CN106353754A - Integrated detection radar system for ice and water conditions - Google Patents
Integrated detection radar system for ice and water conditions Download PDFInfo
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- CN106353754A CN106353754A CN201610763599.3A CN201610763599A CN106353754A CN 106353754 A CN106353754 A CN 106353754A CN 201610763599 A CN201610763599 A CN 201610763599A CN 106353754 A CN106353754 A CN 106353754A
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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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- Radar, Positioning & Navigation (AREA)
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- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
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- Radar Systems Or Details Thereof (AREA)
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 present invention relates to a kind of frozen water feelings integrative detection radar system, it is a kind of collecting device of hydrographic data, is one
Plant the electronic equipment that ice sheet and flow depth are detected.
Background technology
The hydrological observation of rivers and lakes of domestic winter at present, by the way of artificial fixed-point drill, detects ice thickness and the depth of water,
Adopt punching measurement after fixed range or empirically determined sampling optimization in viewing area, can only obtain some sparse
Sampled point result, can neither form continuous measurement result, also expend substantial amounts of manpower and materials.Ice sheet can be detected using radar
With the thickness of water body, in ice sheet and water body internal communication, its path, electromagnetic field intensity and waveform are with the dielectric of medium for electromagnetic wave
Constant and geometric shape and change.According to time of echo, amplitude and shape information, ice layer thickness and the depth of water can be calculated.
Because ice sheet and water are different communication medias, the parameter not phase such as propagation path in two kinds of materials for the electromagnetic wave and field intensity
With it is necessary to measure the effect that could obtain satisfaction using the radar of different frequency.Existing radar system often can only be single
, it is impossible to the water bodys such as icing river are carried out with the detection of ice sheet and the depth of water simultaneously simultaneously, this is for need for one detection ice sheet or water layer
To measure the large area measurement work of ice layer thickness and the depth of water simultaneously, create very big burden, its measurement process is also not smart
Really.
Content of the invention
In order to overcome problem of the prior art, the present invention proposes a kind of frozen water feelings integrative detection radar system, described
Radar system the radar of two kinds of different look-in frequencies is combined together, formed and can detect the depth of water under ice sheet and ice sheet simultaneously
Integrative Radar system, enormously simplify detection process.
The object of the present invention is achieved like this: a kind of frozen water feelings integrative detection radar system, comprising: very high frequency(VHF) and spy
The combined antenna of high frequency, described combined antenna is connected with very high frequency(VHF) sending and receiving apparatus, superfrequency sending and receiving apparatus, described
Very high frequency(VHF) sending and receiving apparatus and superfrequency sending and receiving apparatus be connected with control device, described control device is passed by data
Defeated device is connected with main frame, and described main frame is connected with satellite positioning device by attachment means.
Further, the operating frequency of described very high frequency(VHF) sending and receiving apparatus is 100mhz, and described superfrequency is launched
The operating frequency of reception device is 1.5ghz.
Further, described combined antenna is a rectangular box, and described rectangular box central authorities arrange one baffle plate, institute
The both sides stating baffle plate are respectively very high frequency(VHF) transmitting terminal and very high frequency(VHF) receiving terminal, and the centre position both sides of described baffle plate are mutually corresponding
Two etuis of setting, respectively superfrequency transmitting terminal and superfrequency receiving terminal.
Further, described data transmission device is the network that agreement is pct or udp；Described attachment means are
Rs232 interface.
Further, described satellite positioning device is the rtk based on gps.
Further, described combined antenna, very high frequency(VHF) sending and receiving apparatus, superfrequency sending and receiving apparatus, satellite fix
Device is arranged in the dolly with four wheels, and described dolly is provided with go-cart support, and described go-cart support is installed master
Machine.
Further, it is provided with following sub-device in described control device and main frame:
Parameter setting sub-device: be used for measuring parameter setting, described measurement parameter includes: include sample frequency, sampling
Points, dielectric constant, detection mode, road spacing；
Data acquisition sub-device: the dolly for driving radar system uniformly moves along survey line on ice sheet, by two differences
The radar of frequency works by turns, gathers ice sheet and bathymetric data, and is believed by satellite positioning device Real-time Collection geographical coordinate
Breath；
Signal Pretreatment sub-device: for the data after collection, using digital equivalent reception technique, multiple repairing weld being obtained one
Group signal is spliced to form a complete cycle signal, the waveform of reproduction original signal broadening in the time domain, is simultaneously introduced plurality of optional
Filtering algorithm filters high-frequency interferencing signal, sends data to main frame after Signal Pretreatment.
Data storage sub-device: the data for gathering radar is associated with geographic coordinate information, and carry out data storage；
Ice sheet depth of water thickness tracing of horizons sub-device: for data edition and gain process, the faint echo that deep layer is returned
Signal is strengthened, and afterwards to ice sheet depth of water thickness tracing of horizons, follows the trail of and includes: choose front one radar data as reference,
And correlation computations are carried out according to specified reflecting layer original position and window correlation time to current road and library track:
Obtain the time offset that current road corresponds to library track measurement layer position reflected signal, thus drawing the reflection of current channel layer position
Signal position on a timeline, application related algorithm is on each track data.The collection that this sub-device is sent up by network interface
Data, is stored according to engineering naming rule, and the real-time geographic coordinate information that satellite positioning device sends, geographical
Coordinate information is associated with radar data and is stored, and provides technical support for follow-up analysis.Due to ice in initial data
The reasons such as layer impurity, landform and artificial maloperation, lead to data can not truly reflect actual frozen water situation, need data is carried out
Reorganize and revise, if signal amplitude changes greatly in addition it is also necessary to be normalized to signal amplitude on survey line section；
Adopt background noise remove function in software, background noise can be removed.
Obtain curve and export sub-device: connected for connecting each channel layer position reflected signal position on a timeline
Continuous ice layer thickness and the real-time curve of water depth result, by the display display output of data processing and display device
Real-time curve.
Further, it is additionally provided with voice broadcast sub-device in described main frame.
Further, it is additionally provided with statement analysiss sub-device in described main frame.
The beneficial effect comprise that: the present invention adopts dual-radio design, quickly and continuously measure below survey line
Ice layer thickness and the depth of water, can quickly, accurately, efficiently measure to the depth of water under ice sheet and ice sheet, described detection thunder
Reach and instead of former manual measurement, not only measurement efficiency greatly improves, and the measured value of institute's measuring point can be obtained in real time, obtain continuous
Measurement result, is supplied to gauger in the way of numerical value and voice, obtains more preferable measurement result and measurement experience, solves water
A difficult problem for the puzzlement winter hydrological observation such as need Manual punching, sampled point few in literary composition observation.
Brief description
The invention will be further described with reference to the accompanying drawings and examples.
Fig. 1 is the principle schematic of acquisition radar system described in embodiments of the invention one；
Fig. 2 is combined antenna structural representation described in embodiments of the invention three；
Fig. 3 is vehicle structure schematic diagram described in embodiments of the invention six.
Specific embodiment
Embodiment one:
The present embodiment is a kind of frozen water feelings integrative detection radar system, as shown in Figure 1.The present embodiment includes: very high frequency(VHF) and spy
The combined antenna of high frequency, described combined antenna is connected with very high frequency(VHF) sending and receiving apparatus, superfrequency sending and receiving apparatus, described
Very high frequency(VHF) sending and receiving apparatus and superfrequency sending and receiving apparatus be connected with control device, described control device is passed by data
Defeated device is connected with main frame, and described main frame is connected with satellite positioning device by attachment means.
When carrying out underground objects detection using radar, there is contradiction in resolution and investigation depth, with the low thunder of operating frequency
Reach investigation depth larger, but resolution is not, can get preferable resolution with the high radar of operating frequency, but investigation depth is again
Undesirable, therefore, the selection of radar operating frequency needs to consider the demand of detection.For this reason, radar system described in the present embodiment
System uses two-frequency operation pattern, i.e. the sending and receiving apparatus of two sets of different frequencies of setting, the mode of very high frequency(VHF) and superfrequency combination,
Center operating frequency can be chosen as 1.5ghz and 100mhz.The operating frequency of superfrequency 1.5ghz is used for river ice layer thickness
Quick detection, the operating frequency of very high frequency(VHF) 100mhz is used for the subglacial stream depth of water and the detection of bed configuration landforms, is obtained with this
Satisfied effect.
Combined antenna is a kind of antenna assembly that can launch simultaneously and receive two kinds of frequency electromagnetic.The shape of combined antenna
Formula can be as traditional pot cover shape, for adapting to the detection to ice sheet and the depth of water, it is possible to use the antenna of other shapes, such as side
Box-like.
Main frame, as man-machine interaction data management platform, realizes collection, storage, display and the pipe of multiple sensors data
Reason.Main frame is the electronic digit equipment with stored digital and operational capability, and main frame can be technical grade notebook computer, receives
Radar uploads data, is processed and shows, shows double antenna radar data simultaneously.Main frame can also be other kinds of general
Computer.
Control device is the control core of dual-frequency radar, produces some crucial clock signals in radar work process,
As launched trigger and receiving trigger.By controlling transmitting trigger and receiving the time step between trigger
Enter, realize equivalent sampling, the shake of timing control signal directly determines the reconstruction quality of radar echo signal, stable when needing
Sequencing contro, estimation time jitter and control measurement error.The core component of control device can adopt fpga, or other types
Process chip.
Radar master control borad is system job control maincenter, produces transmitting trigger, to each radar antenna module, controls thunder
Reach Antenna Operation.Meanwhile, receive the echo-signal of each radar antenna module transfer, carry out data acquisition, gathered data is transmitted
To main frame.Signal interference, orderly collaborative work is not produced, certain is for the moment between sending and receiving apparatus for two different frequencies of guarantee
Quarter, only one of which sending and receiving apparatus were in running order, and another sending and receiving apparatus is in idle condition, to avoid interference.
The present embodiment carries out location positioning using satellite positioning device to the data of collection ice sheet and the depth of water.Satellite fix fills
Putting can be with BEI-DOU position system it is also possible to gps alignment system.
Described data transmission device can be network, if transmission range is nearer, it is possible to use interface circuit.Network can
With using tcp or udp agreement.
Described attachment means can be network can also be interface circuit, such as rs323 etc..
Whole system can be combined, such as make a dolly, conveniently in the wild ice sheet is detected.
Embodiment two:
The present embodiment is the improvement of embodiment one, is the refinement with regard to sending and receiving apparatus for the embodiment one.Described in the present embodiment
The operating frequency of very high frequency(VHF) sending and receiving apparatus is 100mhz, and the operating frequency of described superfrequency sending and receiving apparatus is
1.5ghz.
Main frame receives the radar data of two operating frequencies of control device transmission, needs the data of two frequencies is carried out
Integrated treatment, to form ice thickness depth of water comprehensive survey figure.In radar system, 1500mhz sending and receiving apparatus are used for detecting ice thickness,
The dielectric property of the radar echo delay according to ice sheet and ice can accurately calculate ice thickness.100mhz sending and receiving apparatus are used for visiting
Survey the depth of water, but during electromagnetic wave propagation, first pass around ice sheet, calculate the depth of water for accurate, the echo delay of ice sheet need to be removed.
The present embodiment utilizes 1500mhz sending and receiving apparatus result of detection.Assume that 1500mhz radar detection ice thickness echo delay is,
100mhz radar detection depth of water echo delay is, ice thicknessAnd the depth of waterComputational methods respectively as shown in formula (1) and formula (2)
(1)
(2)
Wherein,Represent the light velocity；WithRepresent the dielectric constant of ice and the dielectric constant of water respectively.
Analysis above-mentioned formula is visible, calculates ice thickness, 1500mhz thunder according to 1500mhz radar detection echo time delay in formula (1)
Reach detection accuracy higher, be obtained in that accurate ice thickness data.By 100mhz radar water and the interfacial echo in riverbed in formula (2)
Time delay deducts the echo time delay of 1500mhz radar ice and water interface, obtains accurate bathymetric data.The ice thickness obtaining and the depth of water
Data is depicted on a figure, just can obtain ice thickness and depth of water synthesis scattergram.
For the feature of ice thickness and depth of water comprehensive survey, the change of ice layer thickness and water depth is continuous, in the time
On show as neighboring track number there is amplitude stability, gradually changeable, the present embodiment adopts relevant layers position tracing algorithm, by point
Continuous tracking and measurement to realize layer position for the dependency of analysis echo.Taking the continuous tracking of ice thickness as a example illustrate:
First according to radar detection ice thickness data, therefrom intercept one section of ice sheet lower surface reflection echo, set ice thickness detection reference
Signal, to freshly harvested dataDo cross correlation process:
(3)
According toMaximum can determine that ice sheet position.In adjacent GPR scan data, same bed boundary
The features such as the time delay of reflected signal, waveform are all close, have preferable dependency, as long as this phase can be gone out quantitative analyses
Closing property just can achieve ice thickness and the real-time tracing measurement of depth of water layer position.Need to specify tracing of horizons before carrying out related tracing of horizons
Parameter, these parameters mainly include following the trail of original position, window correlation time etc..Correlation time, window represented the data of correlation computations
Length.
When carrying out integration test, choose one radar data first as reference, and according to specified reflecting layer start bit
Put, with window correlation time, correlation computations are carried out to current road and library track, obtain current road and correspond to the reflection of library track measurement layer position
The time offset of signal, such that it is able to draw current channel layer position reflected signal position on a timeline, finally connects these
Position can get continuous ice layer thickness and the curve of water depth result.
Embodiment three:
The present embodiment is the improvement of above-described embodiment, is the refinement with regard to combined antenna for the above-described embodiment.Described in the present embodiment
Combined antenna is a rectangular box, and described rectangular box central authorities arrange one baffle plate 1, and the both sides of described baffle plate are respectively very high
Frequency transmitting terminal 2 and very high frequency(VHF) receiving terminal 3, the mutually corresponding position in centre position both sides of described baffle plate arranges two etuis,
It is respectively superfrequency transmitting terminal 4 and superfrequency receiving terminal 5, as shown in Figure 2.
The shape of the combined antenna described in the present embodiment is essentially square box, generally metal manufacture, and middle baffle plate uses
Nonmetallic.The antenna of this form is suitable for the target of Underground.
GPR typically adopts butterfly antenna, and antenna frequencies are lower, and size is bigger.Detect what ice thickness and the depth of water were adopted
High and low frequency antenna, frequency phase-difference is larger, and low-frequency antenna size is much larger than high frequency antenna size.For realizing dual-band antenna to same
Place is detected, and the present embodiment designing antenna structure, as indicated with 2, high frequency 1500mhz antenna is placed in 100mhz antenna
Centre, that is, 100mhz antenna and 1500mhz antenna detect central point and overlap.During radar detection, 100mhz antenna and 1500mhz
Antenna alternation, realizes same observation station is detected.
Example IV:
The present embodiment is the improvement of above-described embodiment, is the refinement with regard to data transmission device and attachment means for the above-described embodiment.
Data transmission device described in the present embodiment is the network that agreement is pct or udp；Described attachment means are rs232 interfaces.
Gathered data sends main frame to by network interface and carries out later stage display and process.Network interface module can adopt 16 data
Bus, speed can reach 50mbps, can dynamically adjust the distribution of internal storage according to communication data throughput.
Embodiment five:
The present embodiment is the improvement of above-described embodiment, is the refinement with regard to satellite positioning device for the above-described embodiment.The present embodiment institute
The satellite positioning device stated is the rtk based on gps.
Traverse measurement on a large scale in ice face lacks reference point, and therefore, the present embodiment can be using high-precision rtk positioning
Mode, the latitude and longitude coordinates information of Real-time Collection radar system, to realize in conjunction with gis system measuring standard in ice face for the track
Determine position.Another purposes of rtk alignment system is to arrange sampling interval by gps changes in coordinates, so can be according to difference
Ice condition measurement need to be configured in systems, the measurement spacing of such as distance ice condition investigation on a large scale can be set to 1m mono- and adopt
Sampling point, the become more meticulous measurement spacing of measurement of short distance can be set to mono- sampled point of 5cm, overcomes traditional measuring wheel can not change survey
The problem of amount spacing.
Embodiment six:
The present embodiment is the improvement of above-described embodiment, is the refinement with regard to whole system for the above-described embodiment.Group described in the present embodiment
Conjunction antenna, very high frequency(VHF) sending and receiving apparatus, superfrequency sending and receiving apparatus, satellite positioning device are arranged on four wheels
In dolly 6, described dolly is provided with go-cart support 7, described go-cart support is installed main frame 8, as shown in Figure 3.
Whole system is integrated into a go-cart by the present embodiment.Whole system consists of the following components, by combined antenna,
Two sets of receiving and transmitting units, satellite positioning devices, and power supply whole (mainly accumulator and charging device) is combined into a casing,
Installing wheel and go-cart support on casing, with facilitate push away (dragging) move.Go-cart support install main frame, by network cable main frame with
In casing, equipment couples together.
Embodiment seven:
The present embodiment is the improvement of above-described embodiment, is the refinement with regard to control device and main frame for the above-described embodiment.The present embodiment
It is provided with following sub-device in described control device and main frame:
Parameter setting sub-device: be used for measuring parameter setting, described measurement parameter includes: include sample frequency, sampling
Points, dielectric constant, detection mode, road spacing.After the upper electricity of radar system start, initialized first, loaded the ice thickness depth of water
Probe software, the ip address of configuration network interface communication and port；Fpga loading procedure from flash automatically on master control borad, and externally
Enclose interface to be configured, network interface is configured to tcp/ip protocol mode, and automatically send communication information carry out the self-inspection of equipment room with
Mutually examine.After the completion of power-up initializing, running parameter is urged to be configured using this sub-device, arrange parameter passes to master using network interface
Control plate, control command includes sample frequency, sampling number, dielectric constant, detection mode, road spacing etc..
Data acquisition sub-device: for driving double-frequency and double-channel radar uniformly to move along survey line on ice sheet, by radar
Collection ice sheet and bathymetric data, and pass through satellite positioning device Real-time Collection geographic coordinate information.It is loaded with the little of radar system
Car, is moved along survey line by manpower or mechanical driven on ice sheet, according to the parameter determination equally spaced transmitting double frequency of setting
Radar pulse signal.Survey line can be in length and breadth co-ordinate-type can also be polar coordinates type.While transmitting, to radar pulse
Echo-signal is received, and radar antenna and master control borad adopt split to design and add time-varying gain to amplify in radar receiver
Device, that is, avoid the interference to master control borad for the analogue echoes signal, dynamically adjusts echo letter also dependent on echo-signal time of return
Number gain, make the echo signal intensity of entrance sample circuit become relatively steady.
Signal Pretreatment sub-device: for the data after collection, using digital equivalent reception technique, multiple repairing weld being obtained
It is spliced to form a complete cycle signal to one group of signal, the waveform of reproduction original signal broadening in the time domain, it is simultaneously introduced multiple
Optional filtering algorithm filters high-frequency interferencing signal, sends data to main frame after Signal Pretreatment.
Data storage sub-device: the data that radar gathers is closed with geographic coordinate information for data processing and display device
Connection, and carry out data storage.The data of the radar collection that this sub-device is sent up by network interface, enters according to engineering naming rule
Row storage, and the real-time geographic coordinate information that satellite positioning device sends, geographic coordinate information is associated with radar data
Get up to be stored, provide technical support for follow-up analysis.Due to ice sheet impurity, landform and artificial maloperation in initial data
Etc. reason, lead to data can not truly reflect actual frozen water situation, need data to be reorganized and revises, if survey line
On section, signal amplitude changes greatly in addition it is also necessary to be normalized to signal amplitude；Gone using background noise in software
Except function, background noise can be removed.Data edition and gain process: because ice-water medium to the absorption of radar wave and is propagated through
Loss in journey, radar echo signal can produce decay, and depth is bigger, and energy attenuation is bigger, and this may result in further object
The interpretation detecting produces difficulty, carries out gain process by setting to echo-signal using corresponding software, and deep layer is returned
Weak echo signal is strengthened.
Ice sheet depth of water thickness tracing of horizons sub-device: for data processing and display device first to data edition and gain
Process, the weak echo signal that deep layer is returned strengthens, afterwards to ice sheet depth of water thickness tracing of horizons, follow the trail of and include: choosing
Take front one radar data as reference, and according to specified reflecting layer original position and window correlation time to current road and reference
Road carries out correlation computations:
Obtain the time offset that current road corresponds to library track measurement layer position reflected signal, thus drawing the reflection of current channel layer position
Signal position on a timeline, application related algorithm is on each track data.
Obtain curve and simultaneously export sub-device: for data processing and display device connect each channel layer position reflected signal when
Position on countershaft obtains continuous ice layer thickness and the real-time curve of water depth result, by data processing and display device
Display display output real-time curve.Image display output: can intuitively provide detection result to operator, due to
Described radar system is directed to ice layer thickness and water depth detection exploitation, and ice-water medium is relatively pure, by double frequency double antenna
The data gathering back carries out fusion treatment, has the characteristic of different dielectric constants further according to two media, carries out in software
Process and directly obtain the coloured image of ice sheet and the depth of water, by interface display out ice sheet and the depth of water visual image it is also possible to
Color range adjustment is carried out by software, shows gray level image, rgb image, the multiple display modes such as pcolor, beneficial in different situations
Lower perspective image data.
Embodiment eight:
The present embodiment is the improvement of embodiment seven, is the refinement with regard to main frame for the embodiment seven.In main frame described in the present embodiment also
It is provided with voice broadcast sub-device.
In order to adapt to the operating feature of ice thickness water-depth measurement, data locking and intelligent sound in the present embodiment, can be added to broadcast
Report achievement can, data locking function shows current geographic coordinate position in display and control terminal, can intuitively tell that operator currently surveys
Amount position, and the combination image of complete survey line geography information and measurement data can be formed in post analysis processing data.Separately
Ice layer thickness and the depth of water that outer radar can be obtained with real-time processing, show current detection on display interface in digital form in real time
The data of point, can also currently detect point data with the mode real-time broadcasting of voice simultaneously, make operator without seeing screen with regard to energy
Know ice layer thickness and the depth of water of current sensing point, be that the field operation of hydrographic survey provides very convenient practical real-time sight
Examine function.
Embodiment nine:
The present embodiment is the improvement of embodiment eight, is the refinement with regard to main frame for the embodiment eight.In main frame described in the present embodiment also
It is provided with statement analysiss sub-device.
The present embodiment is analyzed to the gathered data of every survey line engineering processing, and generates based on time, position and ice thickness
The integration test figure of the depth of water, detects for hydrographic information and reports offer technical support, decrease the workload manually drawn a diagram.
Finally it should be noted that above only in order to technical scheme to be described and unrestricted, although with reference to preferable cloth
Scheme of putting has been described in detail to the present invention, it will be understood by those within the art that, can be to the technology of the present invention
Scheme (selection of such as radar type, each annexation etc.) is modified or equivalent, without deviating from skill of the present invention
The spirit and scope of art scheme.
Claims (9)
1. a kind of frozen water feelings integrative detection radar system is it is characterised in that include: the combined antenna of very high frequency(VHF) and superfrequency,
Described combined antenna is connected with very high frequency(VHF) sending and receiving apparatus, superfrequency sending and receiving apparatus, and described very high frequency(VHF) transmitting connects
Receiving apparatus and superfrequency sending and receiving apparatus are connected with control device, and described control device passes through data transmission device with main frame even
Connect, described main frame is connected with satellite positioning device by attachment means.
2. acquisition radar system according to claim 1 is it is characterised in that the work of described very high frequency(VHF) sending and receiving apparatus
Working frequency is 100mhz, and the operating frequency of described superfrequency sending and receiving apparatus is 1.5ghz.
3. acquisition radar system according to claim 2 is it is characterised in that described combined antenna is a rectangular box,
Described one baffle plate of rectangular box central authorities setting, the both sides of described baffle plate are respectively very high frequency(VHF) transmitting terminal and very high frequency(VHF) receives
End, centre position both sides mutually two etuis of corresponding setting of described baffle plate, respectively superfrequency transmitting terminal and superfrequency
Receiving terminal.
4. acquisition radar system according to claim 3 is it is characterised in that described data transmission device is agreement is
The network of pct or udp；Described attachment means are rs232 interfaces.
5. acquisition radar system according to claim 4 is it is characterised in that described satellite positioning device is based on gps
Rtk.
6. acquisition radar system according to claim 1 is it is characterised in that described combined antenna, very high frequency(VHF) transmitting receive
Device, superfrequency sending and receiving apparatus, satellite positioning device are arranged in the dolly with four wheels, and described dolly is provided with
Go-cart support, described go-cart support is installed main frame.
7. the acquisition radar system according to one of claim 1-6 is it is characterised in that in described control device and main frame
It is provided with following sub-device:
Parameter setting sub-device: be used for measuring parameter setting, described measurement parameter includes: include sample frequency, sampling
Points, dielectric constant, detection mode, road spacing；
Data acquisition sub-device: the dolly for driving radar system uniformly moves along survey line on ice sheet, by two differences
The radar of frequency works by turns, gathers ice sheet and bathymetric data, and is believed by satellite positioning device Real-time Collection geographical coordinate
Breath；
Signal Pretreatment sub-device: for the data after collection, using digital equivalent reception technique, multiple repairing weld being obtained one
Group signal is spliced to form a complete cycle signal, the waveform of reproduction original signal broadening in the time domain, is simultaneously introduced plurality of optional
Filtering algorithm filters high-frequency interferencing signal, sends data to main frame after Signal Pretreatment；
Data storage sub-device: the data for gathering radar is associated with geographic coordinate information, and carry out data storage；
Ice sheet depth of water thickness tracing of horizons sub-device: for data edition and gain process, the faint echo that deep layer is returned
Signal is strengthened, and afterwards to ice sheet depth of water thickness tracing of horizons, follows the trail of and includes: choose front one radar data as reference,
And correlation computations are carried out according to specified reflecting layer original position and window correlation time to current road and library track:
Obtain the time offset that current road corresponds to library track measurement layer position reflected signal, thus drawing the reflection of current channel layer position
Signal position on a timeline, application related algorithm is on each track data；
The gathered data that this sub-device is sent up by network interface, is stored according to engineering naming rule, and satellite fix dress
Put the real-time geographic coordinate information sending, geographic coordinate information is associated with radar data and stored, for follow-up
Analysis provides technical support；
Due to reasons such as ice sheet impurity, landform and artificial maloperations in initial data, data is led to can not truly to reflect actual ice
Regimen condition, needs data to be reorganized and revises, if signal amplitude changes greatly in addition it is also necessary to letter on survey line section
Number amplitude is normalized；Adopt background noise remove function in software, background noise can be removed；
Obtain curve and export sub-device: obtain continuously for connecting each channel layer position reflected signal position on a timeline
Ice layer thickness and the real-time curve of water depth result, real-time by the display display output of data processing and display device
Curve.
8. acquisition radar system according to claim 7 is it is characterised in that be additionally provided with voice broadcast in described main frame
Device.
9. acquisition radar system according to claim 8 is it is characterised in that be additionally provided with statement analysiss in described main frame
Device.
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