CN108535722A - A kind of radar reference bearing caliberating device - Google Patents
A kind of radar reference bearing caliberating device Download PDFInfo
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- CN108535722A CN108535722A CN201810303858.3A CN201810303858A CN108535722A CN 108535722 A CN108535722 A CN 108535722A CN 201810303858 A CN201810303858 A CN 201810303858A CN 108535722 A CN108535722 A CN 108535722A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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Abstract
The invention discloses a kind of radar reference bearing caliberating devices, the aircraft angle information that radar geographical location, aircraft geographical location and radar detection of the described device based on acquisition are arrived, the angular deviation data for reference-calibrating orientation can be obtained by operations such as data fitting and smoothings, convenience of calculation is simple, greatly reduce the time of calibration, in addition by the way that data disaply moudle and data output interface module is arranged, convenient for external and the caliberating device internal data interaction and visualization display, the usage experience of user is improved；In addition, the modules used are the conventional chip of superior performance, microprocessor etc. in the prior art so that caliberating device low cost of the invention, precision are high and applied widely.
Description
Technical Field
The invention belongs to the technical field of information control, and particularly relates to a radar reference azimuth calibration device.
Background
The radar reference azimuth calibration is the basis for the radar to measure the target azimuth, and the calibration accuracy is directly related to the accuracy of subsequent target azimuth measurement. At present, a gyro electronic north finder is mostly used for calibrating a reference azimuth, however, the calibration equipment is expensive in manufacturing cost and long in time required by automatic calibration, and meanwhile, due to the limitation of a measurement principle, the gyro north finder can only work in a medium-latitude and low-latitude area with precision, and the application area is limited. Therefore, how to obtain a calibration device with high calibration speed, wide application range, low cost and high precision is a problem which needs to be solved urgently at present.
Disclosure of Invention
The invention mainly solves the technical problems of high manufacturing cost, limited use area and long calibration time of a reference azimuth calibration device in the prior art.
In order to solve the technical problems, the invention adopts a technical scheme that: there is provided a radar reference azimuth calibration apparatus, the calibration apparatus including: the positioning module is used for acquiring the geographic position information of the radar; the real-time receiving module is used for acquiring the geographical position information of the airplane in real time; the angle input module is used for analyzing the airplane angle information measured by the radar; and the data processing control module outputs angle deviation information for radar reference azimuth calibration based on the geographic position information of the radar, the geographic position information of the airplane and the analyzed airplane angle information.
In another embodiment of the radar reference azimuth calibration device of the present invention, the calibration device further includes a data output interface module, which is configured to receive the angle deviation information output by the data processing control module, and transmit the angle deviation information to the radar for calibration.
In another embodiment of the radar reference azimuth calibration apparatus of the present invention, the calibration apparatus further includes a data display module, which is configured to receive data from the data processing control module and display the received data.
In another embodiment of the radar reference azimuth calibrating device of the present invention, the geographic position information is longitude, latitude and altitude.
In another embodiment of the radar reference azimuth calibration device of the present invention, the calibration device includes a housing, and the positioning module, the real-time receiving module, the angle input module, the data processing control module, the data output interface module, and the data display module are all disposed inside the housing; and an interface socket connected with the data output interface module is arranged on the shell and is used for being connected with external equipment and transmitting the data of the calibration device to the external equipment.
In another embodiment of the radar reference azimuth calibration device, a working button is arranged on the casing, and when the casing is in a power-off state, the working button is firstly pressed for a long time, so that the calibration device enters a power-on self-test mode for confirming that all modules in the calibration device can be powered on normally to work; then, the working button is pressed for a short time, the calibration device enters a synchronous operation mode, and at the moment, a positioning module, a real-time receiving module, an angle input module and a data processing control module in the calibration device start data processing work at the same time; and in the starting state, if the working button is pressed for a long time, the calibration device enters a shutdown mode, and the calibration device is shut down.
In another embodiment of the radar reference azimuth calibration device, an antenna matched with the real-time receiving module and an antenna matched with the positioning module are arranged on the casing of the calibration device, a display screen electrically connected with the data display module is arranged, and a base with a fastening screw hole is arranged at the bottom of the casing.
In another embodiment of the radar reference azimuth calibration device, the calibration device further comprises a power supply module for supplying power required by operation to the calibration device.
In another embodiment of the radar reference azimuth calibration device, the positioning module is a GPS/BDS positioning module, and the GPS/BDS positioning module supports single-system positioning and dual-system joint positioning of a GPS and a BDS.
In another embodiment of the radar reference azimuth calibration device, the real-time receiving module is an ADS-B receiver, the angle input module is a microprocessor AT89S51, and the data processing control module is a microcontroller STM32F100R 1.
The invention has the beneficial effects that: the invention discloses a radar reference azimuth calibration device, which can obtain angle deviation data for calibrating a reference azimuth through operations such as data fitting smoothing and the like based on the obtained radar geographical position, the airplane geographical position and airplane angle information detected by a radar, is convenient and simple to calculate, greatly reduces calibration time, is convenient for interaction and visual display of external data and internal data of the calibration device by arranging a data display module and a data output interface module, and improves the use experience of a user; in addition, all the modules are common chips, microprocessors and the like with excellent performance in the prior art, so that the calibration device is low in manufacturing cost, high in precision and wide in application range.
Drawings
FIG. 1 is a schematic diagram illustrating an embodiment of a radar reference azimuth calibration apparatus according to the present invention;
FIG. 2 is a schematic diagram of another embodiment of a radar reference azimuth calibration apparatus according to the present invention;
FIG. 3 is a schematic diagram of another embodiment of a radar reference azimuth calibration apparatus according to the present invention;
FIG. 4 is a schematic diagram of an embodiment of the radar reference azimuth calibrating apparatus according to the present invention;
FIG. 5 is a schematic diagram of another embodiment of the external form of a radar reference azimuth calibrating apparatus according to the present invention;
FIG. 6 is a schematic diagram of another embodiment of the external form of a radar reference azimuth calibrating apparatus according to the present invention;
FIG. 7 is a flowchart showing the operation of a data processing control module in the radar reference orientation calibrating apparatus according to the present invention;
FIG. 8 is a flowchart illustrating the operation of the GPS/BDS positioning module in the radar referencing apparatus according to the present invention;
FIG. 9 is a flow chart showing the operation of a real-time receiving module in the radar reference orientation calibration apparatus according to the present invention;
fig. 10 is a flowchart illustrating the operation of an angle input module in a radar reference orientation calibrating apparatus according to the present invention.
Detailed Description
In order to facilitate an understanding of the invention, the invention is described in more detail below with reference to the accompanying drawings and specific examples. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It is to be noted that, unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
The embodiments will be described in detail below with reference to the accompanying drawings.
Fig. 1 is a schematic composition diagram of an embodiment of a radar reference azimuth calibration device. As can be seen from fig. 1, the calibration apparatus 1 includes: the system comprises a positioning module 11, a real-time receiving module 12, an angle input module 13 and a data processing control module 14. The positioning module 11 is configured to obtain geographic location information of the radar, such as latitude, longitude, and altitude information of the radar; the real-time receiving module 12 is configured to receive geographic position information of the aircraft, such as latitude, longitude, altitude, and the like, in real time; the angle input module 13 is configured to acquire and analyze aircraft angle information measured by the radar; and the data processing control module 14 performs data fitting, smoothing and resolving on the basis of the geographic position information of the radar, the geographic position information of the airplane and the airplane angle information, and outputs an angle deviation of a radar reference azimuth, wherein the angle deviation can be used for determining the radar reference azimuth.
Preferably, the positioning module 11 is mainly used for acquiring geographic position information of a position where the radar is located, and transmitting the geographic position information to the data processing control module 14, which may be a common GPS positioning module, a Beidou satellite positioning module (also referred to as a BDS positioning module), or a combined GPS/BDS positioning module formed by a GPS and a Beidou satellite positioning module. Specifically, in the present invention, the positioning module 11 employs a GPS/BDS dual system positioning technology. The GPS/BDS dual-mode receiver of the GPS/BDS positioning module can adopt an ATGM332D chip with high sensitivity, the two frequency bands are 1575.42MHz and 1561.098MHz respectively, the sensitivity is up to-160 dBm, the receiver comprises 32 tracking channels, and can simultaneously receive all GPS and BDS visible satellites. The single system positioning and the double system combined positioning of the GPS and the BDS are supported, the positioning precision is 3m when only the GPS single system is used for positioning, the positioning precision is 5m when only the BDS single system is used for positioning, and the positioning precision is 2.5m when the double system combined positioning is adopted. The GPS/BDS dual-system positioning technology is adopted, so that the use flexibility of the calibration device is improved, the positioning modes can be freely switched in different environments, the positioning precision of the calibration device is improved, and the use range of the calibration device is expanded.
Preferably, the real-time receiving module 12 is an ADS-B (automatic dependent surveillance-broadcast) receiving module, which may be specifically an ADS-B receiver, and cooperates with an onboard ADS-B transmitter on a measured aircraft to receive a message, which is sent by the onboard ADS-B transmitter in real time and relates to the latitude, longitude, altitude, and other geographic location information of the aircraft, in real time, and transmits the geographic location information of the aircraft to the data processing control module 14 after parsing. Specifically, the ADS-B receiving module in the invention adopts a BeckBAR 6216 receiver, and the receiver has the advantages of large working temperature range, low power, simple maintenance and reliable performance. The working frequency is 1090MHz, the coverage is 350 km, the data format is standard DF17, the data output interface is TCP network port data, and the power supply mode adopts POE (Power Over Ethernet) technology. Through determination, the working temperature adaptive range of the calibration device 1 is as follows: the storage temperature adaptive range is-10-50 ℃, and the storage temperature adaptive range is as follows: the temperature is 55 ℃ below zero to 70 ℃, namely the calibration device can adapt to different temperature environments, and the universality of the calibration device is improved.
Preferably, the angle input module 13 is electrically connected to the data processing control module 14, and is configured to analyze aircraft angle information measured by the radar, and then transmit the analyzed aircraft angle information to the data processing control module 14. Specifically, the angle input module 13 adopts a high-performance 8-bit microprocessor AT89S51, the microprocessor has 40 pins, a 4Kbytes Flash internal memory, a 128bytes random access data memory, 32 external bidirectional input/output ports, 5 interrupt priority level 2-layer interrupt nested interrupts, and 2 16-bit programmable timing counters, and has the advantages of low cost and low power consumption.
Preferably, the data processing control module 14 employs the ST corporation to deliver an ARM-based 32-bit microcontroller STM32100R 1. The microcontroller adopts an ARM Cortex M3 chip, has a plurality of peripherals and functions such as LCD, TIMER, IIC, CAN, ADC, RTC and DMA, and has high integration level; 84 interrupts, 16 levels of programmable priority, and all pins can be used as interrupt inputs; low cost and low power consumption. The data processing control module 14 receives the radar geographical position information transmitted by the positioning module 11, the airplane geographical position information transmitted by the real-time receiving module 12, and the airplane angle information measured by the radar transmitted by the angle input module, and outputs the angle deviation of the radar reference azimuth through the steps of data fitting, smoothing and resolving. Because the input parameters used in the calculation of the angle deviation are few, and the algorithm is simple, the calculation amount is greatly reduced, and the calibration time is reduced to a certain extent.
Specifically, the specific process of outputting the angular deviation of the radar reference azimuth after the data fitting, smoothing and calculating steps are performed after the data processing control module 14 acquires the radar geographical position information, the airplane geographical position information and the airplane angle information, and includes:
step 1, establishing an earth rectangular coordinate system O-XYZ, and converting the received information into coordinate values of the same rectangular coordinate system. Wherein the origin of coordinates O coincides with the earth centroid, the Z axis points to the earth north pole, the X axis points to the meridian of the first time, and the Y axis is perpendicular to the XOZ plane; then the geographic position information of the radar is obtained (B)radar,Lradar,Hradar) And geographic position information data matrix collected by ADS-B receiving module in T time interval and coming from m batches of airplanesTransforming to the earth rectangular coordinate system O-XYZ to obtain the real coordinate (x) of the radar in the earth rectangular coordinate system O-XYZradar，yradar，zradar) And the real coordinate matrix of m batches of airplanes in the earth rectangular coordinate system O-XYZ in the T time interval acquired by the ADS-B receiving equipment wherein Represents tiJ is more than or equal to 1 and less than or equal to m in the real coordinates of jth batch of airplanes acquired by the ADS-B receiving module under the earth rectangular coordinate system O-XYZ. The specific conversion formula is as follows:
wherein B, L, H are latitude, longitude and altitude values of an airplane or a radar, respectively, N is a curvature radius of a prime-unitary circle of a geographic position data recording position point, e is a first eccentricity of an ellipsoid, and if lR represents a major semi-axis of the earth and sR represents a minor semi-axis of the earth, N and e satisfy the following relational expression:
wherein lR is 6378136.49, and sR is 6356755.00.
Step 2, calculating a real azimuth angle matrix of m batches of airplanes relative to the radar in T time
Assuming that the radar is located at a point A of the earth, sending a tangent line of the earth along the direction of the meridian of the earth from the point A, wherein the tangent line is intersected with the Z axis of the geospatial rectangular coordinate system at a point A'; assuming that the airplane is located at a point D in a geospatial rectangular coordinate system, wherein the point D' is a projection point of the airplane on a plane tangent to the earth by a radar point A; the point C is the intersection point (north pole) of the Z axis of the geospatial rectangular coordinate system and the earth; the point O is the origin of the geospatial rectangular coordinate system (the earth centroid). Geometric triangles AOC, AOA ', AOD, ADD ', a ' D ' D, A ' AD ' and geometric tetragons OADD ' can be constructed.
Since the point A 'is the intersection point of the tangent of the point A along the direction of the earth meridian and the Z axis of the earth space rectangular coordinate system, the coordinate of the point A' is (00 l)OA')。
in the formula,lAO、lOC、lACThe distances between the radar and the earth centroid, between the earth centroid and the north pole and between the radar and the north pole respectively satisfy the following relational expressions:
the following relationship can be obtained using the trigonometric relationship:
in the formula,lAO、lAD、lODThe distances between the radar and the earth mass center, between the radar and the airplane and between the earth mass center and the airplane respectively satisfy the following relational expressions:
then tiTrue bearing value of jth aircraft relative to radar at time instantThe following relation is satisfied:
in the formula,
step 3, according to the real azimuth angle matrix of m batches of airplanes relative to the radar in the T time intervalAnd radar measured target azimuth matrixCalculating a calibration angle matrix required for radar calibrationThe specific calculation formula is as follows:
and 4, calculating calibration angle deviation information delta required by radar calibration. Defining calibration angles of the same batch of airplanes at different momentsAndthe closeness of (A) is the reciprocal of the geometric distance between the two, then
Due to the fact thatDegree of proximity to itselfIs composed ofProvision for wherein ,tu≠tv。
Calibrating angles according to different moments of jth aircraftConstructing a jth batch of calibration angle proximity matrix G at different momentsj：
in the formula,(1. ltoreq. u.ltoreq.n, 1. ltoreq. v.ltoreq.n) larger than the total number of the moleculesAndthe higher the proximity of, i.e. the closer the calibration angle required for the radar is to the jth aircraftAnd
presence of GjMaximum eigenvalue λ ofj> 0, its corresponding positive eigenvectorMake itThenIs thatAnd calibrating the closeness degree of the angle relative to the jth airplane at different moments. Then the process of the first step is carried out,
defining the calibration angle required by the radar for different batches of airplanesAndthe closeness of (A) is the reciprocal of the geometric distance between the two, then
Due to the fact thatDegree of closeness to itself is gpp1/0 ═ infinity, specify gpp＝100·max(gpq). Wherein p ≠ q.
According to the calibration angle required by radar calibration for different batches of airplanesConstructing a proximity matrix G of aircraft radar calibration angles in different batches:
in the formula,gpq(1. ltoreq. p.ltoreq.m, 1. ltoreq. q.ltoreq.m) is larger thanAndthe higher the proximity, i.e. the closer the required calibration angle of the radar isAnd
maximum eigenvalue λ > 0 for presence of G, which corresponds to a positive eigenvectorMake itThen ejIs thatAngle deviation information relative to the closeness of the calibration angles of other aircraft
According to the radar calibration device, based on the acquired radar geographic position, the acquired airplane geographic position and the airplane angle information detected by the radar, the angle deviation data for calibrating the radar reference azimuth can be obtained through operations such as data fitting smoothing and the like, the calculation is convenient and simple, and the calibration time is greatly reduced.
Fig. 2 is a schematic composition diagram of another embodiment of the radar reference azimuth calibrating apparatus. On the basis of fig. 1, the calibration apparatus 2 in fig. 2 further includes a digital output interface module 25, where the digital output interface module 25 is electrically connected to the data processing control module 24, and is configured to receive the angle deviation information output from the data processing control module 24 and transmit the deviation information to an external device, where the external device may be a radar, and in this case, the radar is convenient to use the deviation information to calibrate the radar reference azimuth.
Preferably, the data output interface module 25 outputs valid data by using a USB interface controller of the microcontroller STM32F100R 1.
In this embodiment, the data output interface module transmits the angle deviation data calculated by the data processing control module to an external device, such as a radar, so that the external device can perform calibration using the data. The method and the device realize information intercommunication between the internal data and the external equipment, and ensure the convenience of the external equipment for acquiring the data.
Fig. 3 is a schematic composition diagram of another embodiment of the radar reference azimuth calibrating apparatus, and based on fig. 1 and fig. 2, the calibrating apparatus 3 in fig. 3 further includes a data display module 36, where the data display module 36 is configured to acquire data from the data processing control module 34 and display the acquired data.
As can be seen from the above content, the data display module 36 increases the transparency of the internal data of the calibration apparatus, so that the user can clearly know the internal data of the calibration apparatus, thereby improving the user experience of the user.
Preferably, the calibration device 3 is further provided with a power supply module for providing a power supply required for operation for the calibration device 3. Specifically, the power supply module performs DC-DC conversion on 7.2V voltage provided by the battery by using chips MAX761 and MAX765, so as to provide an efficient and stable power supply for the calibration apparatus 3.
In addition, the performance of the calibration device 3 in the invention is also counted, wherein the average fault interval time MTBF of the calibration device 3 in the invention is not less than 300 hours after multiple monitoring of the calibration device 3, namely the calibration device 3 in the invention has good system stability, and can meet the requirement of actual application environment on the stability of the calibration device 3; and when the calibration device 3 breaks down, the artificial mean time to fail is not more than 30min, which also reflects the easy management and maintenance of the calibration device 3 in the invention and increases the practicability of the calibration device.
Fig. 4 is a schematic diagram showing an embodiment of the external form of the radar reference azimuth calibrating apparatus according to the present invention. In fig. 4, the calibration apparatus 4 includes a housing 41, wherein the positioning module, the real-time receiving module, the angle input module, the data processing control module, the data output interface module, and the data display module are all disposed inside the housing 41.
Preferably, an interface socket 43 electrically connected to a data output interface module inside the calibration apparatus 4 may be further disposed on the housing 41 of the calibration apparatus 4, and the interface socket 43 is used for connecting the calibration apparatus 4 and an external device, so as to facilitate data transmission between the calibration apparatus 4 and the external device. Specifically, the interface socket 43 may be disposed on the housing 41 in the form of a USB interface, and the external device may be a radar. Specifically, the interface socket 43 may be disposed at any position of the housing 41, for example, at the front outer surface of the housing 41, or the interface socket 43 may be disposed at any suitable position of the housing 41 of the calibration device 4 according to the requirement.
Preferably, an operating button 42 may be provided on the housing 41, said operating button 42 enabling the calibration device 4 to be placed in different modes: in a power-off state, firstly, pressing the working button 42 for a long time, and enabling the calibration device 4 to enter a power-on self-test mode for confirming that all modules in the calibration device 4 can be powered on normally to work; then, the working button 42 is pressed for a short time, the calibration device 4 enters a synchronous operation mode, and at this time, a positioning module, a real-time receiving module, an angle input module, a data processing control module and the like in the calibration device 4 start to perform data processing work simultaneously; in the power-on state, the working button 42 is pressed for a long time, the calibration device 4 enters the power-off mode, all modules inside the calibration device 4 stop working and are turned off, and the calibration device 4 is turned off.
Preferably, a display screen 44 may be further disposed on the housing 41 of the calibration device 4, and is electrically connected to the data display module inside the calibration device 4, and is configured to receive data from the data display module and display the data, for example, in a power-on self-test process, the data processing control module sends self-test information of each module in the calibration device 4 to the data display module, and the data display module sends the received self-test information to the display screen 44 for displaying, where the self-test information represents state information of each module, such as a normal state or an abnormal state. Specifically, the display 44 may be an LCD display, a liquid crystal display, or the like, which is commonly used. Preferably, the display screen 44 is a 2.4-inch LCD display screen of ALIENTEK, and the content displayed on the LCD display screen includes status information of each module, such as "OPERATING WELL" or "ERROR" and calibration angle.
Preferably, an antenna may be further disposed on the housing 41 of the calibration device 4 to facilitate data transmission between the calibration device 4 and an external device. The antennas include an antenna 45 for use with the real-time receiving module and an antenna 46 for use with the positioning module, respectively. Specifically, the antenna 46 includes a GPS antenna for facilitating GPS positioning and a beidou antenna for facilitating beidou satellite positioning (i.e., BDS positioning).
Preferably, the bottom of the housing 41 of the calibration device 4 is further provided with a base 47 for fixing the calibration device 4.
Fig. 5 is a schematic diagram showing another embodiment of the external form of the radar reference azimuth calibrating apparatus according to the present invention. In fig. 5, the calibration device 5 includes a base 52 provided with fastening screw holes 53, the base 52 being provided at the bottom of the housing 51. The top of the housing 51 is provided with a plurality of antennas, including a GPS antenna 54 for facilitating GPS positioning, a beidou antenna 55 for facilitating beidou satellite positioning (i.e., BDS positioning), and an antenna 56 electrically connected to the real-time receiving module, so as to receive real-time geographical location information of the aircraft from the outside.
Fig. 6 is a schematic diagram showing another embodiment of the external form of the radar reference azimuth calibrating apparatus according to the present invention. On the basis of fig. 4, the housing 61 of the calibration device 6 in fig. 6 is further provided with an interface socket 68, and the interface socket 68 may be disposed at any position of the housing 61 as required, and specifically, may be disposed on the rear outer surface of the housing 61. The interface socket 68 is electrically connected with an angle input module inside the calibration device 6, and is used for acquiring the aircraft angle information detected by the radar from the outside.
Fig. 7 is a flowchart showing the operation of the data processing control module in the radar reference azimuth calibrating apparatus according to the present invention. In fig. 7, the work flow of the data processing control module is as follows:
step S71: the radar reference azimuth calibration device starts power-on self-test by long pressing a working button;
step S72: pressing a working button to start the data processing control module;
step S73: judging whether the data processing control module works normally, if so, entering a step S74, otherwise, entering a step S75;
step S74: the data display module displays "1 OPERATING WELL" and proceeds to step S76;
step S76: the data processing control module is used for resolving, smoothing and filtering the received radar geographical position information, the received airplane geographical position information and the airplane angle information detected by the radar, and sending the data to the data display module 6 for data display;
step S77: when the calibration device is determined not to be used any more, the working button is pressed for a long time in a starting state, and the data processing control module is closed;
step S78: the flow is finished;
step S75: if the data display module displays "1 ERROR", the process proceeds to step S79;
step S79: and pressing a working button, resetting and restarting the data processing control module, and returning to the step S71.
Fig. 8 is a flowchart showing the operation of the GPS/BDS positioning module in the radar reference azimuth calibrating apparatus according to the present invention. In fig. 8, the working flow of the GPS/BDS positioning module is as follows:
step S81: the radar reference azimuth calibration device starts power-on self-test by long pressing a working button;
step S82: pressing a working button to start the GPS/BDS positioning module;
step S83: judging whether the GPS/BDS positioning module works normally, if so, entering the step S84, otherwise, entering the step S85;
step S84: the data display module displays "2 OPERATING WELL", and the process proceeds to step S86;
step S86: the GPS/BDS positioning module starts to acquire the geographic position information of the radar and transmits the information to the data processing control module;
step S87: when the calibration device is determined not to be used any more, the working button is pressed for a long time in the starting state, and the GPS/BDS positioning module is closed;
step S88: the flow is finished;
step S85: if the data display module displays "2 ERROR", the process goes to step S89;
step S89: and pressing a working button, resetting and restarting the GPS/BDS positioning module, and returning to the step S81.
Fig. 9 shows a flow chart of the operation of the real-time receiving module in the radar reference orientation calibration apparatus of the present invention. In fig. 9, the work flow of the real-time receiving module is as follows:
step S91: the radar reference azimuth calibration device starts power-on self-test by long pressing a working button;
step S92: pressing a working button to start the real-time receiving module;
step S93: judging whether the real-time receiving module works normally, if so, entering a step S94, otherwise, entering a step S95;
step S94: the data display module displays "3 OPERATING WELL", and the process proceeds to step S96;
step S96: the real-time receiving module starts to acquire and analyze the received message about the geographical position information of the airplane and transmits the analyzed geographical position information of the airplane to the data processing control module after the message is analyzed;
step S97: when the calibration device is determined not to be used any more, the working button is pressed for a long time in a starting-up state, and the real-time receiving module is closed;
step S98: the flow is finished;
step S95: if the data display module displays "3 ERROR", the process goes to step S99;
step S99: and pressing a working button, resetting and restarting the real-time receiving module, and returning to the step S91.
Fig. 10 is a flowchart showing the operation of the angle input module in the radar reference orientation calibrating apparatus according to the present invention. In fig. 10, the work flow of the angle input module is as follows:
step S101: the radar reference azimuth calibration device starts power-on self-test by long pressing a working button;
step S102: pressing a working button to start the angle input module;
step S103: judging whether the angle input module works normally, if so, entering a step S104, otherwise, entering a step S105;
step S104: the data display module displays "4 OPERATING WELL", and the process proceeds to step S106;
step S106: the angle input module acquires the airplane angle information detected or measured by the radar;
step S107: when the calibration device is determined not to be used any more, the working button is pressed for a long time in a starting-up state, and the angle input module is closed;
step S108: the flow is finished;
step S105: if the data display module displays "4 ERROR", the process goes to step S109;
step S109: and pressing a working button, resetting and restarting the angle input module, and returning to the step S101.
Based on the description of the embodiment, the invention discloses a radar reference azimuth calibration device, which can obtain angle deviation data for calibration through operations such as data fitting smoothness and the like based on the acquired radar geographical position, the airplane geographical position and airplane angle information detected by a radar, has the advantages of less input parameters, convenient and simple calculation and greatly reduced calibration time, and is convenient for interaction and visual display of external data and internal data of the calibration device by arranging a data display module and a data output interface module, thereby improving the use experience of users; in addition, all the modules are common chips, microprocessors and the like with excellent performance in the prior art, so that the calibration device is low in manufacturing cost, high in precision and wide in application range.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structural changes made by using the contents of the present specification and the drawings, or any other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A radar reference azimuth calibration device, characterized in that the calibration device comprises:
the positioning module is used for acquiring the geographic position information of the radar;
the real-time receiving module is used for acquiring the geographical position information of the airplane in real time;
the angle input module is used for analyzing the airplane angle information measured by the radar;
and the data processing control module outputs angle deviation information for radar reference azimuth calibration based on the geographic position information of the radar, the geographic position information of the airplane and the analyzed airplane angle information.
2. The radar reference azimuth calibrating device according to claim 1, wherein the calibrating device further comprises a data output interface module, which is configured to receive the angular deviation information output by the data processing control module and transmit the information to the radar for calibration.
3. The radar reference azimuth calibrating device according to claim 2, wherein said calibrating device further comprises a data display module for receiving data from said data processing control module and displaying the received data.
4. The radar-based reference azimuth calibration device according to claim 1, wherein the geographical location information is longitude, latitude and altitude.
5. The radar reference azimuth calibrating device according to claim 3, wherein the calibrating device comprises a housing, and the positioning module, the real-time receiving module, the angle input module, the data processing control module, the data output interface module and the data display module are all disposed inside the housing; and an interface socket connected with the data output interface module is arranged on the shell and is used for being connected with external equipment and transmitting the data of the calibration device to the external equipment.
6. The radar reference azimuth calibrating device according to claim 5, wherein a working button is arranged on the housing, and when the working button is pressed for a long time in a power-off state, the calibrating device enters a power-on self-test mode for confirming that all modules in the calibrating device can be powered on normally to work; then, the working button is pressed for a short time, the calibration device enters a synchronous operation mode, and at the moment, a positioning module, a real-time receiving module, an angle input module and a data processing control module in the calibration device start data processing work at the same time; and in the starting state, if the working button is pressed for a long time, the calibration device enters a shutdown mode, and the calibration device is shut down.
7. The radar reference azimuth calibrating device according to claim 5, wherein an antenna used with the real-time receiving module and an antenna used with the positioning module are disposed on the casing of the calibrating device, a display screen is electrically connected with the data display module, and a base having a fastening screw hole is disposed at the bottom of the casing.
8. The radar reference azimuth calibration device according to claim 7, wherein the calibration device further comprises a power supply module to provide power supply required for operation of the calibration device.
9. The radar reference azimuth calibrating device according to claim 2, wherein said positioning module is a GPS/BDS positioning module, and said GPS/BDS positioning module supports single system positioning and dual system joint positioning of GPS and BDS.
10. The radar reference azimuth calibrating device according to claim 2, wherein the real-time receiving module is an ADS-B receiver, the angle input module is a microprocessor AT89S51, and the data processing control module is a microcontroller STM32F100R 1.
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