CN108983169A - A kind of metre wave radar landform modification method based on digital elevation model - Google Patents
A kind of metre wave radar landform modification method based on digital elevation model Download PDFInfo
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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
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Abstract
The invention discloses a kind of metre wave radar landform modification method based on digital elevation model, belong to metre wave radar signal processing technology field, its main thought are as follows: establish spheric coordinate system, there are metre wave radar in the spheric coordinate system, there are airbound targets in the metre wave radar detection range；Law of DEM Data is obtained, and determines the ADS-B data of airbound target, important reflection point is then determined in spheric coordinate system；Metre wave radar terminal data is obtained, and according to the ADS-B data of airbound target and determines important reflection point, the ADS-B data of airbound target is obtained and metre wave radar terminal data is associated with completion as a result, obtaining airbound target altitude curve in turn；According to airbound target altitude curve, altitude measurement in VHF radar error curve is obtained；Altitude measurement in VHF radar error curve is modified, is obtained after final error correction result as a kind of metre wave radar landform correction result based on digital elevation model.
Description
Technical field
The invention belongs to metre wave radar signal processing technology field, in particular to a kind of metric wave based on digital elevation model
Radar landform modification method surveys the research of high angle measurement fining suitable for radar.
Background technique
Metre wave radar is also known as V.H.F. radar, belongs to long-wavelength radar, therefore has detection range remote, anti-stealthy and anti-dry
The advantages that disturbing；But simultaneously as this wider feature of wave beam, on the one hand causes direct wave and back wave to be in nothing in same wave beam
Method is distinguished；On the other hand there are problems that wave beam beats ground, and then lead to beam split, target elevation estimation occurs partially when the low elevation angle
Difference；Mainly changed from algorithm for the above-mentioned multipath effect problem that metre wave radar is primarily present at present by largely analyzing and researching
This is solved the problems, such as into two aspect of algorithm amendment；Specifically, on the one hand angle measurement Height-measuring algorithm is improved and is optimized, to energy
Access the angle measurement result of higher precision, on the one hand study hypsography and survey high influence to angle measurement, and analyze it is specific influence because
Son proposes terrain compensation method, corrects angle error.
The angle measurement Height-measuring algorithm of radar early stage, although can measure to multiple targets, the lobe formed is wider, leads
It causes angular resolution lower, when two targets are in same beam angle, can not differentiate so that angle measurement accuracy declines；In order to
Enough solve the problems, such as low elevation angles estimated accuracy it is insufficient this, subspace class algorithm and maximum likelihood algorithm these two types super-resolution are calculated
Method is come into being, and multiple signal classification algorithm (Multiple Signal Classification, MUSIC) is a kind of common
Subspace class algorithm, MUSIC algorithm require both signal subspace and noise subspace to have orthogonality relation, i.e., the two must be non-
It is relevant, however the direct-path signal that radar antenna receives when the low elevation angle is as multipath signal Doppler frequency approximation, also
It indicates that the two signals have relevant relationship, and then MUSIC algorithm angle measurement accuracy is caused to decline；Maximum likelihood algorithm
The implementation process of (Maximum Likelihood, ML) requires the multi-dimensional search in airspace, and then causes ML algorithm operation quantity very big；
Though both algorithms have very high angular resolution, since operand is big, the low problem of operation efficiency leads to both calculations
Method is unable to satisfy the requirement that radar handles signal in real time.
Scholars pass through Long-term analysis research, propose synthesis steering vector (Synthetic Steering Vector
Maximum Likelihood, SVML) algorithm, which uses equivalent Sphere Measurement Model, by earth curvature and radar Terrain
Information is taken into account, and can accurately estimate the elevation angle of target；In addition to this, scholars also propose a kind of alternating projection
(Alternate Projection, AP) algorithm, this method do not depend on landform, and the elevation angle that can accurately carry out target calculates, but
There are problems that operand is big and convergence not can determine that this.
In summary it can be seen that the problem of although existing part super resolution algorithm can solve multipath effect, but need
Matching could accurately measure target elevation with suitable landform；However currently used ADS-B (Automatic Dependent
Surveillance-Broadcasting) technology is difficult to carry out landform amendment under no civil aviaton and high motor-driven situation.
Summary of the invention
Since synthesis steering vector algorithm needs to match with the accurate estimating target elevation of suitable landform ability, for above-mentioned
The shortcomings of the prior art, that is, it is an object of the invention to propose a kind of metre wave radar landform based on digital elevation model
Modification method, metre wave radar landform modification method of this kind based on digital elevation model is easy to operate, can be with ADS-B technology shape
At complementation, it still is able to carry out landform modified method in the case where no civil aviaton and motor-driven height；Lead on engineer application
Cross this kind keeps altitude measurement in VHF radar angle measurement more accurate based on the metre wave radar landform modification method of digital elevation model, improves and surveys
The accuracy of amount.
To reach above-mentioned technical purpose, the present invention is realised by adopting the following technical scheme.
A kind of metre wave radar landform modification method based on digital elevation model, comprising the following steps:
Step 1, spheric coordinate system is established, there are metre wave radar in the spheric coordinate system, the metre wave radar detects model
Enclose that interior there are airbound targets；Law of DEM Data is obtained, and determines the ADS-B data of airbound target, is then sat in spherical surface
Important reflection point is determined in mark system；
Step 2, metre wave radar terminal data is obtained, and according to the ADS-B data of airbound target and determines important reflection point,
It obtains the ADS-B data of airbound target and metre wave radar terminal data is associated with and completes result；
Step 3, completion is associated with terminal data according to ADS-B data as a result, obtaining airbound target altitude curve；
Step 4, according to airbound target altitude curve, altitude measurement in VHF radar error curve is obtained；
Step 5, altitude measurement in VHF radar error curve is modified, obtains final error correction as a result, described final
Error correction result be a kind of metre wave radar landform correction result based on digital elevation model.
The present invention has the advantage that compared with prior art:
The method of the present invention can form complementary, to generate when directly correcting radar surveying target by DEM height with ADS-B method
Journey error can carry out landform amendment under no civil aviaton and high motor-driven situation, enormously simplify makeover process and reduce and repair
Positive cost, and target state estimator effect will be much better than without amendment.
Detailed description of the invention
Invention is further described in detail with reference to the accompanying drawings and detailed description.
Fig. 1 is a kind of metre wave radar landform modification method flow chart based on digital elevation model of the invention；
Fig. 2 is ADS-B coordinate transition diagram；
Fig. 3 is the formation schematic diagram of ground-reflected wave；
Fig. 4 is the flow chart of specific amendment step in the present invention；
Fig. 5 (a) is the object height and target true altitude pair that first group of measured data passes through that SVLM algorithm simulating obtains
Than figure；
Fig. 5 (b) is the object height and target true altitude pair that second group of measured data passes through that SVLM algorithm simulating obtains
Than figure；
Fig. 6 (a) is SVLM altimetry error and the corresponding elevation schematic diagram of first group of measured data；
Fig. 6 (b) is SVLM altimetry error and the corresponding elevation schematic diagram of second group of measured data；
Fig. 7 (a) is the SVLM altimetry error of first group of measured data through the revised altimetry error curve graph of landform；
Fig. 7 (b) is the SVLM altimetry error of second group of measured data through the revised altimetry error curve graph of landform.
Specific embodiment
Step 1, ADS-B data are formatted and is stored in the same array with dem data.
Determine metre wave radar, there are airbound targets in the metre wave radar detection range, obtain the ADS-B number of airbound target
According to the ADS-B data of the airbound target are by Automatic dependent surveillance broadcast technology using metre wave radar to airbound target
Flight course continue the data that obtain after monitoring, the ADS-B data of the airbound target include the flight of airbound target
Number Num, time time, longitude and latitude (ω, υ) and height above sea level real_H；The airbound target that will be obtained first by ADS-B technology
ADS-B data carry out coordinate conversion, obtain distance and bearing information of the airbound target using metre wave radar as reference point when.
Coordinate is converted firstly the need of establishing coordinate system as shown in Fig. 2, establishing spheric coordinate system oxy by origin of the earth's core O,
In to pass through 0 degree of line of the earth's core O and east longitude as abscissa x-axis, direction is positive direction of the x-axis eastwards, passes through the earth's core O and arctic point C
Line be y-axis, northwards direction be positive direction of the y-axis；Practical metre wave radar position is point A, flight in spheric coordinate system oxy
Target position is point B, by reality it is found that metre wave radar and airbound target are difference two on the spherical surface of spheric coordinate system oxy
Point, if the longitude and latitude of metre wave radar present position is (ωA,υA), it is (ω that airbound target present position, which corresponds to longitude and latitude,B,υB), υA
Indicate the latitude of metre wave radar, υBIndicate the latitude of airbound target, value range is -90 ° to 90 °；ωAIndicate metre wave radar
Longitude, ωBIndicate the longitude of airbound target, value range is -180 ° to 180 °；North latitude is positive, and south latitude is negative, and east longitude is positive,
West longitude is negative, unit degree of being.
Spherical distance between metre wave radar and airbound target is denoted as LAB, which is what metre wave radar measurement obtained
Distance of the airbound target with respect to metre wave radar, earth radius R；Metre wave radar, the spherical surface line of airbound target and metre wave radar,
Spherical surface angle between the spherical surface line of arctic point C is denoted as azimuth ∠ A of the airbound target relative to metre wave radar, that is, flies
For target with respect to the azimuth of metre wave radar, value range is [0 °, 360 °]；The spherical surface line and rice of airbound target, metre wave radar
Wave radar, arctic point C spherical surface line between spherical surface angle be denoted as the azimuth ∠ B, arctic point C, metric wave thunder of metre wave radar
The spherical surface line reached and arctic point C, airbound target spherical surface line between spherical surface angle be denoted as the azimuth ∠ C of arctic point C,
Arctic point C, airbound target spherical surface line pair the earth's core angle be α, metre wave radar, arctic point C spherical surface line pair
The earth's core angle is β, metre wave radar, airbound target spherical surface line pair the earth's core angle be φ.
(1a) is azimuthal to ask calculation:
Firstly, known metre wave radar and the longitude and latitude of airbound target position, ask airbound target relative to metre wave radar
Azimuth；According to trihedral angle cosine formula:
Cos (φ)=cos α cos β+sin α sin β cos θ (1-1)
Wherein, sin indicates that SIN function, cos indicate cosine function；θ indicates face AOC and face BOC in spheric coordinate system
Dihedral angle；Pass through metre wave radar, the difference ω of the longitude of airbound targetB-ωACalculating acquires.
Then given data substitution above formula is obtained:
Cos (φ)=cos (90- υB)·cos(90-υA)+sin(90-υB)·sin(90-υA)·cos(ωB-ωA) (1-2)
And then seek the sine value of φ are as follows:
According to spherical surface sine formula
Acquire azimuth ∠ A of the airbound target relative to metre wave radar are as follows:
Wherein, arcsin indicates arcsin function.
Finally, considering that airbound target is different with respect to the position of metre wave radar, carries out different disposal to calculated result and obtains most
Whole azimuth；It is true relative to the position progress azimuth of metre wave radar according to airbound target using metre wave radar as coordinate origin
It is fixed, the azimuth of metre wave radar is expressed as A_fangwei, the method is as follows:
If airbound target is in spheric coordinate system first quartile, i.e. the orientation of the airbound target north-east that is metre wave radar
To then the azimuth A_fangwei of metre wave radar is ∠ A.
If airbound target is in the second quadrant of spheric coordinate system, i.e. the orientation of airbound target northwest for being metre wave radar
To then the azimuth A_fangwei of metre wave radar is (360 ° of+∠ A).
If airbound target is metric wave thunder in spheric coordinate system third quadrant or fourth quadrant, the i.e. orientation of airbound target
The southwest reached or southeastern direction, then the azimuth A_fangwei of metre wave radar is (180 ° of-∠ A).
(1b) distance asks calculation:
Pass through the spherical distance of metre wave radar and airbound target two o'clock calculation of longitude & latitude between them；Detailed process is, first
Obtain φ value according to the cosine of negating of (1-2) formula in (1a), φ is metre wave radar, the spherical surface line of airbound target pair the earth's core folder
Angle, unit are degree；Then it is converted into radian φrad, finally can be in the hope of metre wave radar and flight multiplied by earth radius R
Spherical distance L between targetAB, calculation formula is as follows:
(1c) obtains digital complex demodulation data.
Digital complex demodulation data are obtained, the digital complex demodulation data are US Geological Survey USGS
(U.S.Geological Survey) dem data includes the warp of all positions on ground in the digital complex demodulation data
Latitude and altitude data, each longitude and latitude respectively correspond an altitude data, i.e. longitude and latitude in digital complex demodulation data
It is one-to-one relationship with altitude data；The corresponding altitude data of the longitude and latitude can be found by known longitude and latitude.
The corresponding ground elevation of the longitude and latitude as where only considering airbound target in makeover process be it is inadequate, repair at this time
Positive error is still very big, therefore following makeover process takes into account important reflection point, and important reflection point is airbound target
Main ground reflection point when reflection signal is received through ground secondary reflection by metre wave radar.
The model of important reflection point is initially set up as shown in figure 3, indicating metre wave radar, ground where metre wave radar with point A
Position point A ' indicates that the height of metre wave radar to ground is the high h of antenna holder, indicates airbound target position, earth's surface with point B
It is indicated with M, a certain ground location is important reflection point D among metre wave radar and airbound target, and formula is pressed in the position of important reflection point D
(1-7) is determined, the used elevation information of altimetry error amendment is the altitude data at important reflection point D, so needing to ask
The longitude and latitude at important reflection point is obtained, then recycling the longitude and latitude is that index finds the important reflection point D in dem data
Altitude data.
Firstly the need of the distance and bearing angle for finding out the opposite metre wave radar of important reflection point D, azimuth and airbound target phase
It is identical to the azimuth of metre wave radar, it has been found out in (1a), has next asked the distance of important reflection point D corresponding point A ' to be
LA′D, have:
In formula, λ indicates the signal wavelength of metre wave radar transmitting, important reflection point D with respect to metre wave radar distance only and day
Coil holder height and the signal wavelength of metre wave radar transmitting are related；LA′DThe distance of as important reflection point D corresponding point A ', orientation
It is identical with the azimuth A_fangwei of metre wave radar；Longitude and latitude where known metre wave radar is (ω at this timeA,υA) and it is important
The distance L of reflection point D corresponding point A 'A′DIt indicates earth radius with the azimuth A_fangwei of metre wave radar, R, passes through following public affairs
Formula calculates the longitude and latitude of important reflection point D, and principle is asked calculation with azimuthal in (1a).
The angle d between the line for calculating metre wave radar, the line of the earth's core O and important reflection point D, the earth's core O is sought first:
Then the angle a between the line of earth arctic point C, the line of the earth's core O and important reflection point D, the earth's core O is solved:
A=arccos (cos (90- υA)·cos(d)+sin(90-υA)·sin(d)·cos(A_fangwei)) (1-9)
Wherein, arccos indicates inverse cosine function.
Finally solve the spherical angle ξ of metre wave radar, arctic point C and important reflection point D at the point C of the arctic:
Obtain the longitude and latitude (υ of important reflection point DD,ωD) are as follows:
υD=υA+ξ (1-11)
ωD=90-a (1-12)
Wherein, ωDIndicate the longitude of important reflection point D, υDIndicate the latitude of important reflection point D；Acquire important reflection point D
Longitude and latitude after, the corresponding elevation information of the important reflection point D is searched by longitude and latitude in Law of DEM Data.
In conclusion the detailed data that ADS-B is obtained include airbound target flight number Num, time time, longitude and latitude (ω,
υ) with height above sea level real_H, the data that ADS-B technology obtains are converted to airbound target in some time by (1a) and (1b)
Carve the azimuth A_fangwei and range information L of opposite metre wave radarAB, important reflection point is taken into account in (1c), obtains weight
Want the longitude and latitude (υ of reflection point DD,ωD), it is the digital elevation that index searches that digital complex demodulation data obtain with it, as
The altitude data △ h of important reflection point D.
By the ADS-B data of N number of different moments airbound target all in accordance with (1a), (1b), (1c) processing conversion, then according to
Distance, azimuth, height above sea level (i.e. airbound target true altitude), the sequence of time and digital elevation are by airbound target information
It carries out arrangement and is placed as [LAB(i), A_fangwei (i), real_H (i), time (i), △ h (i)] it is used for step 2；Wherein,
LAB(i) indicate that the spherical distance curve between time (i) moment metre wave radar and airbound target, A_fangwei (i) indicate time
(i) azimuthal curves of moment metre wave radar, real_H (i) indicate time (i) moment airbound target true altitude curve, △ h
(i) the altitude data curve of time (i) moment important reflection point D is indicated, i=1,2,3 ..., N, N indicate the flight mesh chosen
The different moments total number of target ADS-B data.
Step 2, ADS-B data are matched with terminal data.
The ADS-B data of airbound target, will flight in the ADS-B data of airbound target after format is converted in step 1
Target information carries out arrangement according to distance, orientation, height and the sequence of time and is placed as [LAB(i),A_fangwei
(i), real_H (i), time (i), △ h (i)], i=1,2,3 ..., N, N indicate the ADS-B data for the airbound target chosen
Different moments total number.
2.1 obtain metre wave radar terminal data, and the metre wave radar terminal data is that metre wave radar terminal chooses M moment
Time ' (1) ..., time ' (M) is respectively to the azimuth of spherical distance, metre wave radar between metre wave radar and airbound target
After measuring, the spherical distance L between the metre wave radar and airbound target that time ' (1) moment measures is respectively obtainedAB' (1) is extremely
The spherical distance L between metre wave radar and airbound target that time ' (M) moment measuresAB' (M) and time ' (1) moment measure
Metre wave radar the azimuth A_fangwei ' of metre wave radar that measures to time ' (M) moment of azimuth A_fangwei ' (1)
(M)。
It is obtained after being placed to metre wave radar terminal data according to same sequence and format:
[LAB' (j), A_fangwei ' (j), time ' (j)], LAB' (j) indicates time ' (j) moment metre wave radar and flight
Spherical distance between target, A_fangwei ' (j) indicate that the azimuthal curves of metre wave radar, j=1,2,3 ..., M, M indicate
Obtain the different moments total number that metre wave radar terminal data is chosen.
2.2, in order to keep the ADS-B data of airbound target synchronous with metre wave radar terminal data, need to close the two
Connection；Specific correlating method is arest neighbors method, and suitable screening thresholding is arranged, screens suitable number of echoes according to screening thresholding
According to screening thresholding is necessary to ensure that certain probability for receiving terminal when selecting.
Specifically, choose azimuth and apart from the two values be measured value, metre wave radar is detected at time ' (j) moment
To the measured value of airbound target be denoted as Zj, Zj=[LAB' (j), A_fangwei ' (j)] (j=1,2 ..., M), by flight mesh
Measured value of the target ADS-B data at time ' (j) moment is denoted as Pj, Pj=[LAB(j), A_fangwei (j)] (j=1,
2 ..., M), M≤N.
Then Z is calculatedjAnd PjEuclidean distance Sj,Zj(k) indicate that metre wave radar exists
The measured value Z for the airbound target that time ' (j) moment is detectedjIn k-th of element, Pj(k) the ADS-B data of airbound target are indicated
In the measured value P at time ' (j) momentjIn k-th of element, k=1,2.
2.3 SjIt is compared with screening thresholding γ (taking empirical value 10), if Sj< γ, then ZjAnd PjIt is associated, by metric wave
The measured value Z for the airbound target that radar detected at time ' (j) momentjAs jth ' a effective measured value, and obtain jth ' it is a
The associated data of effective measured value, the associated data of the jth ' a effective measured value are the corresponding rice of jth ' a effective measured value
The corresponding ADS-B data of wave radar terminal data and jth ' a effective measured value, the corresponding rice of the jth ' a effective measured value
Wave radar terminal data are [LAB' (j'), A_fangwei ' (j'), time ' (j')], the jth ' a effective measured value is corresponding
ADS-B data are [LAB(j'), A_fangwei (j'), real_H (j'), time (j'), △ h (j')], the initial value of j' is 1,
Then the value of j' is enabled to add 1.
If Sj>=γ, ZjAnd PjIt cannot be associated with, the airbound target at this time detecting metre wave radar at time ' (j) moment
Measured value ZjCorresponding metre wave radar terminal data LAB(j'),A_fangwei(j'),real_H(j'),time(j'),△h
(j') it abandons, then completes associated steps.
2.4 enable j=1,2 ..., M repeat 2.2 and 2.3, and then obtain the associated data of the 1st effective measured value
To the associated data of m-th of effective measured value, and the ADS-B data for being denoted as airbound target have been associated with metre wave radar terminal data
At result；Wherein, j'=1,2,3 ..., m, m≤M.
Step 3, ADS-B data are associated with terminal data and complete result using calculating the SVML algorithm of terrain sensor
To time ' (j) moment airbound target altitude curve SVLM_H (j'), j'=1,2,3 ..., m.
Step 4, the height above sea level in ADS-B data is airbound target true altitude, is flown for what metre wave radar was surveyed
Row target, time ' (j) the moment airbound target altitude curve SVLM_H (j'), j'=1,2,3 that step 3 is calculated ...,
It is that m and time ' (j) moment airbound target true altitude curve real_H (j') make to obtain after difference as a result, when as time ' (j)
It carves altitude measurement in VHF radar error curve Error (j'), j'=1,2,3 ..., m.
Step 5, by time ' (j) moment altitude measurement in VHF radar error curve Error (j'), j'=1,2,3 ..., m with
The relationship of the altitude data curve △ h (j') of time ' (j) moment important reflection point D, j'=1,2,3 ..., m carry out landform and repair
Just.
Modification method based on DEM is exactly the altitude data curve △ h for passing through time ' (j) moment important reflection point D
(j'), j'=1,2,3 ..., m to time ' (j) moment altitude measurement in VHF radar error curve Error (j'), j'=1,2,
3 ..., m is modified, similar on changing rule by altimetry error curve and elevation curve known to comparison, works as error curve
When appearance compared with large turn, dem data homologous thread also has a biggish fluctuation；Therefore according to dem data and error
Entire makeover process is carried out segment processing, is divided with the biggish point of curvilinear motion, selected by the similitude of curvilinear motion characteristic
Select suitable change threshold, when curvilinear motion be more than this change threshold when, then stop search, first amendment fluctuation it is lesser this
Section；After the completion of amendment, continuation is searched for backward, until all search is completed.
Specific makeover process is the specifically flow chart of amendment step, including following sub-step in the present invention referring to Fig. 4, Fig. 4:
(5a) calculates altitude data maximum value △ h_max=max [△ h (j')] first, (j'=1,2 ..., m), high
Number of passes according to minimum value △ h_min=min [△ h (j')], (j'=1,2 ..., m) and all altitude data average values
(5b) according to the actual situation and emulation experience select suitable threshold value value be 2000.
From time ' (j) moment altitude measurement in VHF radar error curve Error (j'), j'=1,2,3 ..., two are determined in m
At the time of different, it is denoted as Searching point x respectively1With Searching point x2, x1=1,2,3 ..., m, x2=1,2,3 ..., m, x1It is initial
Value is the 1st moment in m moment, x2Initial value be the 2nd moment in m moment.
(5c) calculates Searching point x1With Searching point x2Difference d=abs (Error (x2)-Error(x1))。
(5d) is by Searching point x1With Searching point x2Difference d be compared with selected threshold value value, if d < value,
Enable x2Value add 1, return (5c)；
If d >=value, start to carry out kth time amendment, first Searching point x after the amendment of calculating kth time1To Searching point x2
The average value △ h_mean_k of corresponding dem data, calculation expression are as follows:
Wherein, the altitude data of △ h (j ") expression jth " moment important reflection point D.
Then by the number of △ h_mean_k and the △ h_max, △ h_min, △ h_mean and the target that are calculated before
Word elevation information is in xth1The altitude data △ h (x of moment important reflection point D1) and xth2The high number of passes of moment important reflection point D
According to △ h (x2) be compared, and select with the immediate value of △ h_mean_k, be denoted as △ h_suitk, then to Searching point x1
To Searching point x2Data use △ h_suit in this sectionkValue carries out kth time amendment, obtains Searching point x1To Searching point x2This kth
The kth time correction result of segment data
The initial value of k is 1, is saved
Correction result, the altitude data that amendment is mainly based upon landform in a certain range in this way, which is not much different, converts this gentle feature,
Then (5e) is executed.
(5e) judges x2Whether m is equal to；If it is not, enabling x1=x2+ 1, and the value of k is enabled to add 1, it returns (5c)；Otherwise, it searches
Rope is completed, and obtains x at this time1To x21st correction result of this paragraph 1 dataTo x1To x2This kth section
The kth time correction result of data
Then willSplice in order just
Final error correction is obtained as a result, i.e. [result1,result2,...,resultm], k≤m.
Wherein,InCorresponding result1,InCorresponding resultm, entire calculating process terminates, and the final error correction result is a kind of to be based on digital elevation mould
The metre wave radar landform correction result of type.
Effect of the invention is described further below with reference to analogous diagram.
(1) simulated conditions and process.
Emulation tool is Matlab 2014a, and emulation data are measured data, and measured data is passed through SVML algorithm first
Emulation obtains airbound target height；When ADS-B data are converted, using the longitude and latitude where metre wave radar as coordinate origin,
Taking equivalent earth radius is 6378137, is formatted；Then the experimental result that SVLM is obtained is obtained with ADS-B data
Real goal height make the difference to obtain altimetry error, according to dem data segmentation altimetry error is modified, modification method is
Segmentation makes the difference altimetry error and dem data, and suitable change threshold is selected in simulation process, when curve fluctuation is more than this variation
When threshold value, then stop searching for backward, first this lesser section is fluctuated in amendment.After the completion of amendment, continuation is searched for backward, until whole
Search is completed.
(2) simulation result and analysis
Fig. 5 (a) is the object height and target true altitude pair that first group of measured data passes through that SVLM algorithm simulating obtains
Than figure, Fig. 5 (b) is that the object height that second group of measured data is obtained by SVLM algorithm simulating and target true altitude compare
Figure, the object height error that can be seen that SVLM algorithm measures from the measurement result of this two groups of measured datas is larger, needs to carry out
Certain amendment；Fig. 6 (a) is first group of measured data SVLM altimetry error and corresponding elevation comparison diagram, and Fig. 6 (b) is second group
Measured data SVLM altimetry error and corresponding elevation comparison diagram, from Fig. 6 (a) it can be seen that DEM altitude data and SVML algorithm are surveyed
The change procedure of high error has certain similarity, and when big variation occurs in elevation curve, altimetry error is significantly increased, Fig. 6
(b) also there is same phenomenon, that is to say, that landform altitude variation is to influence a principal element of altimetry error size；Fig. 7
(a) pass through the revised curve of landform for the SVLM altimetry error of first group of measured data, Fig. 7 (b) is second group of measured data
SVLM altimetry error pass through the revised curve of landform, from Fig. 7 (a) as can be seen that by landform amendment after SVLM survey
High error is significantly less than the error for directlying adopt SVML algorithm measurement, and worst error reduces half by nearly 6 kilometers before correcting,
And all target point respective heights are corrected, Fig. 7 (b) also has the characteristics that identical, it was demonstrated that landform amendment SVML survey it is high accidentally
The validity of difference.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (7)
1. a kind of metre wave radar landform modification method based on digital elevation model, which comprises the following steps:
Step 1, spheric coordinate system is established, there are metre wave radar in the spheric coordinate system, in the metre wave radar detection range
There are airbound targets；Law of DEM Data is obtained, and determines the ADS-B data of airbound target, then in spheric coordinate system
The middle important reflection point of determination；
Step 2, metre wave radar terminal data is obtained, and according to the ADS-B data of airbound target and determines important reflection point, is obtained
The ADS-B data of airbound target are associated with metre wave radar terminal data completes result；
Step 3, completion is associated with terminal data according to ADS-B data as a result, obtaining airbound target altitude curve；
Step 4, according to airbound target altitude curve, altitude measurement in VHF radar error curve is obtained；
Step 5, altitude measurement in VHF radar error curve is modified, obtains final error correction as a result, the final mistake
Poor correction result is a kind of metre wave radar landform correction result based on digital elevation model.
2. a kind of metre wave radar landform modification method based on digital elevation model as described in claim 1, which is characterized in that
In step 1, the spheric coordinate system, specifically:
To pass through the 0 degree of line in the earth's core and east longitude as abscissa x-axis, direction is positive direction of the x-axis eastwards, passes through the earth's core and arctic point
Line is y-axis, and northwards direction is the spheric coordinate system oxy of positive direction of the y-axis；
The Law of DEM Data is US Geological Survey USGS dem data, in the digital complex demodulation data
Longitude and latitude and altitude data including positions all on ground, each longitude and latitude respectively correspond an altitude data, i.e., number is high
Longitude and latitude and altitude data in journey model data correspond；
The ADS-B data of the airbound target, specifically for using metre wave radar pass through Automatic dependent surveillance broadcast technology pair
The flight course of airbound target carries out the data for continuing to obtain after monitoring, and the ADS-B data of the airbound target include flight mesh
Target flight number Num, time time, longitude and latitude (ω, υ) and airbound target true altitude real_H；
The important reflection point, determination process are as follows:
The distance of important reflection point corresponding point A ' is denoted as L firstA′D,Ground position where point A ' expression metre wave radar
It sets, λ indicates that the signal wavelength of metre wave radar transmitting, h indicate metre wave radar to the height on ground；
Then longitude and latitude (the υ of important reflection point is calculatedD,ωD) are as follows:
υD=υA+ξ
ωD=90-a
Wherein, υAIndicate the latitude of metre wave radar,R table
Show that earth radius, A_fangwei indicate the azimuth of metre wave radar, ωDIndicate the longitude of important reflection point D, υDIndicate important anti-
The latitude of exit point, sin indicate that SIN function, arcsin indicate arcsin function；
A=arccos (cos (90- υA)·cos(d)+sin(90-υA) sin (d) cos (A_fangwei)), cos expression more than
String function, arccos indicate inverse cosine function, υAIndicate the latitude of metre wave radar；
Pass through the longitude and latitude (υ of important reflection pointD,ωD) digital elevation searched in the Law of DEM Data,
The altitude data △ h of as important reflection point；
Obtain the longitude and latitude of important reflection point, the distance L of important reflection point corresponding point A 'A′D, important reflection point longitude and latitude, with
And after the altitude data △ h of important reflection point, important reflection point is as determined in spheric coordinate system.
3. a kind of metre wave radar landform modification method based on digital elevation model as claimed in claim 2, which is characterized in that
The A_fangwei indicates the azimuth of metre wave radar, determination process are as follows:
Metre wave radar and airbound target are set as two o'clocks different on the spherical surface of spheric coordinate system oxy, by metre wave radar and flight mesh
Spherical distance between mark is denoted as LAB,If airbound target flies in spheric coordinate system first quartile
The orientation of target is the northeastward of metre wave radar, then the azimuth A_fangwei of metre wave radar is ∠ A；
If airbound target is in the second quadrant of spheric coordinate system, i.e. the orientation of the airbound target direction northwest that is metre wave radar, then
The azimuth A_fangwei of metre wave radar is (360 ° of+∠ A)；
If airbound target is metre wave radar in spheric coordinate system third quadrant or fourth quadrant, the i.e. orientation of airbound target
Southwest or southeastern direction, then the azimuth A_fangwei of metre wave radar is (180 ° of-∠ A)；
Wherein, R indicates that earth radius, ∠ A indicate azimuth of the airbound target relative to metre wave radar,
ωAIndicate the longitude of metre wave radar, ωBIndicate the warp of airbound target
Degree, υBIndicate the latitude of airbound target；φ indicate the spherical surface line of metre wave radar, airbound target pair the earth's core angle, and it is full
Foot: cos (φ)=cos (90- υB)·cos(90-υA)+sin(90-υB)·sin(90-υA)·cos(ωB-ωA), ωAIt indicates
The longitude of metre wave radar.
4. a kind of metre wave radar landform modification method based on digital elevation model as claimed in claim 3, which is characterized in that
The sub-step of step 2 are as follows:
2.1 determine that the ADS-B data arrangement of N number of different moments airbound target is placed as；
[LAB(i), A_fangwei (i), real_H (i), time (i), △ h (i)] it is used for step 2；Wherein, LAB(i) it indicates
Spherical distance curve between time (i) moment metre wave radar and airbound target, A_fangwei (i) indicate time (i) moment rice
The azimuthal curves of wave radar, real_H (i) indicate that time (i) moment airbound target true altitude curve, △ h (i) indicate
The altitude data curve of time (i) moment important reflection point D, i=1,2,3 ..., N, N indicate the ADS- for the airbound target chosen
The different moments total number of B data；
Metre wave radar terminal data is obtained, the metre wave radar terminal data is that metre wave radar terminal chooses M moment time '
..., (1), time ' (M) respectively surveys the azimuth of spherical distance, metre wave radar between metre wave radar and airbound target
After amount, the spherical distance L between the metre wave radar and airbound target that time ' (1) moment measures is respectively obtainedAB' (1) to time '
(M) the spherical distance L between the metre wave radar and airbound target that the moment measuresABThe rice that ' (M) and time ' (1) moment measure
The azimuth A_fangwei ' (M) for the metre wave radar that the azimuth A_fangwei ' (1) of wave radar was measured to time ' (M) moment；
Then it is obtained after being placed to metre wave radar terminal data:
[LAB' (j), A_fangwei ' (j), time ' (j)], LAB' (j) indicates time ' (j) moment metre wave radar and airbound target
Between spherical distance, A_fangwei ' (j) indicate metre wave radar azimuthal curves, j=1,2,3 ..., M, M indicate obtain
The different moments total number that metre wave radar terminal data is chosen；
The measured value of 2.2 airbound targets for detecting metre wave radar at time ' (j) moment is denoted as Zj,
Zj=[LAB' (j), A_fangwei ' (j)] (j=1,2 ..., M), by the ADS-B data of airbound target at time ' (j)
The measured value at moment is denoted as Pj, Pj=[LAB(j), A_fangwei (j)] (j=1,2 ..., M), M≤N；
Then Z is calculatedjAnd PjEuclidean distance Sj,Zj(k) indicate that metre wave radar exists
The measured value Z for the airbound target that time ' (j) moment is detectedjIn k-th of element, Pj(k) the ADS-B data of airbound target are indicated
In the measured value P at time ' (j) momentjIn k-th of element, k=1,2；
2.3 SjIt is compared with the screening thresholding γ of setting, if Sj< γ, then ZjAnd PjIt is associated, by metre wave radar in time '
(j) the measured value Z for the airbound target that the moment is detectedjAs jth ' a effective measured value, and obtain jth ' a effective measured value
Associated data, the associated data of the jth ' a effective measured value is the corresponding metre wave radar terminal of jth ' a effective measured value
The corresponding ADS-B data of data and jth ' a effective measured value, the corresponding metre wave radar terminal of the jth ' a effective measured value
Data are [LAB' (j'), A_fangwei ' (j'), time ' (j')], the corresponding ADS-B data of the jth ' a effective measured value
For [LAB(j'), A_fangwei (j'), real_H (j'), time (j'), △ h (j')], the initial value of j' is 1, then enables j''s
Value plus 1；
If Sj>=γ, ZjAnd PjIt cannot be associated with, the measurement for the airbound target at this time detecting metre wave radar at time ' (j) moment
Value ZjCorresponding metre wave radar terminal data LAB(j'), A_fangwei (j'), real_H (j'), time (j'), △ h (j') lose
It abandons；
2.4 enable j=1,2 ..., M repeat 2.2 and 2.3, and then obtain the associated data of the 1st effective measured value to m
The associated data of a effective measured value, and it is denoted as the ADS-B data of airbound target and metre wave radar terminal data is associated with completion knot
Fruit；Wherein, j'=1,2,3 ..., m, m≤M.
5. a kind of metre wave radar landform modification method based on digital elevation model as claimed in claim 4, which is characterized in that
In step 3, the airbound target altitude curve, specially time ' (j) moment airbound target altitude curve, obtain process
Are as follows:
ADS-B data are associated with terminal data and complete result using time ' (j) is calculated to the SVML algorithm of terrain sensor
Moment airbound target altitude curve SVLM_H (j'), j'=1,2,3 ..., m.
6. a kind of metre wave radar landform modification method based on digital elevation model as claimed in claim 5, which is characterized in that
In step 4, the altitude measurement in VHF radar error curve, specially time ' (j) moment altitude measurement in VHF radar error curve,
Obtain process are as follows:
By time ' (j) moment airbound target altitude curve SVLM_H (j'), j'=1,2,3 ..., m and time ' (j) moment fly
Row target true altitude curve real_H (j') make to obtain after difference as a result, as time ' (j) moment altitude measurement in VHF radar error
Curve Error (j'), j'=1,2,3 ..., m.
7. a kind of metre wave radar landform modification method based on digital elevation model as claimed in claim 6, which is characterized in that
The sub-step of step 5 are as follows:
(5a) calculates altitude data maximum value △ h_max=max [△ h (j')] first, (j'=1,2 ..., m), high number of passes
According to minimum value △ h_min=min [△ h (j')], (j'=1,2 ..., m) and all altitude data average values
(5b) given threshold value；
From time ' (j) moment altitude measurement in VHF radar error curve Error (j'), j'=1,2,3 ..., two differences are determined in m
At the time of, it is denoted as Searching point x respectively1With Searching point x2, x1=1,2,3 ..., m, x2=1,2,3 ..., m, x1Initial value be m
1st moment, x in a moment2Initial value be the 2nd moment in m moment；
(5c) calculates Searching point x1With Searching point x2Difference d=abs (Error (x2)-Error(x1))；
(5d) is by Searching point x1With Searching point x2Difference d be compared with threshold value value, if d < value, enable x2Value add
1, it returns (5c)；
If d >=value, start to carry out kth time amendment, first Searching point x after the amendment of calculating kth time1To Searching point x2It is corresponding
The average value △ h_mean_k of dem data, calculation expression are as follows:
Wherein, the altitude data of △ h (j ") expression jth " moment important reflection point D；
Then by the digital elevation information of △ h_mean_k and △ h_max, △ h_min, △ h_mean and target in xth1Moment
The altitude data △ h (x of important reflection point D1) and xth2The altitude data △ h (x of moment important reflection point D2) be compared, and
Select with the immediate value of △ h_mean_k, be denoted as △ h_suitk, then to Searching point x1To Searching point x2Number in this section
According to using △ h_suitkValue carries out kth time amendment, obtains Searching point x1To Searching point x2The kth time amendment knot of this kth segment data
Fruit
The initial value of k is 1, is then executed
(5e)；
(5e) judges x2Whether m is equal to；If it is not, enabling x1=x2+ 1, and the value of k is enabled to add 1, it returns (5c)；Otherwise, it has searched for
At obtaining x at this time1To x21st correction result of this paragraph 1 dataTo x1To x2This kth segment data
Kth time correction result
Then willSplice in order and just obtains
Final error correction is as a result, i.e. [result1,result2,...,resultm], k≤m；
Wherein,InCorresponding result1,InIt is corresponding
resultm。
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