CN107966701B - Radar inclination angle measuring method and device - Google Patents
Radar inclination angle measuring method and device Download PDFInfo
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- CN107966701B CN107966701B CN201711123486.8A CN201711123486A CN107966701B CN 107966701 B CN107966701 B CN 107966701B CN 201711123486 A CN201711123486 A CN 201711123486A CN 107966701 B CN107966701 B CN 107966701B
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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
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
Abstract
The invention relates to a radar inclination angle measuring method and device. The method comprises the following steps: respectively acquiring an inclination angle value corresponding to a preset azimuth angle when the radar servo system rotates to each of a plurality of preset azimuth angles around a shaft; preprocessing the plurality of inclination angle values to obtain a preprocessed maximum inclination angle value and an angle value of a preset azimuth angle corresponding to the preprocessed maximum inclination angle value; and substituting the preprocessed maximum inclination angle value, the angle value of the preset azimuth angle corresponding to the preprocessed maximum inclination angle value and the angle value of the azimuth angle of the target object into an inclination angle formula to calculate the inclination angle value corresponding to the azimuth angle of the target object. The dip angle value corresponding to any azimuth angle can be calculated through the dip angle formula. Therefore, the corresponding dip angle value of any azimuth angle of the target object can be easily acquired, and the accurate measurement of the radar dip angle is realized.
Description
Technical Field
The invention relates to the technical field of radar measurement, in particular to a radar inclination angle measuring method and device.
Background
The mobile radar has the characteristics of flexible equipment station arrangement, rapid transition recovery and the like. In order to ensure the measurement accuracy, system error calibration needs to be carried out after transition. The dip angle measurement is an angle calibration project of a maneuvering radar system and is used for measuring the dip angle error of the system and realizing the real-time compensation of the target pitch angle error. However, the existing inclination angle measuring method can only measure the inclination angle value corresponding to the integer azimuth angle, that is, the method mainly adopts the 'rounding form', when the measured angle is a non-integer angle, the measured angle is rounded to be the integer azimuth angle value, and the inclination angle is the inclination angle value corresponding to the rounded integer azimuth angle. In the practical application process, the problem of inaccurate error compensation of the target pitch angle is inevitably caused, and the measurement accuracy of the target object azimuth is greatly reduced.
Disclosure of Invention
In order to solve the technical problem, the invention provides a radar inclination angle measuring method and device.
In a first aspect, the present invention provides a radar tilt angle measuring method, including:
respectively acquiring an inclination angle value corresponding to a preset azimuth angle when the radar servo system rotates around the shaft to each of the preset azimuth angles, wherein the angle values of all the preset azimuth angles in the preset azimuth angles are integer values, and the angle value of a part of azimuth angles in the preset azimuth angles is larger than or equal to 180 degrees;
preprocessing the plurality of inclination angle values to obtain a preprocessed maximum inclination angle value and an angle value of a preset azimuth angle corresponding to the preprocessed maximum inclination angle value;
substituting the preprocessed maximum inclination angle value, the angle value of the preset azimuth angle corresponding to the preprocessed maximum inclination angle value and the angle value of the azimuth angle of the target object into an inclination angle formula to calculate the inclination angle value corresponding to the azimuth angle of the target object, wherein the inclination angle formula is a pre-established cos function inclination angle formula.
The invention has the beneficial effects that: the method comprises the steps of collecting dip angle values corresponding to a plurality of preset azimuth angles in advance, then preprocessing the dip angle values, and obtaining a preprocessed maximum dip angle value and an azimuth angle corresponding to the maximum dip angle value. And acquiring an inclination angle formula according to the preprocessed maximum inclination angle value and the azimuth angle corresponding to the maximum inclination angle value. The dip angle value corresponding to any azimuth angle can be calculated through the dip angle formula. Therefore, the corresponding dip angle value of any azimuth angle of the target object can be easily acquired, and the accurate measurement of the radar dip angle is realized.
Further, preprocessing the plurality of inclination angle values to obtain a preprocessed maximum inclination angle value and an angle value of a preset azimuth angle corresponding to the preprocessed maximum inclination angle value, specifically comprising:
and obtaining absolute values of the plurality of inclination values, obtaining the maximum inclination value in the absolute values, and determining the angle value of the preset azimuth corresponding to the maximum inclination value.
The further scheme has the beneficial technical effect that the bottom surface of the radar servo system is inclined, and the collected inclination angle value is actually a cos curve when being drawn into a curve, namely the inclination angle value can be positive or negative. Therefore, absolute values are taken for the plurality of inclination values, a maximum inclination value among the absolute values is obtained, and an angle value of a preset azimuth corresponding to the maximum inclination value is determined.
Further, the dip angle formula is specifically:
y＝Acos(x-γ)
wherein x is an angle value of the azimuth angle of the target object, x is an arbitrary azimuth angle value within the range of 0-360 degrees, y is an inclination angle value corresponding to x, A is a maximum inclination angle value, and gamma is an angle value of a preset azimuth angle corresponding to the maximum inclination angle value.
The technical effect of the further technical scheme is that the corresponding inclination angle value can be calculated by the formula after the azimuth angle of the target object (the target azimuth angle can be any angle), the maximum inclination angle value and the angle value of the preset azimuth angle corresponding to the maximum inclination angle value are clear.
Further, after calculating an inclination value corresponding to the azimuth of the target object according to an inclination formula, the method further includes:
and according to the inclination angle value corresponding to the azimuth angle of the target object, carrying out error compensation on the pitch angle of the target object.
The technical effect of the further technical scheme is that after error compensation is carried out on the pitch angle of the target object through the calculated inclination angle value corresponding to the azimuth angle of the target object, the position of the target object can be more accurately determined, and therefore accurate positioning of the target object is achieved.
Further, the difference between two adjacent preset azimuth angles in the plurality of preset azimuth angles is 1 °, and the initial value of the plurality of preset azimuth angles is 0 °.
The beneficial technical effect of adopting the further technical scheme is that the value is from 0 degree to 180 degrees (and above), and the interval is 1 degree. Then the maximum value of the inclination angle obtained will be more accurate.
In a second aspect, the present invention provides a radar tilt angle measuring apparatus, comprising:
the acquisition unit is used for respectively acquiring an inclination angle value corresponding to a preset azimuth angle when the radar servo system rotates to each preset azimuth angle in a plurality of preset azimuth angles around the shaft, wherein the angle values of all the preset azimuth angles in the plurality of preset azimuth angles are integer values, and the angle value of a part of the azimuth angles in the plurality of preset azimuth angles is larger than or equal to 180 degrees;
the processing unit is used for preprocessing the inclination angle values to obtain a preprocessed maximum inclination angle value and an angle value of a preset azimuth angle corresponding to the preprocessed maximum inclination angle value;
and the calculating unit is used for substituting the preprocessed maximum inclination angle value, the angle value of the preset azimuth angle corresponding to the preprocessed maximum inclination angle value and the angle value of the azimuth angle of the target object into an inclination angle formula to calculate the inclination angle value corresponding to the azimuth angle of the target object, wherein the inclination angle formula is a pre-established cos function inclination angle formula.
The invention has the beneficial effects that: the method comprises the steps of collecting dip angle values corresponding to a plurality of preset azimuth angles in advance, then preprocessing the dip angle values, and obtaining a preprocessed maximum dip angle value and an azimuth angle corresponding to the maximum dip angle value. And acquiring an inclination angle formula according to the preprocessed maximum inclination angle value and the azimuth angle corresponding to the maximum inclination angle value. The dip angle value corresponding to any azimuth angle can be calculated through the dip angle formula. Therefore, the corresponding dip angle value of any azimuth angle of the target object can be easily acquired, and the accurate measurement of the radar dip angle is realized.
Further, the processing unit is specifically configured to obtain an absolute value of the plurality of inclination values, obtain a maximum inclination value of the absolute value, and determine an angle value of a preset azimuth corresponding to the maximum inclination value.
The further scheme has the beneficial technical effect that the bottom surface of the radar servo system is inclined, and the collected inclination angle value is actually a cos curve when being drawn into a curve, namely the inclination angle value can be positive or negative. Therefore, absolute values are taken for the plurality of inclination values, a maximum inclination value among the absolute values is obtained, and an angle value of a preset azimuth corresponding to the maximum inclination value is determined.
Further, the inclination angle formula is specifically as follows:
y＝Acos(x-γ)
wherein x is an angle value of the azimuth angle of the target object, x is an arbitrary azimuth angle value within the range of 0-360 degrees, y is an inclination angle value corresponding to x, A is a maximum inclination angle value, and gamma is an angle value of a preset azimuth angle corresponding to the maximum inclination angle value.
The technical effect of the further technical scheme is that the corresponding inclination angle value can be calculated by the formula after the azimuth angle of the target object (the target azimuth angle can be any angle), the maximum inclination angle value and the angle value of the preset azimuth angle corresponding to the maximum inclination angle value are clear.
Further, the apparatus further comprises: and the compensation unit is used for carrying out error compensation on the pitch angle of the target object according to the inclination angle value corresponding to the azimuth angle of the target object.
The technical effect of the further technical scheme is that after error compensation is carried out on the pitch angle of the target object through the calculated inclination angle value corresponding to the azimuth angle of the target object, the position of the target object can be more accurately determined, and therefore accurate positioning of the target object is achieved.
Further, the difference between two adjacent preset azimuth angles in the plurality of preset azimuth angles is 1 °, and the initial value of the plurality of preset azimuth angles is 0 °.
The beneficial technical effect of adopting the further technical scheme is that the value is from 0 degree to 180 degrees (or more than 180 degrees), and the interval is 1 degree. Then the maximum value of the inclination angle obtained will be more accurate.
Drawings
Fig. 1 is a schematic flow chart of a method for measuring a radar tilt angle according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of another method for measuring a radar tilt angle according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a radar tilt angle measuring apparatus according to an embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, interfaces, techniques, etc., in order to provide a thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
Fig. 1 is a schematic flow chart of a method for measuring a radar tilt angle according to an embodiment of the present invention. As shown in fig. 1, the method includes:
and step 110, respectively acquiring an inclination angle value corresponding to each preset azimuth angle when the radar servo system rotates around the axis to each preset azimuth angle in a plurality of preset azimuth angles.
Specifically, when the radar servo system rotates around the shaft, the included angle between the chassis of the servo system and the horizontal direction is 0 degree. In practice, however, the servo system will tilt to different angles when rotated to different azimuth angles. Therefore, it is required to acquire the tilt angle value corresponding to each of the plurality of predetermined azimuth angles when the radar servo system rotates around the axis to each of the predetermined azimuth angles. And the angle values of all the preset azimuth angles in the plurality of preset azimuth angles to be acquired are integer values, and the angle value of a part of the azimuth angles in the plurality of preset azimuth angles is greater than or equal to 180 degrees.
When the azimuth angle is 0 to 360 °, the corresponding inclination values are plotted to form exactly one cos curve. Obviously, the inclination angle value corresponding to the azimuth angle within the range of 180 ° is necessarily equal to the absolute value of the corresponding inclination angle value corresponding to the azimuth angle within the range of 180 ° to 360 °, but positive and negative. Therefore, the angle value of a part of the azimuth angles in the plurality of preset azimuth angles is only required to be larger than or equal to 180 degrees during collection.
And step 120, preprocessing the plurality of inclination angle values to obtain a preprocessed maximum inclination angle value and an angle value of a preset azimuth angle corresponding to the preprocessed maximum inclination angle value.
Specifically, the objective of obtaining the preprocessed maximum inclination angle value and the angle value of the preset azimuth angle corresponding to the preprocessed maximum inclination angle value is to calculate the inclination angle value corresponding to the azimuth angle of the target object according to the two parameters and the angle value of the azimuth angle of the target object, namely step 130.
And step 130, substituting the preprocessed maximum inclination angle value, the angle value of the preset azimuth angle corresponding to the preprocessed maximum inclination angle value and the angle value of the azimuth angle of the target object into an inclination angle formula to calculate the inclination angle value corresponding to the azimuth angle of the target object.
Specifically, as shown in step 110, the servo system rotates around the axis from 0 ° to 360 °, and the tilt angle value necessarily forms a cos curve. Thus, the tilt angle formula is a pre-established cos function tilt angle formula. Through the formula, the inclination angle value corresponding to the azimuth angle of the target object with any angle value can be calculated.
The radar inclination angle measuring method provided by the embodiment of the invention is characterized in that inclination angle values corresponding to a plurality of preset azimuth angles are collected in advance, then the plurality of inclination angle values are preprocessed, and a preprocessed maximum inclination angle value and an azimuth angle corresponding to the maximum inclination angle value are obtained. And acquiring an inclination angle formula according to the preprocessed maximum inclination angle value and the azimuth angle corresponding to the maximum inclination angle value. The dip angle value corresponding to any azimuth angle can be calculated through the dip angle formula. Therefore, the corresponding dip angle value of any azimuth angle of the target object can be easily acquired, and the accurate measurement of the radar dip angle is realized.
To describe the technical solution of the present invention in more detail, an embodiment of the present invention further provides another radar tilt angle measuring method, specifically as shown in fig. 2, the method includes:
step 210, respectively acquiring an inclination angle value corresponding to each preset azimuth angle when the radar servo system rotates around the axis to each preset azimuth angle in the plurality of preset azimuth angles.
Specifically, when the radar servo system rotates around the shaft, the included angle between the chassis of the servo system and the horizontal direction is 0 degree. In practice, however, the servo system will tilt to different angles when rotated to different azimuth angles. Therefore, it is required to acquire the tilt angle value corresponding to each of the plurality of predetermined azimuth angles when the radar servo system rotates around the axis to each of the predetermined azimuth angles. And the angle values of all the preset azimuth angles in the plurality of preset azimuth angles to be acquired are integer values, and the angle value of a part of the azimuth angles in the plurality of preset azimuth angles is greater than or equal to 180 degrees.
When the azimuth angle is 0 to 360 °, the corresponding inclination values are plotted to form exactly one cos curve. Obviously, the inclination angle value corresponding to the azimuth angle within the range of 180 ° is necessarily equal to the absolute value of the corresponding inclination angle value corresponding to the azimuth angle within the range of 180 ° to 360 °, but positive and negative. Therefore, the angle value of a part of the azimuth angles in the plurality of preset azimuth angles is only required to be larger than or equal to 180 degrees during collection.
Optionally, the difference between two adjacent preset azimuth angles in the plurality of preset azimuth angles is 1 °, and the initial value of the plurality of preset azimuth angles is 0 °. The values range from 0 to 180 ° (or more than 180 °), with 1 degree spacing. Then the maximum value of the inclination angle obtained will be more accurate.
Step 220, preprocessing the plurality of inclination angle values, and acquiring a preprocessed maximum inclination angle value and an angle value of a preset azimuth angle corresponding to the preprocessed maximum inclination angle value.
Specifically, in one specific embodiment, the preprocessing of the plurality of inclination angle values may be:
and obtaining absolute values of the plurality of inclination values, obtaining the maximum inclination value in the absolute values, and determining the angle value of the preset azimuth corresponding to the maximum inclination value.
After the maximum inclination value of the absolute values and the angle value of the preset azimuth corresponding to the maximum inclination value are obtained, the inclination value corresponding to the azimuth of the target object can be calculated according to the maximum inclination value, the angle value of the preset azimuth corresponding to the maximum inclination value and the angle value of the azimuth of the target object, that is, step 230.
And step 230, substituting the preprocessed maximum inclination angle value, the angle value of the preset azimuth angle corresponding to the preprocessed maximum inclination angle value and the angle value of the azimuth angle of the target object into an inclination angle formula to calculate the inclination angle value corresponding to the azimuth angle of the target object.
Specifically, as shown in step 110, the servo system rotates around the axis from 0 ° to 360 °, and the tilt angle value necessarily forms a cos curve. Thus, the tilt angle formula is a pre-established cos function tilt angle formula. Through the formula, the inclination angle value corresponding to the azimuth angle of the target object with any angle value can be calculated.
The pre-established dip angle formula is:
y＝Acos(x-γ)
wherein x is an angle value of the azimuth angle of the target object, x is an arbitrary azimuth angle value within the range of 0-360 degrees, y is an inclination angle value corresponding to x, A is a maximum inclination angle value, and gamma is an angle value of a preset azimuth angle corresponding to the maximum inclination angle value.
After step 230, the pitch angle of the target object may be compensated according to the calculated inclination value corresponding to the azimuth angle of the target object. That is, step 240, error compensation is performed on the pitch angle of the target object according to the inclination angle value corresponding to the azimuth angle of the target object.
In particular, since the radar servo system rotates around the axis, the chassis tilts. The measured pitch angle of the target object must have an error. The error is an inclination angle value corresponding to the azimuth angle corresponding to the target, and after the calculated inclination angle value corresponding to the azimuth angle of the target object, a difference value between a target pitch angle (pitch angle obtained by measurement) and the inclination angle value is calculated, and the calculated difference value is an actual pitch angle of the target object. That is, by the above method, compensation for an arbitrary pitch angle of the target object can be achieved.
The radar inclination angle measuring method provided by the embodiment of the invention is characterized in that inclination angle values corresponding to a plurality of preset azimuth angles are collected in advance, then the plurality of inclination angle values are preprocessed, and a preprocessed maximum inclination angle value and an azimuth angle corresponding to the maximum inclination angle value are obtained. And acquiring an inclination angle formula according to the preprocessed maximum inclination angle value and the azimuth angle corresponding to the maximum inclination angle value. The dip angle value corresponding to any azimuth angle can be calculated through the dip angle formula. Therefore, the corresponding dip angle value of any azimuth angle of the target object can be easily acquired, and the accurate measurement of the radar dip angle is realized. And the actual pitch angle of the target object is determined by using the difference value between the measured target pitch angle and the inclination angle value corresponding to the azimuth angle of the target object. That is, by the above method, compensation for an arbitrary pitch angle of the target object can be achieved.
Correspondingly, the embodiment of the invention also provides a structural schematic diagram of the radar inclination angle measuring device. As shown in fig. 3 in detail, the apparatus includes: an acquisition unit 301, a processing unit 302 and a calculation unit 303.
The acquisition unit 301 is configured to acquire an inclination angle value corresponding to a preset azimuth angle when the radar servo system rotates around the axis to each of a plurality of preset azimuth angles, where angle values of all the preset azimuth angles in the plurality of preset azimuth angles are integer values, and an angle value of a part of the azimuth angles in the plurality of preset azimuth angles is greater than or equal to 180 °.
The processing unit 302 is configured to pre-process the plurality of inclination angle values, and obtain a pre-processed maximum inclination angle value and an angle value of a preset azimuth angle corresponding to the pre-processed maximum inclination angle value.
Optionally, the processing unit 302 is specifically configured to obtain absolute values of the plurality of inclination values, obtain a maximum inclination value of the absolute values, and determine an angle value of a preset azimuth corresponding to the maximum inclination value.
The calculating unit 303 is configured to substitute the preprocessed maximum inclination angle value, the angle value of the preset azimuth angle corresponding to the preprocessed maximum inclination angle value, and the angle value of the azimuth angle of the target object into an inclination angle formula, and calculate the inclination angle value corresponding to the azimuth angle of the target object, where the inclination angle formula is a pre-established cos function inclination angle formula.
Alternatively, the tilt angle formula may be:
y＝Acos(x-γ)
wherein x is an angle value of the azimuth angle of the target object, x is an arbitrary azimuth angle value within the range of 0-360 degrees, y is an inclination angle value corresponding to x, A is a maximum inclination angle value, and gamma is an angle value of a preset azimuth angle corresponding to the maximum inclination angle value.
Further, the apparatus further comprises: and the compensation unit 304 is configured to perform error compensation on the pitch angle of the target object according to the inclination value corresponding to the azimuth angle of the target object.
Further optionally, the difference between two adjacent preset azimuth angles in the plurality of preset azimuth angles is 1 °, and the initial value of the plurality of preset azimuth angles is 0 °.
The functions performed by the components in the device are described in detail in the two embodiments of the radar tilt angle measurement method, and are not described herein again.
According to the radar inclination angle measuring device provided by the embodiment of the invention, inclination angle values corresponding to a plurality of preset azimuth angles are collected in advance, then the plurality of inclination angle values are preprocessed, and a preprocessed maximum inclination angle value and an azimuth angle corresponding to the maximum inclination angle value are obtained. And acquiring an inclination angle formula according to the preprocessed maximum inclination angle value and the azimuth angle corresponding to the maximum inclination angle value. The dip angle value corresponding to any azimuth angle can be calculated through the dip angle formula. Therefore, the corresponding dip angle value of any azimuth angle of the target object can be easily acquired, and the accurate measurement of the radar dip angle is realized. And the actual pitch angle of the target object is determined by using the difference value between the measured target pitch angle and the inclination angle value corresponding to the azimuth angle of the target object. That is, by the above method, compensation for an arbitrary pitch angle of the target object can be achieved.
The reader should understand that in the description of this specification, reference to the description of the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (6)
1. A radar tilt measurement method, the method comprising:
respectively acquiring an inclination angle value corresponding to a preset azimuth angle when a radar servo system rotates around a shaft to each of the preset azimuth angles, wherein the angle values of all the preset azimuth angles in the preset azimuth angles are integer values, and the angle value of a part of azimuth angles in the preset azimuth angles is larger than or equal to 180 degrees;
preprocessing the plurality of inclination angle values to obtain a preprocessed maximum inclination angle value and an angle value of a preset azimuth angle corresponding to the preprocessed maximum inclination angle value;
substituting the preprocessed maximum inclination angle value, the angle value of a preset azimuth angle corresponding to the preprocessed maximum inclination angle value and the angle value of the azimuth angle of the target object into an inclination angle formula to calculate the inclination angle value corresponding to the azimuth angle of the target object, wherein the inclination angle formula is a pre-established cos function inclination angle formula;
the preprocessing the plurality of inclination angle values to obtain a preprocessed maximum inclination angle value and an angle value of a preset azimuth angle corresponding to the preprocessed maximum inclination angle value specifically includes: obtaining absolute values of the plurality of dip angle values, obtaining the maximum dip angle value in the absolute values, and determining the angle value of a preset azimuth angle corresponding to the maximum dip angle value;
the dip angle formula is specifically as follows:
y＝Acos(x-γ)
wherein x is an angle value of an azimuth angle of the target object, x is an arbitrary azimuth angle value within a range of 0-360 degrees, y is an inclination angle value corresponding to x, A is a maximum inclination angle value, and gamma is an angle value of a preset azimuth angle corresponding to the maximum inclination angle value.
2. The method of claim 1, wherein after calculating the tilt value corresponding to the azimuth of the target object according to the tilt formula, the method further comprises:
and carrying out error compensation on the pitch angle of the target object according to the inclination angle value corresponding to the azimuth angle of the target object.
3. The method according to claim 1, wherein a difference between two adjacent predetermined azimuth angles in the plurality of predetermined azimuth angles is 1 °, and an initial value of the values of the plurality of predetermined azimuth angles is 0 °.
4. A radar tilt angle measuring apparatus, characterized in that the apparatus comprises:
the radar servo system comprises an acquisition unit, a processing unit and a control unit, wherein the acquisition unit is used for respectively acquiring an inclination angle value corresponding to a preset azimuth angle when the radar servo system rotates to each preset azimuth angle in a plurality of preset azimuth angles around a shaft, the angle values of all the preset azimuth angles in the plurality of preset azimuth angles are integer values, and the angle value of a part of the azimuth angles in the plurality of preset azimuth angles is larger than or equal to 180 degrees;
the processing unit is used for preprocessing the inclination angle values to obtain a preprocessed maximum inclination angle value and an angle value of a preset azimuth angle corresponding to the preprocessed maximum inclination angle value;
the calculation unit is used for substituting the preprocessed maximum inclination angle value, the angle value of a preset azimuth angle corresponding to the preprocessed maximum inclination angle value and the angle value of the azimuth angle of the target object into an inclination angle formula to calculate the inclination angle value corresponding to the azimuth angle of the target object, wherein the inclination angle formula is a pre-established cos function inclination angle formula;
the processing unit is specifically configured to,
obtaining absolute values of the plurality of dip angle values, obtaining the maximum dip angle value in the absolute values, and determining the angle value of a preset azimuth angle corresponding to the maximum dip angle value;
the dip angle formula is specifically as follows:
y＝Acos(x-γ)
wherein x is an angle value of an azimuth angle of the target object, x is an arbitrary azimuth angle value within a range of 0-360 degrees, y is an inclination angle value corresponding to x, A is a maximum inclination angle value, and gamma is an angle value of a preset azimuth angle corresponding to the maximum inclination angle value.
5. The apparatus of claim 4, further comprising:
and the compensation unit is used for carrying out error compensation on the pitch angle of the target object according to the inclination angle value corresponding to the azimuth angle of the target object.
6. The apparatus according to claim 4, wherein the difference between two adjacent predetermined azimuth angles is 1 ° and the initial values of the predetermined azimuth angles are 0 °.
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| JP2005257489A (en) * | 2004-03-12 | 2005-09-22 | Zenrin Co Ltd | Portable apparatus for altitude measurement |
| CN101413999B (en) * | 2008-11-12 | 2011-07-20 | 张鹿平 | Method for measuring aerial angle under inclined state |
| CN104792306B (en) * | 2014-11-28 | 2017-03-08 | 郑州合智汇金电子科技有限公司 | A kind of inclination angle measurement method |
| CN104613936B (en) * | 2014-12-05 | 2017-06-13 | 深圳市华颖泰科电子技术有限公司 | A kind of tilt measuring method for surveying and drawing all-in-one |
| CN105930595A (en) * | 2016-04-27 | 2016-09-07 | 中国人民解放军63680部队 | Ship sway isolation degree static testing method based on tracking reality target |
| CN106154232B (en) * | 2016-06-20 | 2018-04-24 | 中国电子科技集团公司第五十四研究所 | A kind of continuous wave three-dimensional radar angle measurement posture compensation method |
| CN106338280B (en) * | 2016-10-20 | 2018-08-31 | 西安坤蓝电子技术有限公司 | A kind of scaling method of Electronic Megnetic Compass |
| CN106872952B (en) * | 2017-04-20 | 2019-07-16 | 四川九洲空管科技有限责任公司 | A kind of angle measurement modification method and angle measurement update the system for secondary surveillance radar |
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