-conversion signal is filtered, and obtains
Preprocessed signal.
Further, the concretely comprising the following steps of s5: receive decoded signal, and by decoded signal and the unmanned plane ripple being previously stored
Segment signal is contrasted, if decoded signal is matched with the unmanned plane band signal of storage, sends tracking, lock instruction；If
Decoded signal is mismatched with the unmanned plane band signal of storage, then continue according to the aerial exotic of certain detection mode rotated detection
Body.
A kind of civilian unmanned plane capture systems based on three-dimensional radar technology, it include dual-mode antenna, receiver module,
Transmitter module, signal processing module, data processing module and control module；Dual-mode antenna respectively with receiver module and transmitting
Machine module connects, and receiver module, signal processing module, data processing module, control module and transmitter module are sequentially connected.
Further, the vertical direction size of dual-mode antenna is more than horizontal direction size.
Further, signal processing module includes the double conversion module being sequentially connected and filtration module.
The invention has the benefit that this civilian unmanned plane capture technique based on three-dimensional radar technology and its system make
With low cost, small volume, applied range；Can for aerial all can transmission signals object all realize search, follow the tracks of,
Locking work；Increase the capture range of high-altitude unhardened flying object, its speed is fast, scanning is extensive, locking object can be made
Quick tracking function.
Brief description
Fig. 1 is the structural representation of the civilian unmanned plane capture systems based on three-dimensional radar technology.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes it is clear that described embodiment is only an embodiment of the present invention, rather than whole embodiments.Based on this
Embodiment in invention, the every other reality that those of ordinary skill in the art are obtained under the premise of not making creative work
Apply example, broadly fall into protection scope of the present invention.
For the sake of simplicity, eliminate the technology general knowledge well known to this technical field technical staff in herein below.
Should be included based on the civilian unmanned plane capture technique of three-dimensional radar technology:
S1. adopt three-dimensional radar technology according to the aerial foreign body of certain detection mode rotated detection, obtain target letter
Number；Wherein, the azimuth beamwidth sending during detection is more than elevation beamwidth；
In being embodied as, the detection in order to realize aerial foreign body guides it is necessary to accurately measure echo signal
Height, wherein, should civilian unmanned plane capture technique based on three-dimensional radar technology be difference two coordinate thunders surveying high direction
The main distinction point reaching；When surveying high, the height of echo signal and its computing formula of certainty of measurement are:
δht=δ rsin θ+rcos θ δ θ；
Wherein, object height is ht, the elevation angle is θ, and oblique distance is r；From above formula, altimetry precision is decided by elevation angle theta and tiltedly
Certainty of measurement away from r；And range accuracy is easier to realize, and elevation accuracy is decided by the wave beam on elevation direction to a great extent
Width, therefore reducing elevation beamwidth is one of three-dimensional radar design key issue.
Using electronically scanning at one dimension phased array antenna three-dimensional radar in performance by being limited maximum, be due to detecting
When, orientation is mechanically realize scanning when, the three-dimensional radar swept using simple beam phase under search condition each
Pulse irradiation number of times in beam. position or wave beam residence time are limited, thus have impact on the anti-of radar to a great extent
Clutter performance；In order to alleviate this shortcoming, the azimuth beamwidth sending during detection is more than elevation beamwidth, improves detection and catches
Obtain precision.
When being detected, send detectable signal using antenna for 3-D radar and detect aerial foreign body, change by the elevation angle
Become the repetition period of detectable signal, and coordinate the pulse width changing detectable signal, be set in different elevation directions to outer in the air
Carry out the residence time of object detection.
If the horizontal beam width sending and vertical beam width are respectively when detectingWith δ θ1/2, rotated detection
Rotating speed is ω, and the detectable signal repetition period is fr, elevation angle hunting zone is θ=θmax-θmin, the elevation beam number in θ is n1
(set n1=θ/δ θ1/2), then the inswept azimuth beamwidth of antenna beamTime:During search, each
Average wave beam residence time on individual elevation beam is:
In formulaIn,Represented with radian；Antenna rotation rate is represented with tad/s with ω；Detectable signal exists
Pulse number in one average wave beam residence time is:IfRepresented with the number of degrees, ω is with r/min
Represent, then formulaCan be replacedFormulaReplace withIf the detectable signal repetition period presses radar effect with distance range maximum for demarcation, have:
Therefore, A＆E azimuth and elevation beam angle is narrower, and elevation angle coverage is wider, and rotating speed is bigger, and operating distance is more remote, often
Pulse number in individual wave beam just less in some instances it may even be possible to be less than 1；In each wave beam, the minimizing of pulse number can affect angle-measuring method
Selection, in order to carry out pulse angular surveying, this automatically controlled scanning receives in addition to wave beam to be formed, and also in orientation and need to face upward
Gun parallax and elevation angle difference beam are formed on angle.
The three-dimensional radar swept using simple beam electricity, by different elevations angle reasonable distribution radar detection pulse number；Face upward low
Angular zone, wave beam residence time is suitably increased, even if the direct impulse number n ＞ n at the elevation angleav, at the high elevation angle, due to target letter
Number height is generally below 30km, and maximum oblique distance increases with the elevation angle and reduces, and therefore, changes the repetition week of detectable signal by the elevation angle
Phase, and coordinate the pulse width changing detectable signal, be set in that different elevation directions detect to aerial foreign body resident when
Between, realize accurately scan capture.
S2. receive echo signal, and it is processed, obtain preprocessed signal and send；
In being embodied as, when processing to detectable signal, the frequency receiving is 2.4～5.8ghz, power
Detectable signal for -87～-57dbm carries out secondary down coversion, obtain frequency be 70 ± 15mhz, output be -35～-
5dbm, the adjustable dynamically down-conversion signal for 30db, then this down-conversion signal is filtered, obtain preprocessed signal；Make to connect
The signal receiving being capable of held stationary output.
S3. receive preprocessed signal, and digital processing is carried out to it, obtain discernible digital signal and send；By mould
Intend signal to be converted to discernible digital signal and send.
S4. connect and state digital signal, and it is decoded, obtain decoded signal.
S5. decoded signal is analyzed judging, if unmanned plane signal, then sends tracking, lock instruction, otherwise, then
Repeating said steps s1；
In being embodied as, receive decoded signal, and decoded signal is carried out with the unmanned plane band signal being previously stored
Contrast, if decoded signal is matched with the unmanned plane band signal of storage, sends tracking, lock instruction；If decoded signal with
The unmanned plane band signal of storage mismatches, then continue according to the aerial foreign body of certain detection mode rotated detection.
Should can be directed to aerial all energy transmission signals by civilian unmanned plane capture technique based on three-dimensional radar technology
Object all realize search, follow the tracks of, locking work；Increase the capture range of high-altitude unhardened flying object, its speed is fast, scanning
Extensively, quick tracking function can be made to locking object.
As shown in figure 1, a kind of civilian unmanned plane capture systems based on three-dimensional radar technology, it include dual-mode antenna,
Receiver module, transmitter module, signal processing module, data processing module and control module；Dual-mode antenna respectively with reception
Machine module and transmitter module connect, receiver module, signal processing module, data processing module, control module and transmitter
Module is sequentially connected；It has the advantages of application module low cost, small volume, and preferred signals processing module includes being sequentially connected
Double conversion module and filtration module.
In being embodied as, the vertical direction size of preferably dual-mode antenna is more than horizontal direction size, anti-in order to improve it
Clutter performance；And dual-mode antenna is that possess the antenna for 3-D radar that search transmitting is integrated, dual-mode antenna is in rotation all the time
Search condition, that is, transmitter module be in emission process；When searching aerial foreign body, dual-mode antenna is to target information
Received, and be transmitted receive to signal, and sent instruction eventually through control module and completed to control exotic
Body is locked and is followed the tracks of.
Described above to the disclosed embodiments, makes professional and technical personnel in the field be capable of or uses the present invention.
Multiple modifications to these embodiments will make it will be apparent that defined herein one for those skilled in the art
As principle can without departing from invention spirit or scope in the case of, realize in other embodiments.Therefore, the present invention will not
Can be limited and the embodiments shown herein, and be to fit to consistent with principles disclosed herein and novel features
Scope the widest.
Claims (7)
1. a kind of civilian unmanned plane capture technique based on three-dimensional radar technology is it is characterised in that include:
S1. adopt three-dimensional radar technology according to the aerial foreign body of certain detection mode rotated detection, obtain echo signal；Its
In, the azimuth beamwidth sending during detection is more than elevation beamwidth；
S2. receive described echo signal, and it is processed, obtain preprocessed signal and send；
S3. receive described preprocessed signal, and digital processing is carried out to it, obtain discernible digital signal and send；
S4. receive described digital signal, and it is decoded, obtain decoded signal；
S5. described decoded signal is analyzed judging, if unmanned plane signal, then sends tracking, lock instruction, otherwise, then
Repeating said steps s1.
2. the civilian unmanned plane capture technique based on three coordinate thunder technology according to claim 1 is it is characterised in that described
S1 concretely comprises the following steps:
Send detectable signal and detect aerial foreign body, change the repetition period of detectable signal by the elevation angle, and coordinate change to detect
The pulse width of signal, is set in the residence time that different elevation directions detect to aerial foreign body；
If the horizontal beam width sending and vertical beam width are respectively when detectingWith δ θ1/2, the rotating speed of rotated detection
For ω, the detectable signal repetition period is fr, elevation angle hunting zone is θ=θmax-θmin, the elevation beam number in θ is n1(set
n1=θ/δ θ1/2), then the inswept azimuth beamwidth of antenna beamTime:During search, face upward at each
Average wave beam residence time on the wave beam of angle is:Pulse in an average wave beam residence time for the detectable signal
Number is:
3. the civilian unmanned plane capture technique based on three-dimensional radar technology according to claim 1 and 2, its feature exists
In described s2 concretely comprises the following steps: secondary down coversion is carried out to described detectable signal, obtaining frequency is 70 ± 15mhz, output work
Rate is -35～-5dbm, the adjustable dynamically down-conversion signal for 30db, then this down-conversion signal is filtered, and obtains pretreatment
Signal.
4. the civilian unmanned plane capture technique based on three-dimensional radar technology according to claim 1 is it is characterised in that institute
State concretely comprising the following steps of s5:
Receive described decoded signal, and decoded signal is contrasted with the unmanned plane band signal being previously stored, if described solution
Code signal is matched with the unmanned plane band signal of storage, then send tracking, lock instruction；If described decoded signal and storage
Unmanned plane band signal mismatches, then continue according to the aerial foreign body of certain detection mode rotated detection.
5. the civilian unmanned plane capture technique based on three-dimensional radar technology described in a kind of any one according to Claims 1 to 4
Capture systems it is characterised in that: include dual-mode antenna, receiver module, transmitter module, signal processing module, at data
Reason module and control module；Described dual-mode antenna is connected with described receiver module and transmitter module respectively, described receiver
Module, signal processing module, data processing module, control module and transmitter module are sequentially connected.
6. the civilian unmanned plane capture systems based on three-dimensional radar technology according to claim 5 it is characterised in that: institute
The vertical direction size stating dual-mode antenna is more than horizontal direction size.
7. the civilian unmanned plane capture systems based on three-dimensional radar technology according to claim 5 it is characterised in that: institute
State double conversion module and the filtration module that signal processing module includes being sequentially connected.
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| CN111337888A (en) * | 2020-04-13 | 2020-06-26 | 北京航天长征飞行器研究所 | Dense decoy jamming method, computer device and computer readable storage medium |
| CN112834987A (en) * | 2021-01-18 | 2021-05-25 | 成都老鹰信息技术有限公司 | Millimeter wave ranging system for wiping tail of airplane |
| CN113437518A (en) * | 2021-06-29 | 2021-09-24 | 中国西安卫星测控中心 | Scanning capture method based on paraboloid unified measurement and control antenna |
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