CN106353754A - Integrated detection radar system for ice and water conditions - Google Patents
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 54
- 238000001514 detection method Methods 0.000 title claims abstract description 41
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- 239000005457 ice water Substances 0.000 claims description 11
- 238000004458 analytical method Methods 0.000 claims description 6
- 238000007781 pre-processing Methods 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims description 5
- 238000013500 data storage Methods 0.000 claims description 5
- 238000005516 engineering process Methods 0.000 claims description 3
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- SDIXRDNYIMOKSG-UHFFFAOYSA-L disodium methyl arsenate Chemical compound [Na+].[Na+].C[As]([O-])([O-])=O SDIXRDNYIMOKSG-UHFFFAOYSA-L 0.000 claims 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
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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
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
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Abstract
The invention relates to an integrated detection radar system for ice and water conditions. The system comprises a VHF (very high frequency) and UHF (ultrahigh frequency) combined antenna, wherein the combined antenna is connected with a VHF transmitting and receiving device and a UHF transmitting and receiving device; the VHF transmitting and receiving device and the UHF transmitting and receiving device are connected with a control device; the control device is connected with a main unit through a data transmission device; the main unit is connected with a satellite positioning device through a connecting device. The integrated detection radar system adopts double-frequency design to measure the thickness of an ice layer and the depth of water below a survey line rapidly and continuously and can measure the ice layer and the depth of the water below the ice layer rapidly, precisely and efficiently, original manual measurement is replaced with a detection radar, the measurement efficiency is increased greatly, a measurement value of a measured point can be obtained in real time, continuous measurement results are obtained and provided for a measurer in numerical value and voice manners, better measurement results and measurement experience are obtained, and the problems of the need for manual hole punching, few sampling points and the like for hydrologic observation in winter are solved.
Description
Technical Field
The invention relates to an ice water condition integrated detection radar system, which is acquisition equipment of hydrological data and electronic equipment for detecting an ice layer and water flow depth.
Background
At present, in the hydrological observation of rivers and lakes in winter in China, a manual fixed-point drilling mode is adopted to detect the ice thickness and the water depth, a fixed distance is adopted in an observation area, or drilling measurement is carried out after a sampling point position is determined according to experience, only a few sparse sampling point results can be obtained, a continuous measurement result cannot be formed, and a large amount of manpower and material resources are consumed. The thickness of the ice layer and the water body can be detected by utilizing the radar, and when electromagnetic waves are transmitted in the ice layer and the water body, the path, the electromagnetic field intensity and the waveform of the electromagnetic waves are changed along with the dielectric constant and the geometric form of the medium. According to the time, amplitude and waveform information of the echo, the thickness and the water depth of the ice layer can be calculated. Because the ice layer and the water are different propagation media, parameters such as propagation paths, field intensity and the like of electromagnetic waves in the two substances are different, and the satisfactory effect can be achieved only by using radars with different frequencies for measurement. The existing radar system can only detect the ice layer or the water layer singly often, and can not detect the ice layer and the water depth of water bodies such as an iced river at the same time, so that great burden is generated on large-area measurement work needing to measure the thickness of the ice layer and the water depth at the same time, and the measurement process is not accurate enough.
Disclosure of Invention
In order to overcome the problems in the prior art, the invention provides an ice water condition integrated detection radar system, which combines two radars with different detection frequencies to form an integrated radar system capable of detecting the water depth of an ice layer and the water depth below the ice layer simultaneously, and greatly simplifies the detection process.
The purpose of the invention is realized as follows: an ice-water condition integrated detection radar system comprises: the combined antenna is connected with a very high frequency transmitting and receiving device and a very high frequency transmitting and receiving device, the very high frequency transmitting and receiving device and the very high frequency transmitting and receiving device are connected with a control device, the control device is connected with a host through a data transmission device, and the host is connected with a satellite positioning device through a connecting device.
Furthermore, the working frequency of the very high frequency transmitting and receiving device is 100MHz, and the working frequency of the ultrahigh frequency transmitting and receiving device is 1.5 GHz.
Furthermore, the combined antenna is a rectangular box, a baffle is arranged in the center of the rectangular box, a very high frequency transmitting end and a very high frequency receiving end are respectively arranged on two sides of the baffle, and two small boxes which are respectively an ultrahigh frequency transmitting end and an ultrahigh frequency receiving end are arranged on two sides of the middle position of the baffle and correspond to each other.
Further, the data transmission device is a network with a protocol of PCT or UDP; the connecting device is an RS232 interface.
Further, the satellite positioning device is RTK based on GPS.
Furthermore, the combined antenna, the very high frequency transmitting and receiving device, the ultrahigh frequency transmitting and receiving device and the satellite positioning device are arranged in a trolley with four wheels, the trolley is provided with a trolley support, and a host is arranged on the trolley support.
Furthermore, the control device and the host are provided with the following sub-devices:
a parameter setting sub-device: the method is used for setting measurement parameters, and the measurement parameters comprise: the method comprises the steps of sampling frequency, sampling point number, dielectric constant, detection mode and track spacing;
the data acquisition sub-device: the system comprises a trolley, a satellite positioning device and a control system, wherein the trolley is used for driving a radar system to uniformly move on an ice layer along a survey line, and the two radars with different frequencies work in turn to acquire ice layer and water depth data and acquire geographic coordinate information in real time through the satellite positioning device;
signal preprocessing sub-device: the method is used for splicing a group of signals obtained by sampling for multiple times to form a complete periodic signal by adopting an equivalent digital receiving technology, reproducing the waveform of the original signal widened in a time domain, simultaneously adding various selectable filtering algorithms to filter out high-frequency interference signals, and transmitting the data to a host after signal preprocessing.
A data storage sub-device: the system comprises a radar, a data storage module, a data acquisition module and a data processing module, wherein the data acquisition module is used for associating data acquired by the radar with geographic coordinate information and storing the data;
ice layer depth of water thickness horizon tracking sub-device: the method is used for editing and gain processing data, enhancing the weak echo signal returned from the deep layer, and then tracking the water depth and thickness layer of the ice layer, wherein the tracking comprises the following steps: selecting the previous radar data as a reference, and carrying out correlation calculation on the current track and the reference track according to the specified initial position of the reflecting layer and a correlation time window:
and obtaining the time offset of the current channel corresponding to the reference channel measurement layer position reflection signal, thereby obtaining the position of the current channel layer position reflection signal on a time axis, and applying a correlation algorithm to each channel of data. The sub-device stores collected data sent by the internet access according to an engineering naming rule, and stores real-time geographic coordinate information transmitted by the satellite positioning device, wherein the geographic coordinate information is associated with radar data for storage, so that technical support is provided for subsequent analysis. The data cannot truly reflect the actual ice water condition due to ice layer impurities, terrain, manual misoperation and the like in the original data, the data needs to be reorganized and corrected, and if the amplitude of a signal on a measuring line section changes greatly, the amplitude of the signal needs to be normalized; the background noise can be removed by adopting a background noise removing function in software.
Obtaining a curve and outputting a sub-device: and the real-time curve is used for connecting the positions of the reflection signals of the channel levels on the time axis to obtain a continuous ice layer thickness and water depth result, and the output real-time curve is displayed by a display of the data processing and displaying device.
Furthermore, the host is also provided with a voice broadcasting sub-device.
Furthermore, a report analysis sub-device is also arranged in the host.
The invention has the following beneficial effects: the invention adopts double-frequency design, quickly and continuously measures the thickness and the depth of the ice layer below the measuring line, can quickly, accurately and efficiently measure the thickness and the depth of the water below the ice layer, and the detection radar replaces the original manual measurement, so that the measuring efficiency is greatly improved, the measured value of the measured point can be obtained in real time, a continuous measuring result is obtained, the measured result is provided for a measurer in a numerical value and voice mode, a better measuring result and measuring experience are obtained, and the problems of manual punching, few sampling points and the like which bother the hydrological observation in winter are solved.
Drawings
The invention is further illustrated by the following figures and examples.
FIG. 1 is a schematic diagram of a detection radar system according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a combined antenna according to a third embodiment of the present invention;
fig. 3 is a schematic structural diagram of the trolley according to the sixth embodiment of the invention.
Detailed Description
The first embodiment is as follows:
the embodiment is an ice-water condition integrated detection radar system, as shown in fig. 1. The embodiment comprises the following steps: the combined antenna is connected with a very high frequency transmitting and receiving device and a very high frequency transmitting and receiving device, the very high frequency transmitting and receiving device and the very high frequency transmitting and receiving device are connected with a control device, the control device is connected with a host through a data transmission device, and the host is connected with a satellite positioning device through a connecting device.
When the radar is used for underground target detection, the resolution and the detection depth are contradictory, the radar with low working frequency is used for detecting a large depth and is not enough in resolution, and the radar with high working frequency can obtain a good resolution and is not ideal in detection depth, so that the detection requirement needs to be comprehensively considered in the selection of the working frequency of the radar. For this reason, the radar system described in this embodiment uses a dual-frequency operating mode, that is, two sets of transmitting and receiving devices with different frequencies are provided, and a very high frequency and an ultrahigh frequency are combined, and the central operating frequency may be selected to be 1.5GHz and 100 MHz. The working frequency of the ultrahigh frequency is 1.5GHz and is used for rapidly detecting the thickness of the ice layer of the river, and the working frequency of the ultrahigh frequency is 100MHz and is used for detecting the water depth of the under-ice river and the topography and landform of the river bed, so that a satisfactory effect is obtained.
A combination antenna is an antenna device that can simultaneously transmit and receive electromagnetic waves of two frequencies. The combined antenna can be in a conventional pot cover shape, and in order to adapt to the detection of the ice layer and the water depth, other antennas in shapes, such as a square box shape, can also be used.
The host computer is used as a human-computer interaction and data management platform to realize the acquisition, storage, display and management of various sensor data. The host is an electronic digital device with digital storage and operation capacity, can be an industrial grade notebook computer, receives radar uploaded data, processes and displays the data, and simultaneously displays the double-antenna radar data. The host may also be another type of general purpose computer.
The control device is the control core of the dual-frequency radar, and generates some key time sequence signals, such as a transmitting trigger signal and a receiving trigger signal, in the working process of the radar. Equivalent sampling is realized by controlling the time step between the emission trigger signal and the receiving trigger signal, the reconstruction quality of the radar echo signal is directly determined by the jitter of the time sequence control signal, and time sequence control, time jitter estimation and measurement error control are stabilized when needed. The core component of the control device can adopt an FPGA or other types of processing chips.
The radar main control board is a system work control center, generates a transmitting trigger signal, and sends the transmitting trigger signal to each radar antenna module to control the radar antenna to work. And meanwhile, receiving echo signals transmitted by each radar antenna module, acquiring data, and transmitting the acquired data to the host. In order to ensure that no signal interference is generated between the transmitting and receiving devices with different frequencies, the transmitting and receiving devices work in a sequential and cooperative mode, only one transmitting and receiving device is in a working state at a certain moment, and the other transmitting and receiving device is in an idle state, so that the interference is avoided.
The embodiment adopts the satellite positioning device to carry out position positioning on the data of the collected ice layer and the water depth. The satellite positioning device can be a Beidou positioning system and also can be a GPS positioning system.
The data transmission device may be a network, and if the transmission distance is short, an interface circuit may be used. The network may employ TCP or UDP protocols.
The connecting device can be a network or an interface circuit, such as RS323 and the like.
The whole set of system can be integrated together, for example, the whole set of system is made into a trolley, so that the ice layer can be conveniently detected in the field.
Example two:
the present embodiment is an improvement of the first embodiment, and is a refinement of the first embodiment regarding the transmitting and receiving apparatus. The working frequency of the vhf transceiver described in this embodiment is 100MHz, and the working frequency of the uhf transceiver is 1.5 GHz.
The host computer receives the radar data of two working frequencies transmitted by the control device, and needs to carry out comprehensive processing on the data of the two frequencies so as to form an ice thickness water depth comprehensive detection graph. The 1500MHz transmitting and receiving device in the radar system is used for detecting the ice thickness, and the ice thickness can be accurately calculated according to the radar echo delay of the ice layer and the dielectric property of the ice. The 100MHz transmitting and receiving device is used for detecting water depth, but the electromagnetic wave firstly passes through an ice layer in the propagation process, and the echo of the ice layer needs to be delayed and removed in order to accurately calculate the water depth. The present embodiment utilizes 1500MHz transmit receive devices to probe the results. The situation that the 1500MHz radar detects the ice thickness echo delay is assumed asThe echo delay of the 100MHz radar in the detected water depth isThickness of iceAnd depth of waterAre respectively shown as formula (1) and formula (2)
（1）
（2）
Wherein,represents the speed of light;andrespectively, the dielectric constant of ice and the dielectric constant of water.
According to the formula, the ice thickness is calculated according to the 1500MHz radar detection echo time delay in the formula (1), the 1500MHz radar detection precision is high, and accurate ice thickness data can be obtained. And (3) subtracting the echo time delay of the 1500MHz radar ice-water interface from the echo time delay of the 100MHz radar water-river bed interface in the formula (2) to obtain accurate water depth data. The obtained ice thickness and water depth data are depicted on a graph, so that an integrated distribution graph of the ice thickness and the water depth can be obtained.
Aiming at the characteristics of comprehensive detection of ice thickness and water depth, the changes of the ice layer thickness and the water depth are continuous, and the data of adjacent track numbers have amplitude stability and gradual change in time. The continuous ice thickness tracking is taken as an example for explanation:
firstly, ice thickness data are detected according to a radar, a section of echo reflected by the lower surface of an ice layer is intercepted from the data, and an ice thickness detection reference signal is setFor newly acquired dataPerforming cross-correlation treatment:
（3）
according toThe ice layer position can be determined. In adjacent ground penetrating radar scanning data, characteristics such as time delay, waveform and the like of a same layer of interface reflection signals are similar, and the correlation is good, so that real-time tracking measurement of ice thickness and water depth positions can be realized as long as the correlation can be quantitatively analyzed. Before the related horizon tracking, parameters of the horizon tracking need to be specified, and the parameters mainly include a tracking start position, a related time window and the like. The correlation time window represents the data length of the correlation calculation.
When the comprehensive test is carried out, firstly, a piece of radar data is selected as a reference, and the current track and the reference track are subjected to related calculation according to the specified initial position of the reflecting layer and a related time window to obtain the time offset of the current track corresponding to the measuring layer position reflected signal of the reference track, so that the position of the current track layer position reflected signal on a time axis can be obtained, and finally, the positions are connected to obtain a continuous curve of the ice layer thickness and water depth results.
Example three:
the present embodiment is a modification of the above-described embodiments, and is a refinement of the above-described embodiments with respect to the combined antenna. The combined antenna described in this embodiment is a rectangular box, the center of the rectangular box is provided with a baffle 1, two sides of the baffle are respectively a very high frequency transmitting end 2 and a very high frequency receiving end 3, two small boxes are arranged at positions corresponding to each other on two sides of the middle position of the baffle, respectively a very high frequency transmitting end 4 and a very high frequency receiving end 5, as shown in fig. 2.
The combined antenna described in this embodiment is basically a square box in shape, the whole is made of metal, and the middle baffle is made of nonmetal. This form of antenna is suitable for detecting objects in the ground.
The ground penetrating radar generally adopts a butterfly antenna, and the lower the frequency of the antenna, the larger the size. The high-frequency antenna and the low-frequency antenna used for detecting the ice thickness and the water depth have larger frequency difference, and the size of the low-frequency antenna is far larger than that of the high-frequency antenna. In order to realize that the dual-frequency antenna detects the same place, the antenna structure of this embodiment is designed as shown in fig. 2, and the high-frequency 1500MHz antenna is placed in the center of the 100MHz antenna, that is, the detection center points of the 100MHz antenna and the 1500MHz antenna coincide. In the radar detection process, the 100MHz antenna and the 1500MHz antenna work alternately to realize the detection of the same observation point.
Example four:
the present embodiment is a modification of the above-described embodiment, and is a refinement of the above-described embodiment with respect to the data transmission apparatus and the connection apparatus. The data transmission device described in this embodiment is a network with a protocol of PCT or UDP; the connecting device is an RS232 interface.
The collected data is transmitted to the host computer through the network port for post-display and processing. The network port module can adopt a 16-bit data bus, the rate can reach 50Mbps, and the allocation of the internal memory can be dynamically adjusted according to the communication data throughput.
Example five:
the present embodiment is a modification of the above-described embodiments, and is a refinement of the above-described embodiments with respect to the satellite positioning apparatus. The satellite positioning device described in this embodiment is a GPS-based RTK.
The large-range movement measurement on the ice surface lacks a reference point, so that the embodiment can adopt a high-precision RTK positioning mode to acquire longitude and latitude coordinate information of a radar system in real time, and then realize accurate positioning of a measurement track on the ice surface by combining a GIS system. The RTK positioning system has the other purpose that the sampling distance is set through the change of the GPS coordinates, so that the RTK positioning system can be set in the system according to different ice condition measurement requirements, if the measurement distance of long-distance and large-range ice condition investigation can be set to be 1m sampling point, the measurement distance of short-distance refined measurement can be set to be 5cm sampling point, and the problem that the measurement distance cannot be changed by a traditional distance measuring wheel is solved.
Example six:
the present embodiment is an improvement of the above-mentioned embodiment, and is a refinement of the above-mentioned embodiment with respect to the whole system. In this embodiment, the combined antenna, the vhf transmitting and receiving device, the uhf transmitting and receiving device, and the satellite positioning device are mounted in a cart 6 with four wheels, the cart is provided with a cart support 7, and a host 8 is mounted on the cart support, as shown in fig. 3.
The present embodiment integrates the whole system into one cart. The whole system consists of the following parts, the combined antenna, the two sets of receiving and transmitting devices, the satellite positioning device and the power supply device (mainly comprising a storage battery and a charging device) are combined into a box body, and wheels and a trolley support are arranged on the box body so as to be convenient to push (drag). The main frame is arranged on the bracket of the cart and is connected with the equipment in the box body through the network cable main frame.
Example seven:
the present embodiment is a modification of the above-described embodiment, and is a refinement of the above-described embodiment with respect to the control device and the host. The control device and the host described in this embodiment are provided with the following sub-devices:
a parameter setting sub-device: the method is used for setting measurement parameters, and the measurement parameters comprise: including sampling frequency, number of sampling points, dielectric constant, detection mode, and track spacing. After a radar system is started and powered on, initializing, loading ice thickness water depth detection software, and configuring an IP address and a port of internet access communication; the FPGA on the main control board automatically loads programs from the Flash, configures the peripheral interface, configures the network interface into a TCP/IP protocol mode, and automatically sends communication information to carry out self-checking and mutual checking among the devices. After the electrification initialization is finished, the sub-device is used for urging working parameters to be set, the set parameters are transmitted to the main control board through the network port, and the control command comprises sampling frequency, sampling point number, dielectric constant, detection mode, track spacing and the like.
The data acquisition sub-device: the device is used for driving the dual-frequency dual-channel radar to move uniformly on the ice layer along a survey line, collecting the ice layer and water depth data through the radar, and collecting geographic coordinate information in real time through the satellite positioning device. The trolley carrying the radar system is pushed by manpower or machinery on the ice layer to move along the measuring line, and the dual-frequency radar pulse signals are transmitted at equal intervals according to the set parameters. The measuring lines may be in the form of longitudinal and transverse coordinates or polar coordinates. When the radar pulse echo signal is transmitted, the radar pulse echo signal is received, the radar antenna and the main control board adopt a split design, and a time-varying gain amplifier is added in the radar receiver, so that the interference of an echo analog signal to the main control board is avoided, and the gain of the echo signal can be dynamically adjusted according to the return time of the echo signal, so that the intensity of the echo signal entering the sampling circuit becomes relatively stable.
Signal preprocessing sub-device: the method is used for splicing a group of signals obtained by sampling for multiple times to form a complete periodic signal by adopting an equivalent digital receiving technology, reproducing the waveform of the original signal widened in a time domain, simultaneously adding various selectable filtering algorithms to filter out high-frequency interference signals, and transmitting the data to a host after signal preprocessing.
A data storage sub-device: and the data processing and displaying device is used for associating the data collected by the radar with the geographic coordinate information and storing the data. The data collected by the radar sent by the sub-device through the internet access is stored according to the project naming rule, and the real-time geographic coordinate information transmitted by the satellite positioning device is stored by being associated with the radar data, so that technical support is provided for subsequent analysis. The data cannot truly reflect the actual ice water condition due to ice layer impurities, terrain, manual misoperation and the like in the original data, the data needs to be reorganized and corrected, and if the amplitude of a signal on a measuring line section changes greatly, the amplitude of the signal needs to be normalized; the background noise can be removed by adopting a background noise removing function in software. Data editing and gain processing: due to the absorption of the ice water medium on radar waves and the loss in the process of propagation, radar echo signals can be attenuated, the greater the depth is, the greater the energy attenuation is, the difficulty in interpretation of deep target detection can be caused, and corresponding software is used for performing gain processing on the echo signals through setting and enhancing weak echo signals returned from the deep layer.
Ice layer depth of water thickness horizon tracking sub-device: the device for data processing and display firstly edits and gains data, enhances a weak echo signal returned from a deep layer, and then tracks the water depth and thickness layer of an ice layer, wherein the tracking comprises the following steps: selecting the previous radar data as a reference, and carrying out correlation calculation on the current track and the reference track according to the specified initial position of the reflecting layer and a correlation time window:
and obtaining the time offset of the current channel corresponding to the reference channel measurement layer position reflection signal, thereby obtaining the position of the current channel layer position reflection signal on a time axis, and applying a correlation algorithm to each channel of data.
Obtaining a curve and outputting a sub-device: and the data processing and displaying device is used for connecting the positions of the reflection signals of the channel positions on the time axis to obtain a continuous real-time curve of the ice layer thickness and the water depth result, and the output real-time curve is displayed by a display of the data processing and displaying device. And (3) image display output: the radar system is developed aiming at the detection of the thickness and the water depth of the ice layer, the ice water medium is relatively pure, the data collected by the double-frequency double-antenna are fused, and then the color images of the ice layer and the water depth are directly obtained by processing in software according to the characteristic that the two media have different dielectric constants.
Example eight:
the present embodiment is an improvement of the seventh embodiment, and is a refinement of the seventh embodiment with respect to the host. The host described in this embodiment is further provided with a voice broadcasting sub-device.
In order to adapt to the operating characteristics of ice thickness water depth measurement, a data positioning function and an intelligent voice broadcasting function can be added in the embodiment, the data positioning function displays the current geographic coordinate position on a display control terminal, an operator can be intuitively told of the current measurement position, and a complete combination image of line measurement geographic information and measurement data can be formed when data is analyzed and processed at the later stage. In addition, the radar can process the obtained ice layer thickness and water depth in real time, the data of the current detection point is displayed in real time in a digital mode on a display interface, and meanwhile, the data of the current detection point can be broadcasted in real time in a voice mode, so that an operator can know the ice layer thickness and the water depth of the current detection point without watching a screen, and a very convenient and practical real-time observation function is provided for the field operation of hydrological measurement.
Example nine:
this embodiment is an improvement of the eighth embodiment, and is a refinement of the eighth embodiment with respect to the host. The host described in this embodiment is further provided with a report analysis sub-device.
According to the embodiment, the acquired data of each survey line project are analyzed and processed, a comprehensive test chart based on time, position and ice thickness water depth is generated, technical support is provided for hydrologic information detection and reporting, and the workload of manually drawing charts is reduced.
Finally, it should be noted that the above is only for illustrating the technical solution of the present invention and not for limiting, although the present invention is described in detail with reference to the preferred arrangement, it should be understood by those skilled in the art that the technical solution of the present invention (such as the selection of radar type, each connection relation, etc.) can be modified or equivalently replaced without departing from the spirit and scope of the technical solution of the present invention.
Claims (9)
1. The utility model provides an ice and water conditions integration detection radar system which characterized in that includes: the combined antenna is connected with a very high frequency transmitting and receiving device and a very high frequency transmitting and receiving device, the very high frequency transmitting and receiving device and the very high frequency transmitting and receiving device are connected with a control device, the control device is connected with a host through a data transmission device, and the host is connected with a satellite positioning device through a connecting device.
2. The radar system of claim 1, wherein the vhf transceiver operates at 100MHz and the vhf transceiver operates at 1.5 GHz.
3. The radar system of claim 2, wherein the combined antenna is a rectangular box, a baffle is disposed in the center of the rectangular box, the baffle has two sides respectively serving as the vhf transmitting end and the vhf receiving end, and two small boxes corresponding to each other are disposed on two sides of the middle position of the baffle and respectively serving as the vhf transmitting end and the vhf receiving end.
4. A detection radar system according to claim 3 wherein the data transfer means is a network of protocols PCT or UDP; the connecting device is an RS232 interface.
5. The detection radar system according to claim 4, wherein the satellite positioning device is a GPS-based RTK.
6. The radar system of claim 1, wherein the combination antenna, the vhf transceiver, and the satellite locator are mounted on a cart having four wheels, the cart having a cart support, and a host computer mounted on the cart support.
7. The radar detection system of any one of claims 1 to 6, wherein the control unit and the main unit include sub-units selected from the group consisting of:
a parameter setting sub-device: the method is used for setting measurement parameters, and the measurement parameters comprise: the method comprises the steps of sampling frequency, sampling point number, dielectric constant, detection mode and track spacing;
the data acquisition sub-device: the system comprises a trolley, a satellite positioning device and a control system, wherein the trolley is used for driving a radar system to uniformly move on an ice layer along a survey line, and the two radars with different frequencies work in turn to acquire ice layer and water depth data and acquire geographic coordinate information in real time through the satellite positioning device;
signal preprocessing sub-device: the system is used for splicing a group of signals obtained by sampling for multiple times to form a complete periodic signal by adopting an equivalent digital receiving technology, reproducing the waveform of the original signal widened in a time domain, simultaneously adding various selectable filtering algorithms to filter out high-frequency interference signals, and transmitting the data to a host after signal preprocessing;
a data storage sub-device: the system comprises a radar, a data storage module, a data acquisition module and a data processing module, wherein the data acquisition module is used for associating data acquired by the radar with geographic coordinate information and storing the data;
ice layer depth of water thickness horizon tracking sub-device: the method is used for editing and gain processing data, enhancing the weak echo signal returned from the deep layer, and then tracking the water depth and thickness layer of the ice layer, wherein the tracking comprises the following steps: selecting the previous radar data as a reference, and carrying out correlation calculation on the current track and the reference track according to the specified initial position of the reflecting layer and a correlation time window:
obtaining the time offset of the current channel corresponding to the reference channel measurement layer position reflection signal, thereby obtaining the position of the current channel layer position reflection signal on a time axis, and applying a correlation algorithm to each channel of data;
the sub-device stores collected data sent by a network port according to an engineering naming rule, and stores real-time geographic coordinate information transmitted by a satellite positioning device, wherein the geographic coordinate information is associated with radar data for storage, so that technical support is provided for subsequent analysis;
the data cannot truly reflect the actual ice water condition due to ice layer impurities, terrain, manual misoperation and the like in the original data, the data needs to be reorganized and corrected, and if the amplitude of a signal on a measuring line section changes greatly, the amplitude of the signal needs to be normalized; the background noise removal function is adopted in software, so that the background noise can be removed;
obtaining a curve and outputting a sub-device: and the real-time curve is used for connecting the positions of the reflection signals of the channel levels on the time axis to obtain a continuous ice layer thickness and water depth result, and the output real-time curve is displayed by a display of the data processing and displaying device.
8. The radar detection system of claim 7 wherein said host computer further includes a voice broadcast sub-assembly.
9. The sodar detection system of claim 8 wherein said mainframe further comprises a report analysis subsystem.
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