CN106814349A - The system and modification method of a kind of high accuracy amendment surveillance radar measurement error - Google Patents
The system and modification method of a kind of high accuracy amendment surveillance radar measurement error Download PDFInfo
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- CN106814349A CN106814349A CN201611009509.8A CN201611009509A CN106814349A CN 106814349 A CN106814349 A CN 106814349A CN 201611009509 A CN201611009509 A CN 201611009509A CN 106814349 A CN106814349 A CN 106814349A
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- 238000005259 measurement Methods 0.000 title claims abstract description 17
- 238000002715 modification method Methods 0.000 title claims description 7
- 238000012544 monitoring process Methods 0.000 claims abstract description 16
- 238000012937 correction Methods 0.000 claims abstract description 8
- 230000006855 networking Effects 0.000 claims description 2
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- 230000015572 biosynthetic process Effects 0.000 claims 1
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Classifications
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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
- G01S7/40—Means for monitoring or calibrating
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- Computer Networks & Wireless Communication (AREA)
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- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
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- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present invention relates to correct radar measurement errors technical field, a kind of system of high accuracy amendment surveillance radar measurement error, including server, radar, policer operation terminal, intelligent terminal are specifically disclosed；Server is based on internet and is provided with disclosed coordinate forwarding module；Policer operation terminal realizes information exchange with radar；Policer operation terminal is superimposed numerical map；Intelligent terminal possesses coordinate and obtains and reporting module, and by mobile base station, by present position point coordinates information reporting to server, server is forwarded to policer operation terminal by the location point coordinate information that internet will be received.By coordinating, target does purely radial movement and pure tangential movement is respectively used to angle correction and range error.It is an advantage of the invention that carrying intelligent terminal by mobile vehicle, you can normalize earth coordinates and radar fix system, realize that high accuracy positioning of the Targets Dots on actual map shows, the monitoring information for exporting radar terminal is refined.
Description
Technical field
Method and technology field the present invention relates to correct radar measurement errors, particularly relates to a kind of high accuracy amendment monitoring thunder
Up to the system and modification method of measurement error.
Background technology
The object information of radar detection typically pays close attention to the distance and bearing of target including distance, angle, speed etc.,
It is accurately positioned.So, the acquisition of azimuth-range information is the major function of surveillance radar.
Based on Principles of Radar, there is certain systematic error in distance, the angle information of the point for being detected；Additionally, thunder
The alignment error that mechanical zero is formed with the drift angle of due north when Da Bu stands, can produce considerable influence to radar measurement accuracy.
Especially, after radar terminal superposition map, it is embodied on radar terminal interface, the positional information of impact point and actual geodetic coordinates
There is certain expression error in the positional information where the lower target of system.Judgement of this error to operator will produce material impact,
So it is necessary accurately to be corrected this error.So, it is necessary to by 0 ° of the orientation of radar and positive northing after general radar sets up
Row normalization is set, and radar detection range-to-go information is modified, it is possible to reduce the measurement error of radar.Pass
System way is to correct the initial zero position of orientation code-disc, and is correcting a certain amount of apart from upper, and radar measurement accuracy is improved to reach
Purpose.
How with the geographical accurate normalizing of due north to be to improve radar measurement accuracy to first have to solve by 0 ° of radar bearing code-disc
Problem.Gps coordinate at typically first recording station heart position, then looks for a reference with obvious geographical feature with gun sight
Thing is aimed at, and needs to record two groups of data after aiming：
1) angle value of now radar bearing code-disc is recorded, and is designated as θ1；
2) record aims at the gps coordinate of object of reference.
According to small software shown in Fig. 1, calculate this reference point and the line of the radar station heart azimuth information (i.e. this line with
Angle between due north), and this azimuth is denoted as θ2.Calculate △ θ=(θ2—θ1) value, you can obtain required angle
Amendment numerical value.
By coordinating movement of the target around above-mentioned reference point, it is ensured that coordinate target to be fully exposed to radar coverage
Interior, radar can find target and quote it away from the radar station heart apart from d1, using gps coordinate and thunder war the station heart of reference point
Gps coordinate, the small software with reference to shown in Fig. 1 calculates its actual distance value d away from radar2, calculate △ d=(d2—d1), you can obtain
Required distance correction numerical value.In theory, the sample number that this process is chosen is more, and the angle and range correction of calculating are more smart
Really, the general reference point for having obvious geographical feature at three of choosing is referred in practical operation.
The above method can accurately correct radar bearing angle and range error in theory, but there is following weak point：
1) it is easy to introduce operating error, correction slightly difference with the difference of operating personnel.
2) operating process is cumbersome.Due to take aim at mirror, it is necessary to ensure radar antenna normal direction and school in antenna normal plane internal frame dress school
The absolute coincidence of mirror sighted direction is taken aim at, the optical axis for making the normal direction electric axis of radar antenna take aim at system with light school definitely overlaps, realized
Optical axis and the accurate transformation of electric axis, just can guarantee that certainty of measurement；
3) operating environment there are certain requirements.Such as under high and cold, high wind adverse weather environment, operating personnel may be due to
Self reason is unable to reach the purpose of accurate calibration；
In sum, in the surveillance radar field that fast reserve is deployed troops on garrison duty there is many use defects in the conventional method, it is difficult to
Fast reserve is adapted to deploy troops on garrison duty demand.
The content of the invention
The present invention is intended to provide the system and modification method of a kind of high accuracy amendment surveillance radar measurement error, for radar
After monitor terminal superposition numerical map, the impact point for finding radar truly emerges the number that terminal interface is operated in radar monitoring
On word map, Targets Dots being accurately positioned on numerical map is reached, for accurately instructing monitoring personnel to overall situation
Carry out effective control.
To achieve these goals, present invention employs following technical scheme：A kind of high accuracy amendment surveillance radar is surveyed
The system for measuring error, including a server, radar, policer operation terminal, intelligent terminal；
The server is based on internet and is provided with disclosed coordinate forwarding module；
The policer operation terminal realizes information exchange with radar；
The policer operation terminal is superimposed numerical map；
The intelligent terminal possesses coordinate and obtains and reporting module, coordinates target to carry intelligent terminal in use, and intelligence is eventually
End passes through mobile base station by present position point coordinates information reporting to server, the position that server will be received by internet again
Put point coordinates information and be forwarded to policer operation terminal.
A kind of modification method based on said system, comprises the steps of：
S1：Ensure that policer operation terminal, server, intelligent terminal are in networking state；
S2：Coordinate target to carry intelligent terminal to be moved in radar scanning region, can show in policer operation terminal
Show two kinds of coordinate informations of form for coordinating target, it is a kind of to coordinate coordinate position of the target under radar fix system, it is another
To coordinate coordinate position of the target under earth coordinates；
S3：Purely radial movement is done by coordinating target, the radar asorbing paint point mark and cooperation mesh for coordinating target is observed and record
Drift angle between target GPS point mark, for angle correction error；There is mistake only on radial distance in the delay that GPS point mark sends
Difference, thus can accurately correct 0 ° and the angular error between earth coordinates due north of radar fix system；
S4：Pure tangential motion is done by coordinating target, two sections are formed with radar on radar monitoring operation terminal interface
Gps coordinate point in position is the circular arc in the center of circle, two sections of range differences of circular arc is observed and record, for corrected range error；GPS
There is front and rear error in the delay that point mark sends, the amendment of distance by radar precision is not influenceed only in angle.
The beneficial effects of the present invention are：The measurement error of radar system is accurately corrected by intelligent terminal, it is ensured that
Radar finds that the positional information of point mark and the geographical location information of reality preferably coincide；
Time needed for highly shortened Method in Positioning of Radar, amendment, for radar system quick response provides prerequisite；
Makeover process is easy to operate, to environment without particular/special requirement, significantly reduces the labour intensity of operating personnel；
In evading manual operation, the various uncertain error of introducing；
The method has very strong advance in existing radar accuracy modification method, and implementation method is simple, it is easy to
Operation, possesses the market effect of spread.
Brief description of the drawings
Technical scheme in order to illustrate more clearly the embodiments of the present invention, embodiment will be described below needed for be used
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only the present invention in order to illustrate more clearly of this hair
Bright embodiment or technical scheme of the prior art, below by the accompanying drawing to be used needed for embodiment or description of the prior art
It is briefly described, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
These accompanying drawings obtain other accompanying drawings.
Fig. 1 is Coordinate Conversion tools interfaces schematic diagram；
Fig. 2 is that coordinate of the invention forwards principle schematic；
Fig. 3 is that impact point has two kinds of coordinate schematic diagrames of form；
Fig. 4 is the actual radar monitoring operation terminal display interface for not correcting radar measurement errors；
Fig. 5 is the actual radar monitoring operation terminal display interface after correction angle angle value；
Fig. 6 is the actual radar monitoring operation terminal display interface after corrected range value.
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 is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
A kind of system of high accuracy amendment surveillance radar measurement error as shown in Figure 2, including a server, radar, prison
Control operation terminal, intelligent terminal；The server is based on internet and is provided with disclosed coordinate forwarding module；The monitoring behaviour
Make terminal and realize information exchange with radar；The policer operation terminal is superimposed numerical map；The intelligent terminal possesses coordinate and obtains
Take and reporting module, coordinate target to carry intelligent terminal in use, intelligent terminal passes through mobile base station by present position point coordinates
To server, the location point coordinate information that server will be received by internet again is forwarded to policer operation end to information reporting
End.
The intelligent terminal for possessing coordinate acquisition and reporting module is carried by personnel or other mobile vehicles, by mobile base
Stand and internet, you can earth coordinates and radar fix system are normalized, realizes that Targets Dots are high-precision on actual map
Degree locating and displaying, the monitoring information for exporting radar terminal is refined.
1) position point coordinates forwarding principle
As shown in Fig. 2 install disclosed coordinate forwarding service routine on server, possess coordinate and obtain and reporting module
The mobile base station that intelligent terminal is provided by operator, server is reported by the gps coordinate of present position, and server believes this
Breath is transmitted to the policer operation terminal of access network, can thus realize the gps coordinate of intelligent terminal in policer operation terminal
On display.
2) operation principle of adjustment in accuracy
As shown in figure 3, A points are radar station heart position, B points are upper to coordinate target to appear in policer operation terminal interface
Put, C points are position point coordinates of the cooperation target be given by coordinate forwarding module under earth coordinates, can be seen in figure
Go out, coordinate target to there are 2 positions on radar monitoring operation terminal interface, relative to radar fix system, the distance of impact point
It is d1, angle is α；Relative to earth coordinates, the distance of impact point is d2, angle is β.
The target for correcting radar measurement errors is by radar fix system and earth coordinates normalization (i.e. 0 ° of the code-disc of radar
Overlapped with geographical due north), overlapped with the earth coordinates of reality by revised radar fix system, ensure that and detected
The position that point mark occurs with impact point in practice preferably coincide, i.e., the B points and C points in figure overlap.
3) method for improving amendment precision
For the target in traveling, radar detection is simultaneously displayed on radar monitoring operation terminal interface with real-time, and
GPS forwarding service routines are limited by the influence of the factors such as network communication quality, system delay can not be shown in real time, repairing timing
May there are lag issues, so as to produce round-off error.
Counter-measure for this problem includes at following 2 points：
A) target is coordinated to do purely radial movement：Point mark and the drift angle of GPS point mark that radar detection is arrived are observed and recorded, is used for
Only there is error in angle correction error, the delay that GPS point mark sends, thus can accurately correct 0 ° of radar on radial distance
Angular error between due north；
B) target is coordinated to do pure tangential motion：Two sections with the heart as the circle in the center of circle of standing are formed in radar monitoring operation terminal interface
Arc, observes and records two sections of range differences of circular arc, the range error for correcting radar, and the delay that GPS point mark sends is only at angle
Error before and after existing on degree, the amendment of distance by radar precision is not influenceed.
4) step is specifically corrected
As shown in figure 4, the hand-held intelligent terminal for being provided with coordinate acquisition and reporting module, on the obvious road surface of geographical feature
On move, at the same time, on radar monitoring operation terminal interface (superposition numerical map after) two kinds of impact points occur,
A kind of is the position of impact point in radar fix system, and a kind of is the position of impact point under gps coordinate system, and both are in angle and distance
On there is error.
Angle information of the target under radar fix system is obtained with mouse, while existing with the gps coordinate that mouse obtains target
Angle information on numerical map, a) method in first 3) being saved by the carries out the amendment of angle, you can by 0 ° of radar fix system
Unified with geographical due north, as shown in figure 5, now the angle difference of two kinds of coordinate systems is corrected.
Range information of the target under radar fix system is obtained with mouse, while existing with the gps coordinate that mouse obtains target
Range information on numerical map, the b in 3) being saved according to the) method enters the amendment of row distance, you can by the range error of radar
It is modified, as shown in Figure 6.So far, conversion of the impact point from radar fix system to earth coordinates is completed.
Presently preferred embodiments of the present invention is the foregoing is only, is not intended to limit the invention, it is all in essence of the invention
Within god and principle, any modification, equivalent substitution and improvements made etc. should be included within the scope of the present invention.
Claims (2)
1. a kind of system of high accuracy amendment surveillance radar measurement error, it is characterised in that：Including a server, radar, monitoring
Operation terminal, intelligent terminal；
The server is based on internet and is provided with disclosed coordinate forwarding module；
The policer operation terminal realizes information exchange with radar；
The policer operation terminal is superimposed numerical map；
The intelligent terminal possesses coordinate and obtains and reporting module, coordinates target to carry intelligent terminal in use, and intelligent terminal leads to
Mobile base station is crossed by present position point coordinates information reporting to server, the location point that server will be received by internet again
Coordinate information is forwarded to policer operation terminal.
2. a kind of modification method based on system described in claim 1, it is characterised in that：Comprise the steps of：
S1：Ensure that policer operation terminal, server, intelligent terminal are in networking state；
S2：Coordinate target to carry intelligent terminal to be moved in radar scanning region, can be shown in policer operation terminal and matched somebody with somebody
Close two kinds of coordinate informations of form of target, it is a kind of to coordinate coordinate position of the target under radar fix system, another kind be with
Close coordinate position of the target under earth coordinates；
S3：Purely radial movement is done by coordinating target, the radar asorbing paint point mark and cooperation target for coordinating target is observed and record
Drift angle between GPS point mark, for angle correction error；
S4：Pure tangential motion is done by coordinating target, two sections of formation is in place with radar on radar monitoring operation terminal interface
The gps coordinate point put is the circular arc in the center of circle, and it is poor to observe and record the distance between two sections of circular arcs, for corrected range error.
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Cited By (6)
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| CN109507662A (en) * | 2018-12-25 | 2019-03-22 | 无锡格跃科技有限公司 | A kind of radar bearing measurement method of low-cost and high-precision |
| CN110069584A (en) * | 2017-11-29 | 2019-07-30 | 星际空间（天津）科技发展有限公司 | A method of information collection and characteristic matching based on mobile terminal |
| CN110208782A (en) * | 2019-04-01 | 2019-09-06 | 西安电子科技大学 | A kind of radar fix method, apparatus, system, computer equipment and storage medium |
| CN111044982A (en) * | 2019-12-23 | 2020-04-21 | 珠海纳睿达科技有限公司 | Radar azimuth positioning method |
| CN111551907A (en) * | 2020-05-12 | 2020-08-18 | 浙江大华技术股份有限公司 | Defense area planning processing method and device |
| CN112083387A (en) * | 2020-09-02 | 2020-12-15 | 南京慧尔视智能科技有限公司 | Radar calibration method and device |
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| CN112083387A (en) * | 2020-09-02 | 2020-12-15 | 南京慧尔视智能科技有限公司 | Radar calibration method and device |
| CN112083387B (en) * | 2020-09-02 | 2022-03-18 | 南京慧尔视智能科技有限公司 | Radar calibration method and device |
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Effective date of registration: 20180613 Address after: 710000 Xi'an, Shaanxi, China's national civil aerospace industrial base two Industrial Road 299, 8, 5 floors. Applicant after: Xi'an atlas Navigation Technology Co., Ltd. Address before: 710000 No. 1, science and technology road, Yanta District, Xi'an, Shaanxi, 1 Applicant before: Lv Kaigui |
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Application publication date: 20170609 |