CN109100699A - Doppler radar sea range rate error modification method - Google Patents
Doppler radar sea range rate error modification method Download PDFInfo
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- CN109100699A CN109100699A CN201811223362.1A CN201811223362A CN109100699A CN 109100699 A CN109100699 A CN 109100699A CN 201811223362 A CN201811223362 A CN 201811223362A CN 109100699 A CN109100699 A CN 109100699A
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4021—Means for monitoring or calibrating of parts of a radar system of receivers
Abstract
The invention discloses a kind of Doppler radar sea range rate error modification methods, mainly solve the problems, such as that existing Doppler radar sea range rate error is larger, its implementation is: when carrier aircraft is in water surface overhead, flight carrier switch is placed in " ocean " mode, when the tracking of Doppler radar wave beam is normal；According to forward speed correction factor and lateral velocity correction factor, the amendment of range rate error is caused to echo spectrum distortion；Ocean current is obtained respectively according to ocean current data and ocean surface wind data and ocean surface is wind-induced relative to range rate error correction amount under geographic coordinate system；Speed correction amount under geographic coordinate system is converted into the speed correction amount under body coordinate system, carries out speed amendment.This invention simplifies the operation complexities of aircrew, significantly cut down the bring error that tests the speed on Doppler radar ocean, improve rate accuracy, can be used for Doppler radar sea and test the speed.
Description
Technical field
The invention belongs to Radar Technology field, in particular to a kind of range rate error modification method can be used for Doppler radar
It tests the speed at sea.
Background technique
In ocean flying overhead, the speed of Doppler radar measurement is influenced very big aircraft by sea state.Its in land
Ground flying overhead is compared, and in ocean when flying overhead, the ground velocity of Doppler radar measurement will also be influenced by other two kinds of factors, and one
Kind is the reflection characteristic of ocean surface, and another kind is the acute variation of sea state.
For the wave beam of Doppler radar radiation, the reflection characteristic of ocean surface and the reflection characteristic of land surface are not
With, when sea works, Doppler radar echo signal spectrum can be distorted, and be tested the speed mistake to increase Doppler radar
Difference.
Ocean current and wind can all cause the variation of sea state.
Because flowing and the tide of seawater make seawater itself relative to land there is horizontal movement speed, at this moment, how general
When strangling radar using sea as reflecting surface, the speed that radar measures is movement velocity of the carrier aircraft relative to ocean current.In this way, it and carry
Machine is different relative to the movement velocity on land, and there is certain errors, that is, produce ocean current error.
The seawater on sea has splash spray particle under ocean surface wind action, these spray particles are in ocean surface
Under the influence of wind, it will also be moved with certain speed.When radar empty work across the sea, speed that at this moment radar measures
It is movement velocity of the carrier aircraft relative to these spray particles.It is different from the ground velocity of carrier aircraft, thus produces error, this error
It is wind-induced by ocean surface.
More and more in ocean overhead execution task with aircraft, the deficiency in terms of Doppler radar sea is tested the speed is increasingly convex
Error aobvious, that amendment sea is tested the speed, it is more aobvious important to improve Doppler radar sea rate accuracy.
Currently, needing pilot by being manually entered corrected parameter in terms of domestic Doppler radar tests the speed amendment in ocean
To carrier aircraft across the sea flight when speed be modified, corrected parameter include ocean current amendment and ocean surface wind amendment.This
There are two kinds of deficiencies for kind modification method, on the one hand for pilot, since ocean surface wind speed changes, need regular hand
Dynamic input parameter, flying for long time make pilot be easy to produce fatigue；On the other hand, since carrier aircraft does not provide update information
The equipment in source be modified it can not to its ocean surface wind, cause the error to rate accuracy larger.
Summary of the invention
It is an object of the invention in view of the above shortcomings of the prior art, propose what a kind of Doppler radar tested the speed on sea
Error correcting method, to avoid ocean surface wind parameter is manually entered, and to ocean current and the wind-induced error of ocean surface into
Row amendment, improves rate accuracy.
Technical thought of the invention is: by increasing " land/sea " function switch manually, across the sea when empty work,
Switch is placed in " ocean " operating mode by aircrew, radar realize automatically by by the way of system balance to sea return
Spectrum Distortion carries out speed amendment；Reduce ocean current bring range rate error by manually binding ocean current Information revision；By certainly
The dynamic ocean surface wind error correction amount that derives reduces ocean surface wind bring range rate error.
According to above-mentioned thinking, the present invention provides the following two kinds technical solution:
Technical solution 1:
1. a kind of Doppler radar sea range rate error modification method, including it is as follows
1) when carrier aircraft is in water surface overhead, " land/sea " switch on flight carrier is placed in " ocean " mode；
2) cause the amendment of range rate error to echo spectrum distortion: how general i.e. when the tracking of Doppler radar wave beam is normal
It strangles radar and calls forward speed correction factor εx, lateral velocity correction factor εyRespectively to the forward speed V of carrier aircraftx, lateral velocity
VyIt is modified, the forward speed V ' after obtaining distortions correctionx, lateral velocity V 'y；
3) obtain the correction amount caused by ocean current relative to range rate error under geographic coordinate system: Doppler radar is according to carrier aircraft
The ocean current speed V of locating current locationTide, ocean current direction DTide, ocean current east orientation correction amount E is calculatedte, ocean current north orientation amendment
Measure Etn；
4) in the case where ocean surface wind speed and direction known to, the amendment of the wind-induced range rate error of ocean surface is obtained
Amount: Doppler radar is according to ocean surface wind speed Vsw, ocean surface wind direction Dsw, calculate ocean surface wind east orientation correction amount Ewe, sea
Foreign surface wind north orientation correction amount Ewn；
5) geographic coordinate system speed correction amount is converted into progress speed amendment under body coordinate system:
5a) according to ocean current east orientation correction amount Ete, ocean surface wind east orientation correction amount Ewe, obtain east orientation amendment total amount Ee=
Ete+Ewe；According to ocean current north orientation correction amount Etn, ocean surface wind north orientation correction amount Ewn, obtain north orientation amendment total amount En=Etn+
Ewn；
East orientation 5b) is corrected by total amount E according to posture informatione, north orientation correct total amount EnThe forward direction being transformed under body coordinate system
Correction amount Ex, lateral correction amount Ey, vertical correction amount Ez, to the forward speed V ' after distortions correctionx, lateral velocity V 'yAnd it carries
The vertical velocity V of machinezSpeed amendment is carried out, three final axial velocity information: V " are obtainedx=V 'x+Ex, V "y=V 'y+Ey, V 'z
=Vz+Ez, wherein V "xFor final forward speed, V "yFor final lateral velocity, V 'zFor final vertical velocity.
Technical solution 2:
A kind of Doppler radar sea range rate error modification method includes the following:
(1) when carrier aircraft is in water surface overhead, " land/sea " switch on flight carrier is placed in " ocean " mode；
(2) cause the amendment of range rate error to echo spectrum distortion: how general i.e. when the tracking of Doppler radar wave beam is normal
It strangles radar and calls forward speed correction factor εx, lateral velocity correction factor εyRespectively to the forward speed V of carrier aircraftx, lateral velocity
VyIt is modified, the forward speed V ' after obtaining distortions correctionx, lateral velocity V 'y；
(3) obtain the correction amount caused by ocean current relative to range rate error under geographic coordinate system: Doppler radar is according to load
The ocean current speed V of current location locating for machineTide, ocean current direction DTide, ocean current east orientation correction amount E is calculatedte, ocean current north orientation repairs
Positive quantity Etn；
(4) in the case where unknown ocean surface wind speed and direction, repairing for the wind-induced range rate error of ocean surface is obtained
Positive quantity:
(4a) when not having ocean surface wind data and carrier aircraft height is no more than 3000 feet, Doppler radar is according to aerial
Wind speed Vaw, aerial wind direction Daw, latitude Lat and height Hp, calculate and obtain ocean surface wind speed V 'swWith ocean surface wind direction D 'sw；
(4b) is according to the ocean surface wind speed V ' being calculatedswWith ocean surface wind direction D 'sw, calculate ocean surface wind east
To correction amount E 'we, ocean surface wind north orientation correction amount E 'wn；
(5) geographic coordinate system speed correction amount is converted into progress speed amendment under body coordinate system:
(5a) is according to ocean current east orientation correction amount Ete, ocean surface wind east orientation correction amount E 'we, obtain east orientation amendment total amount E 'e
=Ete+E′we；According to ocean current north orientation correction amount Etn, ocean surface wind north orientation correction amount E 'wn, obtain north orientation amendment total amount E 'n=
Etn+E′wn；
East orientation is corrected total amount E ' according to posture information by (5b)e, north orientation correct total amount E 'nIt is transformed under body coordinate system
Forward modified amount E 'x, lateral correction amount E 'y, vertical correction amount E 'z, to the forward speed V ' after distortions correctionx, lateral velocity V 'y
And the vertical velocity V of carrier aircraftzSpeed amendment is carried out, three final axial velocity information: V " ' are obtainedx=V 'x+E′x, V " 'y=
V′y+E′y, V "z=Vz+E′z, wherein V " 'xFor final forward speed, V " 'yFor final lateral velocity, V "zFor final vertical velocity.
The present invention has the advantage that
1. correction means of the present invention due to using " land/sea " change-over switch, avoids and parameter is manually entered, simplify
The operation complexity of aircrew；
2. the present invention increases due to going out calibration corrections caused by the surface wind of ocean by the information automatic deduction such as aerial wind
Cause the amendment of range rate error to ocean surface wind, and by the amendment of sea return Spectrum Distortion, ocean current amendment, ocean table
Wind amendment in face significantly cuts down on Doppler radar ocean and tests the speed bring error, greatly improves radar across the sea
Rate accuracy.
Detailed description of the invention
Fig. 1 is the implementation flow chart of the embodiment of the present invention 1；
Fig. 2 is the implementation flow chart of the embodiment of the present invention 2；
Fig. 3 is the distortion schematic diagram of Doppler radar sea return frequency spectrum；
Fig. 4 is the relational graph of ocean surface wind and correction amount in the present invention；
Fig. 5 is the relational graph of ocean surface wind and the aerial wind in carrier aircraft present position in the present invention.
Specific embodiment
The present invention will be described in detail referring to the drawings.
Embodiment 1, it is known that ocean surface wind data calculates correction amount:
Referring to Fig.1, steps are as follows for the realization of the present embodiment
Step 1, " land/sea " switching mode is set.
Carrier aircraft is according to the corresponding switching mode of areal setting of flight, i.e., when carrier aircraft is in Over-land flight, pilot
" land/sea " switch is placed in " land " mode；When carrier aircraft empty flight across the sea, " land/sea " switch is placed in " sea by pilot
Ocean " mode.When Doppler radar wave beam tracking in carrier aircraft is normal, radar exports three axial velocities under body coordinate system, preceding
To speed Vx, lateral velocity Vy, vertical velocity Vz。
This example is flown mainly for carrier aircraft is empty across the sea, i.e., " land/sea " switch is placed in " ocean " mode.
Step 2, the amendment of range rate error is caused to echo spectrum distortion.
Carrier aircraft across the sea empty flight when, for the wave beam of Doppler radar radiation, the reflection characteristic of ocean surface
It is different with the reflection characteristic of land surface, when sea works, Doppler radar echo signal spectrum can be distorted, such as
Shown in Fig. 3, to increase Doppler radar range rate error.
To eliminate this error, Doppler radar calls the forward speed correction factor ε set inside itx=
0.02, lateral velocity correction factor εy=0.08；
According to forward speed correction factor εx, to the forward speed V of distortionxIt is modified, the forward direction after obtaining distortions correction
Speed: V 'x=Vx×(1+εx)；
According to lateral velocity correction factor εy, to the lateral velocity V of distortionyIt is modified, the transverse direction after obtaining distortions correction
Speed: V 'y=Vy×(1+εy)。
Step 3, the correction amount caused by ocean current relative to range rate error under geographic coordinate system is obtained.
Because flowing and the tide of seawater make seawater itself relative to land there is horizontal movement speed, at this moment, how general
When strangling radar using sea as reflecting surface, the speed that radar measures is movement velocity of the carrier aircraft relative to ocean current.In this way, radar exists
The speed that sea measures is different relative to the movement velocity on land from carrier aircraft, and there is certain errors, that is, produce ocean current
Error.
Doppler radar first has to obtain the correction amount to the ocean current error, the i.e. ocean current of the current location according to locating for carrier aircraft
Speed VTide, ocean current direction DTide, ocean current east orientation correction amount E is obtained respectivelyteWith ocean current north orientation correction amount Etn:
Ete=VTide×sin(DTide),
Etn=VTide×cos(DTide)。
Step 4, the wind-induced correction amount relative to range rate error under geographic coordinate system of ocean surface is obtained.
The seawater on sea has splash spray particle under ocean surface wind action, these spray particles are in ocean surface
Under the influence of wind, it will also be moved with certain speed.When radar empty work across the sea, speed that at this moment radar measures
It is movement velocity of the carrier aircraft relative to these spray particles.The speed that the speed and carrier aircraft that radar measures on sea are flown on land
Difference, thus produce error, this error be it is wind-induced by ocean surface, then need according to ocean surface wind data, i.e.,
Wind speed and direction, Doppler radar first have to obtain the correction amount that ocean surface wind causes error to be modified, implementation
It is as follows:
For carrier aircraft in sea flight, pilot can obtain ocean surface wind data by the weather forecast of control tower, then
Ocean surface wind wind speed V is manually entered by pilotswWith wind direction DswThe two data calculate ocean by Doppler radar
Correction amount WM caused by surface wind, correction amount WM and ocean surface wind speed VswIt is related as shown in figure 4, its calculation formula is as follows:
WM=4.5 × (1-exp (- Vsw/11.7))+0.03×Vsw；
According to ocean surface wind-induced correction amount WM and ocean surface wind direction Dsw, ocean surface wind east orientation is obtained respectively to be repaired
Positive quantity EweWith ocean surface wind north orientation correction amount Ewn:
Ewe=WM × sin (Dsw+π)
Ewn=WM × cos (Dsw+π)。
Step 5, geographic coordinate system speed correction amount is converted into progress speed amendment under body coordinate system.
5a) according to ocean current east orientation correction amount Ete, ocean surface wind east orientation correction amount Ewe, obtain east orientation amendment total amount Ee=
Ete+Ewe；
5b) according to ocean current north orientation correction amount Etn, ocean surface wind north orientation correction amount Ewn, obtain north orientation amendment total amount En=
Etn+Ewn；
Total amount E 5c) is corrected to the east orientation under geographic coordinate system according to posture informatione, north orientation correct total amount EnIt is converted,
Obtain the forward modified amount E under body coordinate systemx, lateral correction amount Ey, vertical correction amount Ez:
Ex=Ee*(sin(α)*sin(β)*cos(γ)+cos(α)*sin(γ))
+En*(sin(α)*sin(β)*sin(γ)+cos(α)*cos(γ))
Ey=Ee*cos(β)*cos(γ)-En*cos(β)*sin(γ)
Ez=Ee*(cos(α)*sin(β)*cos(γ)-sin(α)*sin(γ))
-En*(cos(α)*sin(β)*sin(γ)+sin(α)*cos(γ))
Wherein, α is pitch angle, and β is roll angle, and γ is true course.
5d) to the forward speed V ' after distortions correctionx, lateral velocity V 'yAnd the vertical velocity V of carrier aircraftzSpeed is carried out to repair
Just, three final axial velocity information are obtained:
V″x=V 'x+Ex,
V″y=V 'y+Ey,
V′z=Vz+Ez,
Wherein V "xFor final forward speed, V "yFor final lateral velocity, V 'zFor final vertical velocity.
Embodiment 2, unknown ocean surface wind data, calculates correction amount
Referring to Fig. 2, steps are as follows for the realization of the present embodiment
" land/sea " switching mode is arranged in step 1.
Step 2 causes the amendment of range rate error to echo spectrum distortion.
Step 3 obtains the correction amount caused by ocean current relative to range rate error under geographic coordinate system.
Above-mentioned three steps specific implementation is identical as step 1- step 3 in embodiment 1.
Step 4, automatic deduction ocean surface wind data, calculates correction amount
4.1) when not having ocean surface wind data and carrier aircraft height is no more than 3000 feet, Doppler radar first has to root
The aerial wind speed V shown according to carrier aircraft height Hp and carrier aircraft instrumentaw, aerial wind direction Daw, latitude Lat, calculate ocean surface wind
Surface wind speed V 'swWith surface wind direction D 'sw:
V′sw=(0.75+0.25*cos (pi/2 * Hp/3000)) × Vaw
D′sw=Daw-Hp×1.2×sin(Lat)/100
Ocean surface wind speed V 'swWith aerial wind speed VawWith height Hp relation curve, as shown in figure 5, from figure 5 it can be seen that sea
Foreign surface wind speed V 'swWith aerial wind speed VawRatio reduce with the increase of height Hp.
4.2) according to the ocean surface wind speed V ' of calculatingsw, it calculates and obtains the wind-induced correction amount WM ' of ocean surface:
WM '=4.5 × (1-exp (- V 'sw/11.7))+0.03×V′sw；
4.3) according to the wind-induced correction amount WM ' of ocean surface, the ocean surface wind direction D ' calculatedsw, calculate and obtain ocean
Surface wind east orientation correction amount E 'weWith ocean surface wind north orientation correction amount E 'wn:
E′we=WM ' × sin (D 'sw+π)
E′wn=WM ' × cos (D 'sw+π)。
Geographic coordinate system speed correction amount is converted to progress speed amendment under body coordinate system by step 5
5a) according to ocean current east orientation correction amount Ete, ocean surface wind east orientation correction amount E 'we, obtain east orientation amendment total amount E 'e=
Ete+E′we；
5b) according to ocean current north orientation correction amount Etn, ocean surface wind north orientation correction amount E 'wn, obtain north orientation amendment total amount E 'n=
Etn+E′wn；
Total amount E ' 5c) is corrected to the east orientation under geographic coordinate system according to posture informatione, north orientation correct total amount E 'nTurned
It changes, obtains the forward modified amount E ' under body coordinate systemx, lateral correction amount E 'y, vertical correction amount E 'z:
E′x=E 'e*(sin(α)*sin(β)*cos(γ)+cos(α)*sin(γ))
+E′n*(sin(α)*sin(β)*sin(γ)+cos(α)*cos(γ))
E′y=E 'e*cos(β)*cos(γ)-E′n*cos(β)*sin(γ)
E′z=E 'e*(cos(α)*sin(β)*cos(γ)-sin(α)*sin(γ))
-E′n*(cos(α)*sin(β)*sin(γ)+sin(α)*cos(γ))
Wherein, α is pitch angle, and β is roll angle, and γ is true course.
5c) to the forward speed V ' after distortions correctionx, lateral velocity V 'yAnd the vertical velocity V of carrier aircraftzSpeed is carried out to repair
Just, three final axial velocity information are obtained:
V″′x=V 'x+E′x,
V″′y=V 'y+E′y,
V″z=Vz+E′z,
Wherein V " 'xFor final forward speed, V " 'yFor final lateral velocity, V "zFor final vertical velocity.
Above description is only two specific examples of the invention, does not constitute any limitation of the invention, it is clear that for
It, all may be without departing substantially from the principle of the invention, structure after having understood the content of present invention and principle for one of skill in the art
In the case where, carry out various modifications and change in form and details, but these modifications and variations based on inventive concept
Still within the scope of the claims of the present invention.
Claims (9)
1. a kind of Doppler radar sea range rate error modification method, includes the following:
1) when carrier aircraft is in water surface overhead, " land/sea " switch on flight carrier is placed in " ocean " mode；
2) cause the amendment of range rate error to echo spectrum distortion: i.e. when the tracking of Doppler radar wave beam is normal, Doppler's thunder
Up to calling forward speed correction factor εx, lateral velocity correction factor εyRespectively to the forward speed V of carrier aircraftx, lateral velocity VyInto
Row amendment, the forward speed V' after obtaining distortions correctionx, lateral velocity V'y；
3) obtain the correction amount caused by ocean current relative to range rate error under geographic coordinate system: Doppler radar is according to locating for carrier aircraft
The ocean current speed V of current locationTide, ocean current direction DTide, ocean current east orientation correction amount E is calculatedte, ocean current north orientation correction amount
Etn；
4) in the case where ocean surface wind speed and direction known to, the correction amount of the wind-induced range rate error of ocean surface is obtained: more
General Le radar is according to ocean surface wind speed Vsw, ocean surface wind direction Dsw, calculate ocean surface wind east orientation correction amount Ewe, ocean table
Face wind north orientation correction amount Ewn；
5) geographic coordinate system speed correction amount is converted into progress speed amendment under body coordinate system:
5a) according to ocean current east orientation correction amount Ete, ocean surface wind east orientation correction amount Ewe, obtain east orientation amendment total amount Ee=Ete+
Ewe；According to ocean current north orientation correction amount Etn, ocean surface wind north orientation correction amount Ewn, obtain north orientation amendment total amount En=Etn+Ewn；
East orientation 5b) is corrected by total amount E according to posture informatione, north orientation correct total amount EnThe forward modified being transformed under body coordinate system
Measure Ex, lateral correction amount Ey, vertical correction amount Ez, to the forward speed V' after distortions correctionx, lateral velocity V'yAnd carrier aircraft
Vertical velocity VzSpeed amendment is carried out, three final axial velocity information: V " are obtainedx=V'x+Ex, V "y=V'y+Ey, V'z=Vz+
Ez, wherein V "xFor final forward speed, V "yFor final lateral velocity, V'zFor final vertical velocity.
2. according to the method described in claim 1, wherein Doppler radar calls forward speed correction factor ε in step 2)x, it is horizontal
To speed correction factor εyRespectively to the forward speed V of carrier aircraftx, lateral velocity VyIt is modified, carries out as follows:
Forward speed correction factor: ε 2a) is set according to test datax=0.02, lateral velocity correction factor: εy=0.08；
2b) according to forward speed correction factor εx, to the forward speed V of distortionxIt is modified, the forward direction after obtaining distortions correction
Speed: V'x=Vx×(1+εx)；
2c) according to lateral velocity correction factor εy, to the lateral velocity V of distortionyIt is modified, the transverse direction after obtaining distortions correction
Speed: V'y=Vy×(1+εy)。
3. according to the method described in claim 1, wherein in step 3) current location according to locating for carrier aircraft ocean current speed VTide、
Ocean current direction DTide, obtain ocean current east orientation correction amount Ete, ocean current north orientation correction amount Etn, it is calculated as follows:
Ete=VTide×sin(DTide),
Etn=VTide×cos(DTide)。
4. according to the method described in claim 1, wherein ocean surface wind east orientation correction amount E in step 4)we, ocean surface wind north
To correction amount Ewn, it is calculated according to following formula:
Ewe=WM × sin (Dsw+π)
Ewn=WM × cos (Dsw+π)
Wherein, WM is by the wind-induced correction amount of ocean surface
WM=4.5 × (1-exp (- Vsw/11.7))+0.03×Vsw；
VswFor ocean surface wind speed, DswFor ocean surface wind direction.
5. according to the method described in claim 1, wherein step 5b) in east orientation corrected by total amount E according to posture informatione, north orientation repairs
Positive total amount EnThe forward modified amount E being transformed under body coordinate systemx, lateral correction amount Ey, vertical correction amount Ez, as follows
Conversion:
Ex=Ee*(sin(α)*sin(β)*cos(γ)+cos(α)*sin(γ))+En*(sin(α)*sin(β)*sin(γ)+
cos(α)*cos(γ))
Ey=Ee*cos(β)*cos(γ)-En*cos(β)*sin(γ)
Ez=Ee*(cos(α)*sin(β)*cos(γ)-sin(α)*sin(γ))-En*(cos(α)*sin(β)*sin(γ)+
sin(α)*cos(γ))
Wherein, α is pitch angle, and β is roll angle, and γ is true course.
6. a kind of Doppler radar sea range rate error modification method, includes the following:
(1) when carrier aircraft is in water surface overhead, " land/sea " switch on flight carrier is placed in " ocean " mode；
(2) cause the amendment of range rate error to echo spectrum distortion: i.e. when the tracking of Doppler radar wave beam is normal, Doppler's thunder
Up to calling forward speed correction factor εx, lateral velocity correction factor εyRespectively to the forward speed V of carrier aircraftx, lateral velocity VyInto
Row amendment, the forward speed V' after obtaining distortions correctionx, lateral velocity V'y；
(3) obtain the correction amount caused by ocean current relative to range rate error under geographic coordinate system: Doppler radar is according to carrier aircraft institute
Locate the ocean current speed V of current locationTide, ocean current direction DTide, ocean current east orientation correction amount E is calculatedte, ocean current north orientation correction amount
Etn；
(4) in the case where unknown ocean surface wind speed and direction, the correction amount of the wind-induced range rate error of ocean surface is obtained:
(4a) when not having ocean surface wind data and carrier aircraft height is no more than 3000 feet, Doppler radar is according to aerial wind speed
Vaw, aerial wind direction Daw, latitude Lat and height Hp, calculate and obtain ocean surface wind speed V'swWith ocean surface wind direction D'sw；
(4b) is according to the ocean surface wind speed V' being calculatedswWith ocean surface wind direction D'sw, calculate the amendment of ocean surface wind east orientation
Measure E'we, ocean surface wind north orientation correction amount E'wn；
(5) geographic coordinate system speed correction amount is converted into progress speed amendment under body coordinate system:
(5a) is according to ocean current east orientation correction amount Ete, ocean surface wind east orientation correction amount E'we, obtain east orientation amendment total amount E'e=Ete+
E'we；According to ocean current north orientation correction amount Etn, ocean surface wind north orientation correction amount E'wn, obtain north orientation amendment total amount E'n=Etn+E
'wn；
East orientation is corrected total amount E' according to posture information by (5b)e, north orientation correct total amount E'nThe forward direction being transformed under body coordinate system
Correction amount E'x, lateral correction amount E'y, vertical correction amount E'z, to the forward speed V' after distortions correctionx, lateral velocity V'yAnd
The vertical velocity V of carrier aircraftzSpeed amendment is carried out, three final axial velocity information: V " ' are obtainedx=V'x+E'x, V " 'y=V'y+
E'y, V "z=Vz+E'z, wherein V " 'xFor final forward speed, V " 'yFor final lateral velocity, V "zFor final vertical velocity.
7. according to the method described in claim 6, wherein according to aerial wind speed V in step (4a)aw, aerial wind direction Daw, latitude Lat
With height Hp, ocean surface wind speed V' is obtainedswWith ocean surface wind direction D'sw, it is calculated as follows:
V'sw=(0.75+0.25*cos (pi/2 * Hp/3000)) × Vaw
D'sw=Daw-Hp×1.2×sin(Lat)/100。
8. according to the method described in claim 6, wherein in step (4b), according to ocean surface wind speed V'swWith ocean surface wind
To D'sw, calculate and obtain ocean surface wind east orientation correction amount E'weWith ocean surface wind north orientation correction amount E'wn, as follows into
Row:
(4b1) is according to ocean surface wind speed V'sw, calculate the wind-induced correction amount WM' of ocean surface:
WM'=4.5 × (1-exp (- V'sw/11.7))+0.03×V'sw；
(4b2) is according to the wind-induced correction amount WM' of ocean surface, ocean surface wind direction D'sw, calculate and obtain ocean surface wind east orientation
Correction amount E'weWith ocean surface wind north orientation correction amount E'wn:
E'we=WM' × sin (D'sw+π)
E'wn=WM' × cos (D'sw+π)。
9. according to the method described in claim 6, east orientation is wherein corrected total amount E' according to posture information in step (5b)e, north orientation
Correct total amount E'nThe forward modified amount E' being transformed under body coordinate systemx, lateral correction amount E'y, vertical correction amount E'z, by such as
Lower formula conversion:
E'x=E'e*(sin(α)*sin(β)*cos(γ)+cos(α)*sin(γ))+E'n*(sin(α)*sin(β)*sin(γ)
+cos(α)*cos(γ))
E'y=E'e*cos(β)*cos(γ)-E'n*cos(β)*sin(γ)
E'z=E'e*(cos(α)*sin(β)*cos(γ)-sin(α)*sin(γ))-E'n*(cos(α)*sin(β)*sin(γ)
+sin(α)*cos(γ))
Wherein, α is pitch angle, and β is roll angle, and γ is true course.
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