CN108897331A - A kind of aircraft altitude control method and system based on Radar Technology - Google Patents
A kind of aircraft altitude control method and system based on Radar Technology Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 31
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- 238000005259 measurement Methods 0.000 claims abstract description 36
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- 230000009123 feedback regulation Effects 0.000 claims abstract description 11
- 230000005540 biological transmission Effects 0.000 claims abstract description 4
- 238000004891 communication Methods 0.000 claims abstract description 4
- 238000007493 shaping process Methods 0.000 claims description 13
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- 238000001514 detection method Methods 0.000 claims description 8
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- 238000003199 nucleic acid amplification method Methods 0.000 claims description 6
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/04—Control of altitude or depth
- G05D1/042—Control of altitude or depth specially adapted for aircraft
-
- 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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
-
- 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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- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses a kind of aircraft altitude control method and system based on Radar Technology, including Omnidirectional rotation pedestal, shielding protection cover are equipped with radar range finding unit and feedback regulation unit inside shielding protection cover；Radar range finding unit includes antenna front ends, antenna front ends include the transmitting antenna for connecting transmission channel and the receiving antenna of connection receiving channel, the input terminal of transmitting antenna is connected with the power amplifier for amplifying driving, and the output end of receiving antenna is connected with low-noise amplifier；The input channel end connection transmitting modulation unit of antenna front ends, the output channel end of antenna front ends is connected with the phase measurement cells of technology when surveying based on high-precision；The output end of phase measurement cells is also connected with for the wireless signal transmitter with feedback regulation unit communication.The present invention effectively increases the measurement accuracy and ranging range of radar ranging system, and realizes the closed loop feedback adjustment to aircraft altitude, and control precision high stability can be good.
Description
Technical field
The present invention relates to radar system field, specially a kind of aircraft altitude control method based on Radar Technology and it is
System.
Background technique
In aircraft (such as unmanned plane) control system, height control is the height realization arrived based on real-time measurement, thus high
The stationarity of control is spent mainly i.e. depending on the measurement accuracy and real-time of altimeter.It is usually at present directly by height in aircraft
Degree meter carries out elevation carrection, and the type of altimeter is more, such as GPS, barometer, ultrasonic sensor, and wherein GPS is only applicable to
Spacious environment blocks and when signal stabilization survey high without trees or without building, and relative altitude precision is low, and GPS data
Renewal frequency is 1Hz, and real-time is poor；Barometer is easy that it is big to be surveyed high drift by airflow influence；Supersonic finding range is short, is easy
By external environmental interference, and data renewal frequency is low, is unable to satisfy high-altitude and precisely determines high request, is not suitable for being applied to 10 meters or more
Fixed height under the environment such as height and the water surface, meadow, jungle.The all types of generally existing measurement height-precisions of altimeter are low, data are unstable
It is fixed, real-time is poor, and the problems such as be easy by external environmental interference, for fixed high control when low latitude is fixed high, it is also possible to occur tight
The measurement height drift phenomenon of weight, cannot reflect true altitude, thus is directly based upon altimeter data and carries out height control, it is difficult to
Control unmanned plane smooth flight.
Radar finds target with the method for radio and measures their spatial position.Therefore, radar is also referred to as
" radio-positioning ".Radar is the electronic equipment using electromagnetic wave detection target.Radar emission electromagnetic wave is irradiated target
And its echo is received, distance, range rate (radial velocity), orientation, height thus to obtain target to electromagnetic emission point
Etc. information.
Multifrequency radar is widely used in elevation carrection at present, however, there are still deficiencies for these multifrequency radar methods：Double frequency ratio
Phase method, which exists, to be expanded ranging range and proposes high-precision contradiction；Irregular multifrequency method needs to emit multiple groups two-frequency signal, searching algorithm
Operand is big, system complex；Multiple frequency to dual frequency method requires range accuracy harsher；It is more that secondary phase method is also required to launching frequency
Deng.In short, multifrequency radar must emit multiple frequency signals (claiming " measurement ruler signal "), and could be same by certain algorithm search frequency point
Shi Shixian high-precision, a wide range of ranging.However, the switching of multifrequency measurement ruler can reduce measurement real-time, and introduce the machine of measurement ruler switching
Measurement error caused by tool and electrical shake, and switch speed (several seconds grade) is slower than dbjective state variation (as vibrated bridge, high building
Deng).
Such as application publication number is a kind of height control method and control system for aircraft of 106681344A, it should
Method and step includes：1) radar, accelerometer, barometer and GPS module are arranged in aircraft respectively；2) aircraft flight
In the process, if in radar valid analysing range, radar, accelerometer, barometer and the letter of GPS module detection are first obtained
Breath is merged, and result is merged with the information of detections of radar again after fusion；Otherwise execute based on accelerometer, barometer with
And the Data Fusion of GPS module；Obtain current level value, current vertical velocity amplitude and current vertical acceleration value；3)
Height control is carried out to aircraft according to obtained current level value, vertical speed value and normal acceleration value, though this method
It so can be realized the measurement and regulation to height, but this method range accuracy is limited, and elevation carrection distance is by radar
The limitation of emission signal frequency.
Summary of the invention
In order to overcome the shortcomings of that prior art, the present invention provide a kind of aircraft altitude control based on Radar Technology
Method and system can effectively solve the problem of background technique proposes.
The technical solution adopted by the present invention to solve the technical problems is：
A kind of aircraft altitude control method and system based on Radar Technology, including for being fixedly mounted on board the aircraft
Omnidirectional rotation pedestal, Omnidirectional rotation pedestal back-off is fixed on aircraft lower surface, and is equipped on Omnidirectional rotation pedestal
For reducing the shielding protection cover of external signal interference, the thunder for carrying out height detection is installed inside the shielding protection cover
Feedback regulation unit up to distance measuring unit and for carrying out height adjustment；
The radar range finding unit includes the antenna front ends for carrying out the transmitting-receiving of signal, and the antenna front ends include connection
The transmitting antenna of transmission channel and the receiving antenna of connection receiving channel, the input terminal of the transmitting antenna are connected with for carrying out
Amplify the power amplifier of driving, the output end of receiving antenna is connected with the low noise amplification for receive signal amplification
Device；The input channel end of the antenna front ends connects the transmitting modulation unit for carrying out transmitting signal modulation, antenna front ends
Output channel end is connected with the phase measurement cells of technology when surveying based on high-precision；The output end of the phase measurement cells also connects
It is connected to for the wireless signal transmitter with feedback regulation unit communication；
The phase measurement cells include receiving the low-pass filter of signal, for providing reference frequency signal for introducing
Derived reference signal and TDC based on delay line insertion principle chip when surveying, the derived reference signal has two-way mutually orthogonal
CF signal output, each output road are in series with signal mixer, and the input terminal of the two paths of signals frequency mixer draws respectively
Enter to have to receive signal and transmitting signal, the output end of signal mixer is in series with for filtering shaping circuit, two-way filter shape
Circuit exports simultaneously is loaded onto chip when TDC is surveyed；
The feedback adjustment unit includes the MCU controller for carrying out signal processing and instruction output, the MCU control
The signal input part of device is connected with for receiving the wireless signal receiver from wireless signal transmitter, the MCU controller
Regulation pwm signal output end be connected with highly regulated unit for carrying out height adjustment and fly for obtaining current flight device
The flight monitoring unit of row state.
Further, the Omnidirectional rotation pedestal include for being buckled to eight pawl pedestals being mounted on aircraft lower surface,
It is inlaid with rotary drive motor at the center of the eight pawls pedestal, is socketed in the drive shaft of the rotary drive motor flexible
Axis, the lower surface of the telescopic shaft are equipped with surface and dig the rotating base ontology for having fixed groove.
Further, the shielding protection cover includes using antenna house matrix made of macromolecule space composite material, institute
The outer surface for stating antenna house matrix is provided with the frequency-selective surfaces based on ten word cell of gradual change, the frequency-selective surfaces and day
Irdome matrix is compounded to form hemispherical clamshell and connects in the outer surface of radar range finding unit.
Further, the transmitting modulation unit includes carrier signal source for providing carrier signal and for providing hair
The intermediate-freuqncy signal source for the number of penetrating, the carrier signal source and intermediate-freuqncy signal source output signal export modulated signal extremely after frequency mixer
The input terminal of power amplifier.
Further, the highly regulated unit includes the vertical speed controller and use for carrying out vertical height adjustment
In the pitch controller for carrying out the adjustment of aircraft pitch angle, the vertical speed controller exports revolving speed adjustment signal to spiral
Paddle drives steering engine, and pitch controller is for outputing signal to gyroscope control terminal.
Further, the flight monitoring unit includes the revolving speed for acquiring current flight device driving motor working condition
Sensor, the attitude transducer for acquiring current flight device pitch angle and the speed biography for detecting current flight device horizontal velocity
Sensor, the output signal of the speed probe, attitude transducer and velocity sensor are conveyed to the analog-to-digital conversion of MCU controller
Port.
Further, the working method for control radar distance measuring unit includes：
Step 101：Emit continuous frequency modulation radar signal, the transmitting modulation unit modulation generates frequency according to certain rule
The signal of variation emits after being amplified by power amplifier by transmitting antenna to the ground；
Step 102：Radar echo signal is received, the signal of transmitting encounters ground obstacle back reflection and returns, and passes through shielding
Shield filters out interference noise, and phase measurement cells are sent into after being received by receiving antenna and are handled；
Step 103：Phase difference calculating when survey is led to after transmitting signal and reception signal are utilized filtering shaping circuit shaping
It crosses chip when TDC is surveyed and calculates the two time difference, combine aircraft speed to obtain current flight device distance ground after being converted into phase difference
Face height.
Compared with prior art, the beneficial effects of the invention are as follows：
(1) present invention is inserted into principle using based on delay line by the way that phase measurement cells are arranged in radar range finding unit
TDC survey when chip carry out high precision time measurement, by reference to signal source introduce reference signal, it is poor with original high-frequency signal
It is transformed into the low frequency signal for retaining former phase information after frequency, extends time of measuring by reducing frequency to improve phase measurement
Precision, and then the measurement accuracy to height distance difference is improved, so that elevation carrection is more accurate, carried out convenient for aircraft high-precision
Control is spent, while also increasing distance to survey range；
(2) present invention increases frequency-selective surfaces on traditional antenna house, using artificial by setting shielding protection cover
Electromagnetic structure forms the FSS with bandwidth adjustable function, effectively filters out the invalid clutter of major part in target echo, and simplification is subsequent
Filtering operation, improve receive signal processing accuracy, to improve range accuracy；
(3) present invention is by setting feedback regulation unit, using MCU controller as core, by wireless signal transmitter and
Receiver and radar range finding unit communication obtain elevation information, and flight monitoring unit and highly regulated unit is recycled to form one
PID closed loop feedback is adjusted, and flying height to aircraft and posture state carry out feedback adjustment, so that more to the control of aircraft
Add precisely.
Detailed description of the invention
Fig. 1 is positive structure schematic of the invention；
Fig. 2 is radar range finding unit schematic diagram of the present invention；
Fig. 3 is feedback regulation unit schematic diagram of the present invention.
Figure label：
1- Omnidirectional rotation pedestal；2- shielding protection cover；3- radar range finding unit；4- feedback regulation unit；
Eight pawl pedestal of 101-；102- rotary drive motor；103- telescopic shaft；104- rotating base ontology；
201- antenna house matrix；202- frequency-selective surfaces；
301- antenna front ends；302- transmitting antenna；303- receiving antenna；304- power amplifier；305- low noise amplification
Device；306- emits modulation unit；307- phase measurement cells；308- wireless signal transmitter；309- low-pass filter；310- ginseng
Examine signal source；311- signal mixer；312- filtering shaping circuit；Chip when 313-TDC is surveyed；314- carrier signal source；315-
Intermediate-freuqncy signal source；
401-MCU controller；402- wireless signal receiver；The highly regulated unit of 403-；404- flight monitoring unit；
405- vertical speed controller；406- pitch controller；407- speed probe；408- attitude transducer；409- speed passes
Sensor.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As shown in Figure 1, the present invention provides a kind of aircraft altitude control method and system based on Radar Technology, including
For being fixedly mounted on carry-on Omnidirectional rotation pedestal 1, the back-off of Omnidirectional rotation pedestal 1 is fixed on aircraft following table
Face, and the shielding protection cover 2 for reducing external signal interference is installed on Omnidirectional rotation pedestal 1, in the shielding protection cover 2
Portion is equipped with the radar range finding unit 3 for carrying out height detection and the feedback regulation unit 4 for carrying out height adjustment.
In the present embodiment, the Omnidirectional rotation pedestal 1 includes for being buckled to eight pawls being mounted on aircraft lower surface
Pedestal 101 is inlaid with rotary drive motor 102, the drive of the rotary drive motor 102 at the center of the eight pawls pedestal 101
Telescopic shaft 103 is socketed on moving axis, the lower surface of the telescopic shaft 103 is equipped with surface and digs the rotating base for having fixed groove
Ontology 104.
Since aircraft utilizes omnidirectional in high airflight in order to ensure range accuracy extends service using life simultaneously
Entire measuring system is mounted below aircraft by rotating base 1 by eight pawl pedestals 101, and passes through setting rotary drive motor
102 can drive telescopic shaft 103 to rotate clockwise or counter-clockwise, and then it is micro- to carry out height to rotating base ontology 104
It adjusts, entire pedestal is accommodated into aircraft interior or puts down pedestal by control, while may be implemented to radar range finding unit 3
The adjustment in measurement angle and direction operates.
As shown in Fig. 2, the radar range finding unit 3 includes the antenna front ends 301 for carrying out the transmitting-receiving of signal, the day
Line front end 301 includes the transmitting antenna 302 of connection transmission channel and the receiving antenna 303 of connection receiving channel, the transmitting day
The input terminal of line 302 is connected with the power amplifier 304 for amplifying driving, and the output end of receiving antenna 303 is connected with
For receive the low-noise amplifier 305 of signal amplification；The input channel end of the antenna front ends 301 is connected for carrying out
Emit the transmitting modulation unit 306 of signal modulation, the output channel end of antenna front ends 301 is connected with technology when surveying based on high-precision
Phase measurement cells 307；The output end of the phase measurement cells 307 is also connected with for communicating with feedback regulation unit 4
Wireless signal transmitter 308.
Supplementary explanation, radar are divided into pulse radar and continuous wave radar two major classes according to transmitting signal kinds, conventional
The periodical high-frequency impulse of pulse radar transmitting, continuous wave radar transmitting is continuous wave signal.The letter of continuous wave radar transmitting
Number can be single-frequency continuous wave (CW) or CW with frequency modulation (FMCW), mode of frequency regulation also there are many, common are triangular wave, saw
Tooth wave, coded modulation or noise FM etc..Wherein, single-frequency continuous wave radar can only be used to test the speed, can not ranging, and FMCW thunder
Up to ranging but also can not only testing the speed, and the advantage in close-in measurement is increasingly apparent.Fmcw radar emits in frequency sweep cycle
The continuous wave of frequency variation, echo and transmitting signal after being reflected by the object have certain difference on the frequency, can by measurement frequency difference
To obtain the distance between target and radar information, difference frequency signal frequency is lower, generally KHz, therefore hardware handles are relatively simple
Single, suitable data acquire and carry out Digital Signal Processing.
In the present embodiment, the phase measurement cells 307 include for introduce receive signal low-pass filter 309,
Chip 313 when TDC for providing the derived reference signal 310 of reference frequency signal and being inserted into principle based on delay line is surveyed, it is described
The CF signal output that derived reference signal 310 has two-way mutually orthogonal, each output road are in series with signal mixer 311,
The input terminal of the two paths of signals frequency mixer 311, which introduces to have respectively, receives signal and transmitting signal, the output of signal mixer 310
End is in series with for filtering shaping circuit 312, and two-way filtering shaping circuit 312 exports simultaneously is loaded onto chip 313 when TDC is surveyed.
The working method for control radar distance measuring unit 3 includes：
Step 101：Emit continuous frequency modulation radar signal, the modulation of transmitting modulation unit 306 generates frequency according to certain
The signal of rule variation, emits after being amplified by power amplifier 304 by transmitting antenna 302 to the ground；
Step 102：Radar echo signal is received, the signal of transmitting encounters ground obstacle back reflection and returns, and passes through shielding
Shield 2 filters out interference noise, is sent into phase measurement cells 307 after being received by receiving antenna 303 and is handled；
Step 103：Transmitting signal and reception signal are utilized 312 shaping of filtering shaping circuit by phase difference calculating when survey
Chip 313 calculates the two time difference when being surveyed afterwards by TDC, combines aircraft speed to obtain current flight device after being converted into phase difference
Apart from ground level.
When starting radar range finding unit 3, it is necessary first to generate continuous frequency modulation transmitted wave signal；The transmitting modulation unit
306 include carrier signal source 314 for providing carrier signal and for providing the intermediate-freuqncy signal source 315 of transmitting number, the load
It is defeated to power amplifier 304 that wave signal source 314 and 315 output signal of intermediate-freuqncy signal source export modulated signal after frequency mixer
Enter end.
The continuous frequency modulation signal that the carrier signal and intermediate-freuqncy signal source 315 that the carrier signal 314 generates generate passes through mixed
Original intermediate frequency transmitting signal is transformed to radio frequency rank, to help to improve transmitting signal transmission distance, mixed by the mixing of frequency device
Signal after frequency, which passes through again after power amplifier 304 carries out primary amplification, is sent into transmitting antenna 302, will be electric by transmitting antenna 302
Guided wave in medium is converted into the electromagnetic radiation in free space and goes out, and transmitting electromagnetic wave returns after encountering ground obstacle
It returns.
When target echo returns to aircraft, first have to through shielding protection cover 2, the shielding protection cover 2 includes adopting
The antenna house matrix 201 made of macromolecule space composite material, the outer surface of the antenna house matrix 201 are provided with based on gradually
Become the frequency-selective surfaces 202 of ten word cells, the frequency-selective surfaces 202 are compounded to form hemispherical with antenna house matrix 201
Clamshell connects in the outer surface of radar range finding unit 3；Due to including many interference noises in the signal of return, this makes subsequent
Processing it is very difficult, therefore devise frequency-selective surfaces 202 herein, the frequency-selective surfaces 202 are by metal
Cross gap is etched on plate to be formed, and there is magnitude bandwidth corresponding with tranmitting frequency, the echo being only allowed in limitation bandwidth
Pass through, to improve the purity of echo-signal, filters out most of clutter.
Hot-tempered be amplified into is gone when the reception signal that receiving antenna 303 exports carries out second level by low-noise amplifier 305
Into phase measurement cells 307；In phase measurement cells 307, in order to improve range accuracy, in conjunction with current split-second precision
Measuring technique, survey phase in by reference to signal source 310 introduce reference signal, reference signal respectively with reception signal to be measured and
Known reception signal carries out difference frequency in signal mixer 310 and is mixed to obtain two low frequency signals, and the phase difference of original signal exists
Retained in two low frequency signals, calculates the difference that frequency is transformed into carrier frequency and reference signal frequency by frequency published originally, frequency at this time
It is elongated to reduce the corresponding measuring signal time, and in the case where phase remains unchanged, phase-measurement accuracy is greatly improved, and is increased
Distance can survey range；Further, two low frequency signals are shaped as by square wave by filtering shaping circuit 312 and pass through TDC
Chip 313 calculates the time difference of two signals when survey, obtains phase difference according to the relationship of time and phase, then by phase with
The corresponding range difference of phase difference is calculated in the differential relationship of distance.
313 calculated distance difference of chip when the TDC is surveyed, is converted into radio frequency by wireless signal transmitter 308
Signal emits to feedback adjustment unit 4.
As shown in figure 3, the feedback adjustment unit 4 includes the MCU controller for carrying out signal processing and instruction output
401, the signal input part of the MCU controller 401 is connected with for receiving the wireless signal from wireless signal transmitter 308
The regulation pwm signal output end of receiver 402, the MCU controller 401 is connected with for carrying out the highly regulated of height adjustment
Unit 403 and flight monitoring unit 40404 for obtaining current flight device state of flight, flight detection unit 404 and MCU are controlled
Device 401 and highly regulated unit 403 processed form a PID/feedback regulating system.
The feedback adjustment unit 4 by wireless signal receiver 402 receive from TDC survey when chip 313 height away from
Thus deviation value, MCU controller 401 just obtain the vertical height size of current aircraft, pass through flight monitoring unit 40404 after spy
Obtain the flight parameter of current flight device.
In the present embodiment, the flight monitoring unit 404 includes for acquiring current flight device driving motor work shape
The speed probe 407 of state, the attitude transducer 408 for acquiring current flight device pitch angle and detection current flight device water
The velocity sensor 409 of flat speed, the output letter of the speed probe 407, attitude transducer 408 and velocity sensor 409
Number it is conveyed to the analog-to-digital conversion port of MCU controller 401；The speed probe 407 measures current motor speed, then leads to
Crossing MCU controller 401 calls internal exchange program to obtain current movement in vertical direction speed, similarly available current winged
Thus the pitch angle and horizontal velocity of row device establish the dynamic trajectory equation of aircraft in three dimensions.
It is the practical ginseng that MCU controller 401 passes through current height and aircraft when needing to carry out height adjustment control
Number obtains the parameter that needs are adjusted, and exports corresponding adjustment signal to highly regulated unit 403 and carry out height adjustment
Control.
The highly regulated unit 403 includes vertical speed controller 405 for carrying out vertical height adjustment and is used for
The pitch controller 406 of aircraft pitch angle adjustment is carried out, the vertical speed controller 405 exports revolving speed adjustment signal extremely
Propeller drives steering engine, and pitch controller 406 is for outputing signal to gyroscope control terminal；Pass through vertical speed controller
405, which control lifting, drives the revolving speed of steering engines and steering realization upwardly or downwardly and acceleration and deceleration, passes through pitch controller 406
Adjustment of the gyroscope realization to pitch angle size is controlled, to realize the accurate adjustment to aircraft altitude.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (7)
1. a kind of aircraft altitude control method and system based on Radar Technology, it is characterised in that：Including for being fixedly mounted
Omnidirectional rotation pedestal (1) on board the aircraft, Omnidirectional rotation pedestal (1) back-off are fixed on aircraft lower surface, and omnidirectional
Shielding protection cover (2) for reducing external signal interference is installed, the shielding protection cover (2) is internal on rotating base (1)
Radar range finding unit (3) for carrying out height detection and the feedback regulation unit (4) for carrying out height adjustment are installed；
The radar range finding unit (3) includes the antenna front ends (301) for carrying out the transmitting-receiving of signal, the antenna front ends
It (301) include the transmitting antenna (302) for connecting transmission channel and the receiving antenna (303) for connecting receiving channel, the transmitting day
The input terminal of line (302) is connected with the power amplifier (304) for amplifying driving, the output end of receiving antenna (303)
It is connected with the low-noise amplifier (305) for receive signal amplification；The input channel end of the antenna front ends (301) connects
The transmitting modulation unit (306) for carrying out transmitting signal modulation is connect, the output channel end of antenna front ends (301), which is connected with, to be based on
The phase measurement cells (307) of technology when high-precision is surveyed；The output end of the phase measurement cells (307) be also connected with for
The wireless signal transmitter (308) of feedback regulation unit (4) communication；
The phase measurement cells (307) include receiving the low-pass filter (309) of signal, for providing with reference to frequency for introducing
Chip (313), the derived reference signal when derived reference signal (310) of rate signal and the TDC for being inserted into principle based on delay line are surveyed
(310) there is the CF signal output that two-way is mutually orthogonal, each output road is in series with signal mixer (311), and described two
The input terminal of road signal mixer (311), which introduces to have respectively, receives signal and transmitting signal, the output end of signal mixer (310)
It is in series with for filtering shaping circuit (312), two-way filtering shaping circuit (312) exports simultaneously is loaded onto chip when TDC is surveyed
(313)；
The feedback adjustment unit (4) includes the MCU controller (401) for carrying out signal processing and instruction output, the MCU
The signal input part of controller (401) is connected with to be connect for receiving the wireless signal from wireless signal transmitter (308) signal
It receives device (402), the regulation pwm signal output end of the MCU controller (401) is connected with the height tune for carrying out height adjustment
Control unit (403) and the flight monitoring unit (404) for obtaining current flight device state of flight.
2. a kind of aircraft altitude control method and system, feature based on Radar Technology according to claim 1 exists
In：The Omnidirectional rotation pedestal (1) includes for being buckled to eight pawl pedestals (101) being mounted on aircraft lower surface described eight
It is inlaid at the center of pawl pedestal (101) rotary drive motor (102), is covered in the drive shaft of the rotary drive motor (102)
It is connected to telescopic shaft (103), the lower surface of the telescopic shaft (103) is equipped with surface and digs the rotating base ontology for having fixed groove
(104)。
3. a kind of aircraft altitude control method and system, feature based on Radar Technology according to claim 1 exists
In：The shielding protection cover (2) includes using antenna house matrix (201) made of macromolecule space composite material, the antenna
The outer surface of cover matrix (201) is provided with the frequency-selective surfaces (202) based on ten word cell of gradual change, the frequency-selective surfaces
(202) hemispherical clamshell is compounded to form with antenna house matrix (201) to connect in the outer surface of radar range finding unit (3).
4. a kind of aircraft altitude control method and system, feature based on Radar Technology according to claim 1 exists
In：The transmitting modulation unit (306) includes for providing the carrier signal source of carrier signal (314) and for providing transmitting number
Intermediate-freuqncy signal source (315), the carrier signal source (314) and intermediate-freuqncy signal source (315) output signal are defeated after frequency mixer
Out modulated signal to power amplifier (304) input terminal.
5. a kind of aircraft altitude control method and system, feature based on Radar Technology according to claim 1 exists
In：The highly regulated unit (403) include vertical speed controller (405) for carrying out vertical height adjustment and for into
The pitch controller (406) of row aircraft pitch angle adjustment, the vertical speed controller (405) export revolving speed adjustment signal
Steering engine is driven to propeller, pitch controller (406) is for outputing signal to gyroscope control terminal.
6. a kind of aircraft altitude control method and system, feature based on Radar Technology according to claim 1 exists
In：The flight monitoring unit (404) includes the speed probe for acquiring current flight device driving motor working condition
(407), for acquiring the attitude transducer (408) of current flight device pitch angle and detecting the speed of current flight device horizontal velocity
Spend sensor (409), the speed probe (407), attitude transducer (408) and velocity sensor (409) output signal
It is conveyed to the analog-to-digital conversion port of MCU controller (401).
7. a kind of aircraft altitude control method and system, feature based on Radar Technology according to claim 1 exists
In：The working method for control radar distance measuring unit (3) includes：
Step 101：Emit continuous frequency modulation radar signal, transmitting modulation unit (306) modulation generates frequency according to a set pattern
The signal for restraining variation emits after being amplified by power amplifier (304) by transmitting antenna (302) to the ground；
Step 102：Radar echo signal is received, the signal of transmitting encounters ground obstacle back reflection and returns, and passes through shielding protection
Cover (2) filters out interference noise, is sent into phase measurement cells (307) after being received by receiving antenna (303) and is handled；
Step 103：Phase difference calculating when survey, after transmitting signal and reception signal are utilized filtering shaping circuit (312) shaping
Chip (313) calculates the two time difference when being surveyed by TDC, combines aircraft speed to obtain current flight device after being converted into phase difference
Apart from ground level.
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