CN106950549B - A kind of Radar Calibration method and system based on less radio-frequency relay transmission technology - Google Patents
A kind of Radar Calibration method and system based on less radio-frequency relay transmission technology Download PDFInfo
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Abstract
A kind of Radar Calibration method based on less radio-frequency relay transmission technology, comprising the following steps: the less radio-frequency relay transmission Radar Calibration system including radar and measured target is provided；Radar sends detectable signal；Radio frequency relay transmission process task load receives detectable signal and is forwarded to measured target；Measured target receives the detectable signal of Radio frequency relay transmission process task load forwarding and carries out signal feedback；Radio frequency relay transmission process task load receives feedback signal and feedback signal is forwarded to radar；Radar receives feedback signal, obtains the measurement position information of measured target；The true value position for measuring measured target, obtains true value location information；The measurement position information of measured target and true value location information are subjected to difference processing, obtain control information；Calibration process is carried out to radar with control information, completes calibration process.The invention has the following advantages: signal source can be placed on ground, convenient for parameters such as delay, the Doppler frequency shifts of control signal.
Description
Technical Field
The invention belongs to the field of radar calibration, and particularly relates to a radar calibration system and method based on a wireless radio frequency relay transmission technology.
Background
The radar calibration refers to a process of comparing data of a target measurement value obtained by radar detection with a target position true value and calculating a distance and angle measurement error. The error can be used to further calibrate the detection data of the radar. Radar calibration is an important measure for ensuring the detection precision of the radar.
Radar calibration can be divided into static calibration and dynamic calibration according to whether a target to be measured (generally a cooperative target) moves during calibration. Static calibration mainly verifies the self system error condition of the radar; the dynamic calibration is mainly used for checking the dynamic track tracking performance of the radar.
The common static calibration method mainly comprises a calibration tower calibration method and a mechanical calibration frame calibration method, generally, a corner reflector (reflection signals are enhanced by increasing the reflection area of a radar) or a response signal source with a frequency storage delay forwarding function is installed at the top of the calibration tower/mechanical calibration frame, the radar obtains the measured value of a target of the corner reflector/signal source by detecting the corner reflector/signal source, and then the measured value is compared with the position true value of the target of the reflector/signal source to analyze the detection error of the radar. As an active calibration method, different delays can be set in a response signal source mode to simulate targets with different distance sections, and Doppler frequency shift can be added to the simulated targets to generate simulated motion speed, so that the radar can be calibrated in a 'moving target tracking' working mode. Compared with a corner reflector mode, the signal source response method has many advantages, can verify partial dynamic tracking performance, and is more and more widely applied to radar calibration.
The working environment of the calibration tower calibration method and the mechanical calibration frame calibration method has strict requirements on surrounding ground objects. Wherein, the construction of the calibration tower has the defects of fixed position, high construction cost, limited height and the like; although the mechanical calibration frame can be designed into a form of a movable calibration vehicle, the mechanical calibration frame still has the defects of high cost, increasingly limited height and the like.
The dynamic calibration method mainly comprises a military aircraft calibration method, a balloon calibration method, an airship calibration method, a civil aviation aircraft broadcast type automatic dependent surveillance system (ADS-B) calibration method and a civil ship Automatic Identification System (AIS) calibration method. The military aircraft calibration method comprises the steps of obtaining a true position value of the military aircraft by additionally arranging a high-precision GPS on the military aircraft, and then comparing the true position value with a measurement value of the military aircraft by a radar to calculate a calibration error. The military aircraft calibration method is influenced by factors such as military force regulation, airspace control, weather and the like, and has the defects of complicated application program, more test limitation, difficult airway adjustment, long period, high cost and the like; the balloon calibration method is similar to the airship calibration method, the balloon or airship is required to be applied to an air traffic control department when being lifted off, and the method has the defects of poor maneuvering performance, easiness in being influenced by wind, incapability of planning a route, complex recovery and the like; the civil aircraft calibration method needs to answer to receive an automatic dependent surveillance system broadcast (ADS-B) of the civil aircraft, the broadcast message contains the position information and the attitude information of the aircraft, and the broadcast message can be compared with target information detected by a radar to complete calibration, so that the method is a convenient and economical calibration method, but the civil aircraft has poor data precision and stability, cannot carry out high-precision calibration, and is restricted by the air route of the civil aircraft; the civil ship calibration method is similar to the aircraft calibration method, and the calibration is completed by utilizing target position information provided by a civil non-cooperative target and data measured by a radar to carry out comparative analysis. In the civil ship calibration method, the position information of the ship is obtained by receiving the broadcast of the Automatic Identification System (AIS) of the civil ship, but the method also has the defects of poor precision, instability, incapability of calibrating the elevation angle of the radar and the like. In summary, the above calibration methods have disadvantages.
Disclosure of Invention
The invention provides a radar calibration system and a method based on a wireless radio frequency relay transmission technology, and the radar calibration system realizes calibration by relaying radar electromagnetic wave signals and measured target feedback signals.
The specific technical scheme is as follows:
a radar calibration method based on a wireless radio frequency relay transmission technology comprises the following steps:
s100: providing a wireless radio frequency relay transmission radar calibration system comprising a radar and a measured target, wherein the system further comprises a radio frequency relay transmission processing task load, and the radio frequency relay transmission processing task load is positioned on a liftable carrying platform and used for realizing wireless signal forwarding between the radar and the measured target;
s200: the radar transmits a detection signal to the radio frequency relay transmission processing task load;
s300: the radio frequency relay transmission processing task load receives the detection signal and forwards the detection signal to a target to be detected;
s400: the target to be tested receives the detection signal forwarded by the radio frequency relay transmission processing task load, performs signal feedback on the forwarded detection signal, and sends a feedback signal to the radio frequency relay transmission processing task load;
s500: the radio frequency relay transmission processing task load receives the feedback signal and forwards the feedback signal to the radar;
s600: the radar receives the feedback signal to obtain the measurement position information of the measured target;
s700: measuring the true value position of the measured target to obtain true value position information;
s800: carrying out difference processing on the measurement position information and the true position information of the measured target to obtain error information;
s900: and (5) calibrating the radar by using the error information to finish the calibration process.
Further, the step S300 further includes a signal processing process, where after receiving the detection signal, the relay transmission processing task load amplifies the detection signal and forwards the detection signal to the target to be detected.
Further, the step S400 further includes a signal processing process for the feedback signal, and the feedback signal is subjected to signal delay processing and/or doppler shift processing and then is sent to the relay transmission processing task load.
Further, the step S500 further includes a signal processing process, where after the relay transmission processing task load receives the initial feedback signal, the initial feedback signal is amplified and forwarded to the radar.
Further, the method for obtaining the true position information in step S700 is:
s701: respectively measuring the position data (J) of the radar, the target to be measured and the RF relay transmission task loadn,Wn,Hn) And n is 1,2,3,4, and J, W, H represents the radar position data (J) in the true position coordinates, respectively, including longitude, latitude, and elevation3,W3,H3) And measured target position data (J)1,W1,H1) And radio frequency relay transmitting task load position data (J)2,W2,H2) And position data (J) of the differential base station4,W4,H4)；
S702: respectively carrying out differential processing on the true value position information of the radar, the measured target and the radio frequency relay transmission task load and the true value position data of the differential base station to respectively obtain coordinate values (delta J) of the radar, the measured target and the radio frequency relay transmission task load3,ΔW3,ΔH3)、(ΔJ1,ΔW1,ΔH1) And (Δ J)2,ΔW2,ΔH2)；
S703: obtaining the load of the radio frequency relay transmission task and the coordinate value (delta J) of the measured target through pairing1,ΔW1,ΔH1) And (Δ J)2,ΔW2,ΔH2) Calculating to obtain the distance L between the load of the radio frequency relay transmission task and the target to be measured;
s704: calculating truth position information (R) of RF relay transmission task load0，A0，E0) Wherein R is0For the distance of the mission load in the radar coordinate system, A0For the orientation of the mission load in the radar coordinate system, E0Elevation angle of the task load in a radar coordinate system;
s705: calculating the measured objectTrue position information of targetWherein,
further, the method for obtaining the distance L between the radio frequency relay transmission task load and the target to be measured in step S703 includes:
(1) respectively calculating the coordinates (X) of the measured target and the load of the radio frequency relay transmission task in the geocentric rectangular coordinate system1,Y1,Z1) And (X)2,Y2,Z2)，
Wherein e is the first eccentricity of the earth, and N is the curvature radius of the position of the target, and the specific calculation method is as follows:
wherein, a is the earth's major semi-axis, and b is the minor semi-axis.
Wherein e is the first eccentricity of the earth, and N is the curvature radius of the position of the target, and the specific calculation method is as follows:
wherein, a is the earth's major semi-axis, and b is the minor semi-axis.
(2) Calculating the distance L between the load of the radio frequency relay transmission task and the measured target:
wherein (X)1,Y1,Z1) And (X)2,Y2,Z2) And respectively transmitting coordinates of the task load of the measured target and the radio frequency relay in the geocentric rectangular coordinate system.
Further, in step S704, true position information (R) of the rf relay transmission task load is obtained0，A0，E0) The method comprises the following steps:
wherein x, y and z are specifically
x＝(cosΔW3sinΔW2-sinΔW3cosΔW2cos(ΔJ2-ΔJ3))·(N2+ΔH2)+e·cosΔW3·(N1sinΔW3-N2sinΔW2)
y＝cosΔW2·(N2+ΔH2)·sin(ΔJ2-ΔJ3)
z＝(cosΔW3cosΔW2cos(ΔJ2-ΔJ3)+sinΔW3sinΔW2)·(N2+ΔH2)+e·sinΔW3·(N1sinΔW3-N2sinΔW2)-(N1+ΔH3)
Wherein e is the first eccentricity of the earth, and N is the curvature radius of the position of the target, and the specific calculation method is as follows:
a radar calibration method based on a wireless radio frequency relay transmission technology comprises the following steps:
s100: providing a wireless radio frequency relay transmission radar calibration system comprising a radar and a measured target, wherein the system further comprises a radio frequency relay transmission processing task load, and the radio frequency relay transmission processing task load is positioned on a liftable carrying platform and used for realizing wireless signal forwarding between the radar and the measured target;
s200: at the initial moment, the radar sends a detection signal to a relay transmission processing task load;
s300: the relay transmission processing task load receives the detection signal and forwards the detection signal to a detected target;
s400: the target to be tested receives the detection signal forwarded by the relay transmission processing task load, performs signal feedback on the forwarded detection signal, and sends a feedback signal to the relay transmission processing task load;
s500: the relay transmission processing task load receives the feedback signal and forwards the feedback signal to the radar;
s600: the radar receives the feedback signal to obtain the measurement position information of the measured target;
s700: measuring the true value position of the measured target to obtain true value position information;
s800, circularly operating the steps S100-S700 at intervals of time delta t to obtain the measurement position information and the true value position information at each moment;
s900: performing difference processing on the measured position information and the true position information of the measured target at each moment to obtain error information at each moment;
s1000: and calculating the root mean square or the error mean value of the error information at each moment to finish the calibration process.
Further, step S900 further includes: the true position information at each time instant is time-aligned with the measured position information prior to the difference processing.
A radar calibration system based on a wireless radio frequency relay transmission technology comprises a radar, a target to be measured, a radio frequency relay transmission processing task load and a true value measuring device;
the radar is an object to be calibrated and can realize wireless signal transmission with the load of the radio frequency relay transmission processing task;
the target to be detected is an object to be detected by the radar, a detection signal can be fed back, wireless signal transmission is realized between the target and a radio frequency relay transmission processing task load, and the target to be detected is positioned on the ground or on the water surface;
the radio frequency relay transmission processing task load is a wireless relay transmission device and is used for realizing wireless signal forwarding between a radar and a target to be detected and realizing relay transmission of signals, the radio frequency relay transmission processing task load is positioned on a liftable carrying platform, and the liftable carrying platform is a fixed platform or a movable platform;
the truth value measuring equipment is used for measuring the position truth value of the target to be measured, the radar and the radio frequency relay transmission processing task load.
Further, the true value measuring devices are satellite positioning devices, the number of the satellite positioning devices is four, one of the satellite positioning devices is used as a differential base station, and the other three are respectively used for measuring the position true values of the measured target, the radar and the radio frequency relay transmission processing task load.
Further, the radio frequency relay transmission processing task load includes a radio frequency signal transceiving processing component, a first antenna, and a second antenna, and the polarization directions of the first antenna and the second antenna are orthogonal or opposite.
Further, the true value measuring devices are satellite positioning devices, the number of the satellite positioning devices is four, one of the satellite positioning devices is used as a differential base station, and the other three are respectively used for measuring the position true values of the measured target, the radar and the radio frequency relay transmission processing task load.
Further, the radio frequency relay transmission processing task load includes a radio frequency signal transceiving processing component, a first antenna, and a second antenna, and the polarization directions of the first antenna and the second antenna are orthogonal or opposite.
Furthermore, the detected target is a response signal source with a frequency storage delay forwarding function.
Further, the carrying platform capable of being lifted comprises a calibration tower, a mechanical calibration frame, a balloon, an airplane, an airship and an unmanned aerial vehicle.
Furthermore, the response signal source with the frequency storage delay forwarding function comprises a signal delay setting device and a doppler shift setting device.
The invention has the following beneficial effects:
(1) the signal source can be placed on the ground, so that the parameters of signal delay, Doppler frequency shift and the like can be controlled conveniently;
(2) compared with a signal source, the relay load has the characteristics of simplicity, economy, small size, light weight and the like, the carrying performance requirement on the lifting/levitation platform is greatly reduced, and a foundation is provided for radar calibration by using the novel lifting/levitation platform. For example, utilize many rotor unmanned aerial vehicle of low cost to carry relay task load and carry out the radar and mark, unmanned aerial vehicle hover fixed position can realize static demarcation, and unmanned aerial vehicle also can carry out radar developments according to planning the circuit motion and mark.
Drawings
Fig. 1 is a flowchart of a radar calibration method based on a radio frequency relay transmission technology in embodiment 2 of the present invention;
fig. 2 is a flowchart of a radar calibration method based on a radio frequency relay transmission technology in embodiment 3 of the present invention;
FIG. 3 is a flowchart of data processing in embodiment 2 of the present invention;
fig. 4 is a first structural diagram of a radar calibration system based on a radio frequency relay transmission technology in embodiment 1 of the present invention;
fig. 5 is a second structural diagram of a radar calibration system based on a radio frequency relay transmission technology in embodiment 1 of the present invention;
fig. 6 shows a response signal source with a frequency storage delay forwarding function in embodiment 1 of the present invention.
Reference is made to the accompanying drawings in which:
1. a radar; 2. a target to be measured; 3. the radio frequency relay transmits task load; 4. a first true value measurement device;
5. a second true value measurement device; 6. a third true value measurement device; 7. a fourth true value measurement device;
31. a radio frequency signal transceiving component; 32. a first antenna; 33. a second antenna;
21. a response signal source; 22. a signal transceiver; 23. a delay setting device; 24. doppler shift setting means.
Detailed Description
The technical solution of the present invention is described in detail below with reference to the accompanying drawings and embodiments. It is to be understood that the components shown in the figures are schematic and not limiting, and that the features are not drawn to scale.
Example 1
As shown in fig. 4, the present invention provides a radar calibration system based on a radio frequency relay transmission technology, which includes a radar 1, a target to be measured 2, a radio frequency relay transmission task load 3, and a true value measurement device, where the radio frequency relay transmission task load 3 includes a radio frequency signal transceiver module 31, a first antenna 32, and a second antenna 33.
The radar 1 is an object to be calibrated and can realize wireless signal transmission with the radio frequency relay transmission processing task load 3. The radar 1 can be various types of radars, for example, according to the frequency band of the radar, the radar 1 includes a microwave radar, a laser radar, a millimeter wave radar, and the like; according to the parameter types of the radar, the radar 1 comprises a height measuring radar, a two-coordinate radar, a three-coordinate radar, a multi-station radar and the like; from the working carrier of the radar, the radar 1 comprises a ground fixed radar, a vehicle-mounted radar, a ship-mounted radar, an airborne radar and the like. In the present embodiment, the radar shown in fig. 4 is a ground fixed type microwave radar, and the wireless signal transmission is wireless transmission of microwave signals.
The target 2 to be detected is an object to be detected by the radar 1 and can be transmitted with the radio frequency relay to process a taskAnd wireless signal reflection is realized between the loads 3, and the measured target 2 is positioned on the ground. The measured target 2 is a response signal source with a frequency storage delay forwarding function. The response signal source with the frequency storage delay forwarding function processes the received signal, for example, different delay simulations are set to generate targets with different distance segments, or Doppler frequency shift is added to the simulated target to generate a simulated movement speed, so that the radar can also be calibrated in a 'moving target tracking' working mode. In this embodiment, the target 2 to be measured has a frequency storage delay forwarding function, and the specific structure is as shown in fig. 6, and includes a response signal source 21, a signal transceiver 22, a delay setting device 23, and a doppler shift setting device 24. The response signal source 21 is an electronic device capable of automatically responding to a wireless inquiry signal when receiving the wireless inquiry signal, and the signal transceiver 22 is a device for receiving and transmitting a wireless signal. The delay setting device 22 can set the signal delay t0The answering signal source 1 is delayed for a time t after receiving the signal0And then sending a feedback signal to realize the function of simulating targets at different distance sections. The doppler shift setting device 24 can set the doppler shift variable to realize the function of simulating the measured object moving at different speeds.
The radio frequency relay transmission processing task load 3 is a wireless relay transmission device and is used for realizing wireless signal relay transmission between the radar 1 and the target 2 to be detected, and the radio frequency relay transmission processing task load 3 is positioned on a carrying platform capable of being lifted. The lift-able carrying platform comprises static lift-able equipment and dynamic lift-able equipment, the static lift-able equipment comprises a calibration tower and a mechanical calibration frame, the dynamic lift-able equipment comprises a balloon, an airplane, an airship and an unmanned aerial vehicle, and in the embodiment, the lift-able carrying platform selects the low-cost rotor unmanned aerial vehicle. The radio frequency relay transmission processing task load 3 includes a radio frequency signal transceiving processing component 31, a first antenna 32, and a second antenna 33, if the first antenna 32 and the second antenna 33 are linearly polarized antennas, the polarization directions of the first antenna 32 and the second antenna 33 are orthogonal, and if the first antenna 32 and the second antenna 33 are elliptically polarized antennas, the polarization directions of the first antenna 32 and the second antenna 33 are opposite.
The truth value measuring equipment is used for measuring the position truth value of the target to be measured, the radar and the radio frequency relay transmission processing task load. In this embodiment, the true value measuring devices are satellite positioning devices, and as shown in fig. 4, the number of the true value measuring devices is four, and the true value measuring devices are a first true value measuring device 4, a second true value measuring device 5, a third true value measuring device 6, and a fourth true value measuring device 7, respectively, where the fourth true value measuring device 7 is used as a differential base station, the third true value measuring device 6 is used to measure a position true value of the target to be measured, the first true value measuring device 4 is used to measure a position true value of the radar, and the second true value measuring device 5 is used to measure a position true value of the rf relay transmission processing task load. The satellite positioning equipment is Beidou positioning equipment or GPS positioning equipment, and other positioning methods such as optical coordinate positioning equipment and the like can also be adopted.
In the working process, the first antenna 32 points to the radar signal transmission direction, the second antenna 33 points to the signal transmission direction of the target 2 to be detected, the radar signal transmission direction is the polarization direction of the radar antenna, if the target 2 to be detected is a corner reflector, the signal transmission direction of the target to be detected is the direction in which the corner reflector receives and reflects signals, and if the target 2 to be detected is a response signal source with a frequency storage delay forwarding function, the signal transmission direction of the target to be detected is the direction in which the signal transceiver 22 points when working, in this embodiment, the polarization direction of the antenna structure. In the embodiment, the radar 1 transmits a detection signal, the detection signal is a microwave signal, the first antenna 32 in the relay transmission processing task load 3 receives the detection signal, the radio frequency signal transceiving component 31 processes the received detection signal and transmits the processed detection signal through the second antenna 33, the target 2 to be detected receives the processed detection signal transmitted by the second antenna 33 and performs delay processing and/or doppler shift processing on the signal to obtain an initial feedback signal and transmits the signal, the second antenna 33 in the relay transmission processing task load 3 receives the initial feedback signal, the radio frequency signal transceiving component 31 processes the received detection signal to obtain a detection feedback signal and transmits the signal through the first antenna 32, and the radar 1 receives the detection feedback signal transmitted by the first antenna 32, and obtaining the measurement position information of the measured target, measuring the true position information of the measured target, performing data processing on the measurement position information and the true position information of the measured target to obtain error information, and performing calibration processing on the radar by using the error information to finish the calibration process.
Fig. 5 is a second structural diagram of a radar calibration system based on the rf relay transmission technology in this embodiment. In the first structure of this embodiment, mainly to the radar that the radar is located ground or the surface of water, for example fixed radar in ground, vehicle radar or ship-borne radar, in the second structure, mainly to the airborne radar, the theory of operation of second structure and first structure is the same, and the difference only lies in that the radar is in the air, and the transmission route angle that signal reception and sent is different. In fig. 2, the radio frequency relay transmits the task load and the airborne radar level transmission signal, and in specific work, the signal transmission angle can be adjusted according to actual conditions.
It should be understood that the above description of the technical solution of the present invention by means of preferred embodiments is illustrative and not restrictive. On the basis of the above embodiments, a person skilled in the art may modify the technical solutions described in the embodiments, or may substitute part of the technical features of the embodiments; and such modifications and substitutions are intended to be included within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Example 2
As shown in fig. 1, the present invention provides a radar calibration method based on a radio frequency relay transmission technology, which comprises the following specific steps:
s100: providing a wireless radio frequency relay transmission radar calibration system comprising a radar and a measured target, wherein the system further comprises a radio frequency relay transmission processing task load, and the radio frequency relay transmission processing task load is positioned on a liftable carrying platform and used for realizing wireless signal forwarding between the radar and the measured target;
s200: the radar transmits a detection signal to the radio frequency relay transmission processing task load;
s300: after receiving the detection signal, the relay transmission processing task load amplifies the detection signal and forwards the detection signal to the target to be detected.
S400: and the detected target receives the detection signal forwarded by the relay transmission processing task load, performs signal feedback on the forwarded detection signal, and sends a feedback signal to the relay transmission processing task load. The measured target can be a corner reflector or a response signal source with a frequency storage delay forwarding function, and if the measured target is the corner reflector, the reflection effect is enhanced by increasing the reflection area of the radar, namely the intensity of the feedback signal is enhanced; if the measured target is a response signal source with the frequency storage delay forwarding function, signal delay can be set according to needs to simulate the measured targets at different distances, and Doppler frequency shift can also be set to simulate the moving measured targets at different moving states.
S500: the relay transmission processing task load receives the feedback signal and forwards the feedback signal to the radar, and after receiving the initial feedback signal, the relay transmission processing task load amplifies the initial feedback signal and forwards the initial feedback signal to the radar;
s600: the radar receives the feedback signal to obtain the measurement position information of the measured target;
s700: measuring the true value position of the measured target to obtain true value position information;
the method for obtaining the true position information in step S700 is:
s701: separately measuring radar, measured target and radio frequencyRelaying location data (J) of task payloadn,Wn,Hn) And n is 1,2,3,4, and J, W, H represents the radar position data (J) in the true position coordinates, respectively, including longitude, latitude, and elevation3,W3,H3) And measured target position data (J)1,W1,H1) And radio frequency relay transmitting task load position data (J)2,W2,H2) And position data (J) of the differential base station4,W4,H4)；
S702: respectively carrying out differential processing on the true value position information of the radar, the measured target and the radio frequency relay transmission task load and the true value position data of the differential base station to respectively obtain coordinate values (delta J) of the radar, the measured target and the radio frequency relay transmission task load3,ΔW3,ΔH3)、(ΔJ1,ΔW1,ΔH1) And (Δ J)2,ΔW2,ΔH2)。
S703: calculating the coordinate values of the obtained radio frequency relay transmission task load and the measured target to obtain the distance L between the radio frequency relay transmission task load and the measured target, wherein the specific measurement process is as follows:
respectively calculating the coordinates (X) of the measured target and the load of the radio frequency relay transmission task in the geocentric rectangular coordinate system1,Y1,Z1) And (X)2,Y2,Z2)，
Wherein e is the first eccentricity of the earth, and N is the curvature radius of the position of the target, and the specific calculation method is as follows:
wherein, a is the earth's major semi-axis, and b is the minor semi-axis.
Wherein e is the first eccentricity of the earth, and N is the curvature radius of the position of the target, and the specific calculation method is as follows:
wherein, a is the earth's major semi-axis, and b is the minor semi-axis.
Calculating the distance L between the load of the radio frequency relay transmission task and the measured target:
wherein (X)1,Y1,Z1) And (X)2,Y2,Z2) And respectively transmitting coordinates of the task load of the measured target and the radio frequency relay in the geocentric rectangular coordinate system.
S704: calculating truth position information (R) of RF relay transmission task load0，A0，E0) Wherein R is0For the distance of the mission load in the radar coordinate system, A0For the orientation of the mission load in the radar coordinate system, E0The radio frequency relay transmits true value position information (R) of the task load for the elevation angle of the task load in a radar coordinate system0，A0，E0) The method comprises the following steps:
wherein x, y and z are specifically
x＝(cosΔW3sinΔW2-sinΔW3cosΔW2cos(ΔJ2-ΔJ3))·(N2+ΔH2)+e·cosΔW3·(N1sinΔW3-N2sinΔW2)
y＝cosΔW2·(N2+ΔH2)·sin(ΔJ2-ΔJ3)
z＝(cosΔW3cosΔW2cos(ΔJ2-ΔJ3)+sinΔW3sinΔW2)·(N2+ΔH2)+e·sinΔW3·(N1sinΔW3-N2sinΔW2)-(N1+ΔH3)
Wherein e is the first eccentricity of the earth, and N is the curvature radius of the position of the target, and the specific calculation method is as follows:
s705: calculating true position information of the measured targetWherein,
s800: and carrying out difference processing on the measured position information and the true position information of the measured target to obtain error information.
The data processing procedure from step S600 to step S800 is shown in fig. 3.
S900: and (5) calibrating the radar by using the error information to finish the calibration process.
Example 3
As shown in fig. 2, the present invention provides a method for calibrating a radar based on a radio frequency relay transmission technology, and this embodiment corresponds to the method for calibrating a radar based on a radio frequency relay transmission technology as set forth in claim 8. The difference between this embodiment and embodiment 1 is that in embodiment 1, the radar is calibrated by using error information obtained by one time of calculation, that is, the radar is calibrated by using a fixed value, in this embodiment, a method of sending a detection signal once every other time interval and detecting the error information once is used, the root mean square or the mean value of the error information at each time is calculated, and the radar is calibrated by using the root mean square or the mean value. In this embodiment, the time interval Δ t may be set according to an actual situation, for example, set to 1s or 10 s.
S100: providing a wireless radio frequency relay transmission radar calibration system comprising a radar and a measured target, wherein the system further comprises a radio frequency relay transmission processing task load, and the radio frequency relay transmission processing task load is positioned on a liftable carrying platform and used for realizing wireless signal forwarding between the radar and the measured target;
s200: at the initial moment, the radar sends a detection signal to a relay transmission processing task load;
s300: the relay transmission processing task load receives the detection signal and forwards the detection signal to a detected target;
s400: the target to be tested receives the detection signal forwarded by the relay transmission processing task load, performs signal feedback on the forwarded detection signal, and sends a feedback signal to the relay transmission processing task load;
s500: the relay transmission processing task load receives the feedback signal and forwards the feedback signal to the radar;
s600: the radar receives the feedback signal to obtain the measurement position information of the measured target;
s700: measuring the true value position of the measured target to obtain true value position information;
the method for obtaining the true position information in step S700 is:
s701: respectively measuring the position data (J) of the radar, the target to be measured and the RF relay transmission task loadn,Wn,Hn) And n is 1,2,3,4, and J, W, H represents the radar position data (J) in the true position coordinates, respectively, including longitude, latitude, and elevation3,W3,H3) And measured target position data (J)1,W1,H1) And radio frequency relay transmitting task load position data (J)2,W2,H2) And position data (J) of the differential base station4,W4,H4)；
S702: respectively carrying out differential processing on the true value position information of the radar, the measured target and the radio frequency relay transmission task load and the true value position data of the differential base station to respectively obtain coordinate values (delta J) of the radar, the measured target and the radio frequency relay transmission task load3,ΔW3,ΔH3)、(ΔJ1,ΔW1,ΔH1) And (Δ J)2,ΔW2,ΔH2)。
S703: calculating the coordinate values of the obtained radio frequency relay transmission task load and the measured target to obtain the distance L between the radio frequency relay transmission task load and the measured target, wherein the specific measurement process is as follows:
respectively calculating the coordinates (X) of the measured target and the load of the radio frequency relay transmission task in the geocentric rectangular coordinate system1,Y1,Z1) And (X)2,Y2,Z2)，
Wherein e is the first eccentricity of the earth, and N is the curvature radius of the position of the target, and the specific calculation method is as follows:
wherein, a is the earth's major semi-axis, and b is the minor semi-axis.
Wherein e is the first eccentricity of the earth, and N is the curvature radius of the position of the target, and the specific calculation method is as follows:
wherein, a is the earth's major semi-axis, and b is the minor semi-axis.
Calculating the distance L between the load of the radio frequency relay transmission task and the measured target:
wherein (X)1,Y1,Z1) And (X)2,Y2,Z2) And respectively transmitting coordinates of the task load of the measured target and the radio frequency relay in the geocentric rectangular coordinate system.
S704: calculating truth position information (R) of RF relay transmission task load0，A0，E0) Wherein R is0For the distance of the mission load in the radar coordinate system, A0For the orientation of the mission load in the radar coordinate system, E0The radio frequency relay transmits true value position information (R) of the task load for the elevation angle of the task load in a radar coordinate system0，A0，E0) The method comprises the following steps:
wherein x, y and z are specifically
x＝(cosΔW3sinΔW2-sinΔW3cosΔW2cos(ΔJ2-ΔJ3))·(N2+ΔH2)+e·cosΔW3·(N1sinΔW3-N2sinΔW2)
y＝cosΔW2·(N2+ΔH2)·sin(ΔJ2-ΔJ3)
z＝(cosΔW3cosΔW2cos(ΔJ2-ΔJ3)+sinΔW3sinΔW2)·(N2+ΔH2)+e·sinΔW3·(N1sinΔW3-N2sinΔW2)-(N1+ΔH3)
Wherein e is the first eccentricity of the earth, and N is the curvature radius of the position of the target, and the specific calculation method is as follows:
s705: calculating true position information of the measured targetWherein,
s800, circularly operating the steps S100-S700 at intervals of time delta t to obtain the measurement position information and the true value position information at each moment;
s900: performing difference processing on the measured position information and the true position information of the measured target at each moment to obtain error information at each moment;
s1000: and calculating the root mean square or the error mean value of the error information at each moment to finish the calibration process.
In this embodiment, the rf relay transmission processing task load may be fixed or movable with respect to the radar. If the load of the radio frequency relay transmission processing task is fixed, the measured position information of the detected target detected by the radar is fixed, the time is consistent, and the true value position information of the detected target can be measured by directly utilizing true value measuring equipment and error information can be obtained by difference processing. If the load of the rf relay transmission processing task is mobile, because the true value and the measured value of the position coordinate of the target to be measured with respect to the radar are discrete points with time stamps, and the measurement frequency and the measurement time are generally not uniform, a time alignment process is further performed, so that before the difference processing, the true value position information and the measurement position information at each time are time aligned, and the specific process is as follows:
the measurement time of the radar for detecting the position information of the measured target is tiThe truth value time of the truth value measuring equipment for measuring the truth value of the measured target is t0iWherein i is 1,2,3 …
t0iAt the moment, the true position information of the measured target is (R)0i,A0i,E0i) Wherein i is 1,2,3 …,
tiat the time, the measurement position information is (R)i,Ai,Ei) Wherein i is 1,2,3 …,
for any measurement time tmFinding two adjacent truth position information from the truth position information, (R)0n,A0n,E0n) And (R)0(n+1),A0(n+1),E0(n+1)) And satisfy t0n≤tm≤t0(n+1)Obtaining the corresponding time t by interpolationmTrue value of (R)0m,A0m,Eom) And finishing the time alignment processing of the true value and the measured value. The specific interpolation process is as follows:
it should be understood that the above description of the technical solution of the present invention by means of preferred embodiments is illustrative and not restrictive. On the basis of the above embodiments, a person skilled in the art may modify the technical solutions described in the embodiments, or may substitute part of the technical features of the embodiments; and such modifications and substitutions are intended to be included within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A radar calibration method based on a wireless radio frequency relay transmission technology comprises the following steps:
s100: providing a wireless radio frequency relay transmission radar calibration system comprising a radar and a measured target, wherein the system further comprises a radio frequency relay transmission processing task load, and the radio frequency relay transmission processing task load is positioned on a liftable carrying platform and used for realizing wireless signal forwarding between the radar and the measured target;
s200: the radar transmits a detection signal to the radio frequency relay transmission processing task load;
s300: the radio frequency relay transmission processing task load receives the detection signal and forwards the detection signal to a target to be detected;
s400: the target to be tested receives the detection signal forwarded by the radio frequency relay transmission processing task load, performs signal feedback on the forwarded detection signal, and sends a feedback signal to the radio frequency relay transmission processing task load;
s500: the radio frequency relay transmission processing task load receives the feedback signal and forwards the feedback signal to the radar;
s600: the radar receives the feedback signal to obtain the measurement position information of the measured target;
s700: measuring the true value position of the measured target to obtain true value position information;
s800: carrying out difference processing on the measurement position information and the true position information of the measured target to obtain error information;
s900: calibrating the radar by using the error information to finish the calibration process;
the method for obtaining the true position information in S700 includes the following steps S701 to S705:
s701: respectively measuring the position data (J) of the radar, the target to be measured and the RF relay transmission task loadn,Wn,Hn) And n is 1,2,3,4, and J, W, H represents the radar position data (J) in the true position coordinates, respectively, including longitude, latitude, and elevation3,W3,H3) And measured target position data (J)1,W1,H1) And radio frequency relay transmitting task load position data (J)2,W2,H2) And position data (J) of the differential base station4,W4,H4)；
S702: respectively carrying out differential processing on the true value position information of the radar, the measured target and the radio frequency relay transmission task load and the true value position data of the differential base station to respectively obtain coordinate values (delta J) of the radar, the measured target and the radio frequency relay transmission task load3,ΔW3,ΔH3)、(ΔJ1,ΔW1,ΔH1) And (Δ J)2,ΔW2,ΔH2)；
S703: obtaining the load of the radio frequency relay transmission task and the coordinate value (delta J) of the measured target through pairing1,ΔW1,ΔH1) And (Δ J)2,ΔW2,ΔH2) Calculating to obtain the distance L between the load of the radio frequency relay transmission task and the target to be measured;
s704: calculating truth position information (R) of RF relay transmission task load0，A0，E0) Wherein R is0For the distance of the mission load in the radar coordinate system, A0For the orientation of the mission load in the radar coordinate system, E0Elevation angle of the task load in a radar coordinate system;
s705: calculating true position information of the measured targetWherein,
the method for obtaining the distance L between the radio frequency relay transmission task load and the target to be measured in S703 comprises:
(1) respectively calculating the coordinates (X) of the measured target and the load of the radio frequency relay transmission task in the geocentric rectangular coordinate system1,Y1,Z1) And (X)2,Y2,Z2)，
Wherein e is the first eccentricity of the earth, and N is the curvature radius of the position of the target, and the specific calculation method is as follows:
wherein, a is a half axis of the earth, and b is a half axis of the earth;
(2) calculating the distance L between the load of the radio frequency relay transmission task and the measured target:
wherein (X)1,Y1,Z1) And (X)2,Y2,Z2) And respectively transmitting coordinates of the task load of the measured target and the radio frequency relay in the geocentric rectangular coordinate system.
2. The method for calibrating a radar based on a radio frequency relay transmission technology according to claim 1, wherein the step S300 further includes a signal processing procedure, and after receiving the detection signal, the relay transmission processing task load amplifies the detection signal and forwards the detection signal to the target to be detected.
3. The method for calibrating a radar according to claim 1, wherein the step S400 further includes a signal processing procedure for the feedback signal, and the feedback signal is subjected to signal delay processing and/or doppler shift processing and then sent to the relay transmission processing task load.
4. The method for calibrating a radar according to claim 1, wherein the step S500 further includes a signal processing step, and after receiving the initial feedback signal, the relay transmission processing task load amplifies the initial feedback signal and forwards the amplified initial feedback signal to the radar.
5. The method for calibrating a radar based on RF relay transmission technology according to claim 1, wherein the true position information (R) of the RF relay transmission task load is obtained in S7040，A0，E0) The method comprises the following steps:
wherein x, y and z are specifically as follows:
x＝(cosΔW3sinΔW2-sinΔW3cosΔW2cos(ΔJ2-ΔJ3))·(N2+ΔH2)+e·cosΔW3·(N1sinΔW3-N2sinΔW2)
y＝cosΔW2·(N2+ΔH2)·sin(ΔJ2-ΔJ3)
z＝(cosΔW3cosΔW2cos(ΔJ2-ΔJ3)+sinΔW3sinΔW2)·(N2+ΔH2)+e·sinΔW3·(N1sinΔW3-N2sinΔW2)-(N1+ΔH3)
6. a radar calibration method based on a wireless radio frequency relay transmission technology is characterized by comprising the following steps:
s100: providing a wireless radio frequency relay transmission radar calibration system comprising a radar and a measured target, wherein the system further comprises a radio frequency relay transmission processing task load, and the radio frequency relay transmission processing task load is positioned on a liftable carrying platform and used for realizing wireless signal forwarding between the radar and the measured target;
s200: at the initial moment, the radar sends a detection signal to a relay transmission processing task load;
s300: the relay transmission processing task load receives the detection signal and forwards the detection signal to a detected target;
s400: the target to be tested receives the detection signal forwarded by the relay transmission processing task load, performs signal feedback on the forwarded detection signal, and sends a feedback signal to the relay transmission processing task load;
s500: the relay transmission processing task load receives the feedback signal and forwards the feedback signal to the radar;
s600: the radar receives the feedback signal to obtain the measurement position information of the measured target;
s700: measuring the true value position of the measured target to obtain true value position information;
s800, circularly operating the steps S100-S700 at intervals of time delta t to obtain the measurement position information and the true value position information at each moment;
s900: carrying out difference processing on the measured position information and the true position information of the measured target at each moment to obtain error information at each moment;
s1000: calculating the root mean square or the error mean value of the error information at each moment to finish the calibration process;
the method for obtaining the true position information in S700 includes the following steps S701 to S705:
s701: respectively measuring the position data (J) of the radar, the target to be measured and the RF relay transmission task loadn,Wn,Hn) And n is 1,2,3,4, and J, W, H represents the radar position data (J) in the true position coordinates, respectively, including longitude, latitude, and elevation3,W3,H3) And measured target position data (J)1,W1,H1) And radio frequency relay transmitting task load position data (J)2,W2,H2) And position data (J) of the differential base station4,W4,H4)；
S702: respectively carrying out differential processing on the true value position information of the radar, the measured target and the radio frequency relay transmission task load and the true value position data of the differential base station to respectively obtain coordinate values of the radar, the measured target and the radio frequency relay transmission task load(ΔJ3,ΔW3,ΔH3)、(ΔJ1,ΔW1,ΔH1) And (Δ J)2,ΔW2,ΔH2)；
S703: obtaining the load of the radio frequency relay transmission task and the coordinate value (delta J) of the measured target through pairing1,ΔW1,ΔH1) And (Δ J)2,ΔW2,ΔH2) Calculating to obtain the distance L between the load of the radio frequency relay transmission task and the target to be measured;
s704: calculating truth position information (R) of RF relay transmission task load0，A0，E0) Wherein R is0For the distance of the mission load in the radar coordinate system, A0For the orientation of the mission load in the radar coordinate system, E0Elevation angle of the task load in a radar coordinate system;
s705: calculating true position information of the measured targetWherein,
the method for obtaining the distance L between the radio frequency relay transmission task load and the target to be measured in S703 comprises the following steps:
(1) respectively calculating the coordinates (X) of the measured target and the load of the radio frequency relay transmission task in the geocentric rectangular coordinate system1,Y1,Z1) And (X)2,Y2,Z2)，
Wherein e is the first eccentricity of the earth, and N is the curvature radius of the position of the target, and the specific calculation method is as follows:
wherein, a is a half axis of the earth, and b is a half axis of the earth;
(2) calculating the distance L between the load of the radio frequency relay transmission task and the measured target:
wherein (X)1,Y1,Z1) And (X)2,Y2,Z2) And respectively transmitting coordinates of the task load of the measured target and the radio frequency relay in the geocentric rectangular coordinate system.
7. The method for calibrating a radar based on a radio frequency relay transmission technology according to claim 6, wherein S900 further includes: before the difference processing, the true position information and the measured position information at each time are time-aligned.
8. A radar calibration system based on a wireless radio frequency relay transmission technology is characterized by comprising a radar, a target to be measured, a radio frequency relay transmission processing task load and a true value measuring device;
the radar is an object to be calibrated and can realize wireless signal transmission with the load of the radio frequency relay transmission processing task;
the target to be detected is an object to be detected by the radar, the detection signal can be fed back, wireless signal transmission is realized between the target and the load of the radio frequency relay transmission processing task, and the target to be detected is positioned on the ground or on the water surface;
the radio frequency relay transmission processing task load is a wireless relay transmission device and is used for realizing wireless signal forwarding between a radar and a target to be detected and realizing relay transmission of signals, the radio frequency relay transmission processing task load is positioned on a liftable carrying platform, and the liftable carrying platform is a fixed platform or a movable platform;
the truth measurement device is configured to measure a location truth value of the target under test, the radar and the rf relay transmission processing task load, wherein the truth measurement device is configured to determine the location truth value according to the method of claim 1 or 6.
9. The system of claim 8, wherein the true value measuring devices are satellite positioning devices, the number of the satellite positioning devices is four, one of the satellite positioning devices is used as a differential base station, and the other three are used to measure the true value of the position of the target under test, the radar and the rf relay transmission processing task load.
10. The system according to claim 9, wherein the rf relay transmission processing task load includes an rf signal transceiving processing component, a first antenna, and a second antenna, and the first antenna and the second antenna have orthogonal polarization directions or opposite rotation directions.
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