CN109270519A - Vehicle-mounted rotor wing unmanned aerial vehicle recycling guidance system and method based on millimetre-wave radar - Google Patents
Vehicle-mounted rotor wing unmanned aerial vehicle recycling guidance system and method based on millimetre-wave radar Download PDFInfo
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- CN109270519A CN109270519A CN201811071548.XA CN201811071548A CN109270519A CN 109270519 A CN109270519 A CN 109270519A CN 201811071548 A CN201811071548 A CN 201811071548A CN 109270519 A CN109270519 A CN 109270519A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/04—Systems determining presence of a target
-
- 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
-
- 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
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/581—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of interrupted pulse modulated waves and based upon the Doppler effect resulting from movement of targets
- G01S13/582—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of interrupted pulse modulated waves and based upon the Doppler effect resulting from movement of targets adapted for simultaneous range and velocity measurements
-
- 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
- G01S13/66—Radar-tracking systems; Analogous systems
Abstract
Vehicle-mounted rotor wing unmanned aerial vehicle recycling guidance system and method based on millimetre-wave radar, including vehicle GPS, vehicle-mounted millimeter wave radar system, vehicle-mounted rotor wing unmanned aerial vehicle recovery system, power supply system and central controller, it obtains vehicle position in real time by vehicle GPS, sends instruction of making a return voyage from central controller to rotor wing unmanned aerial vehicle flight control system；In real time compare rotor wing unmanned aerial vehicle between vehicle at a distance from whether reach drop threshold from vehicle-mounted millimeter wave radar system to rotor wing unmanned aerial vehicle send electromagnetic wave signal, and receive the reflected echo-signal of rotor wing unmanned aerial vehicle, resolve rotor wing unmanned aerial vehicle between vehicle at a distance from, the speed relative to vehicle and pitch angle information compare in real time rotor wing unmanned aerial vehicle between vehicle at a distance from whether reach recycling distance threshold starting vehicle-mounted unmanned aerial vehicle recovery system, complete the recycling of rotor wing unmanned aerial vehicle.The present invention can effectively improve the universality of rotor wing unmanned aerial vehicle operational environment, realize Autonomous landing, the recycling of round-the-clock dynamic of rotor wing unmanned aerial vehicle.
Description
Technical field
The present invention relates to unmanned plane recycling fields, more particularly, to a kind of vehicle-mounted rotor wing unmanned aerial vehicle based on millimetre-wave radar
Recycling guidance system and method.
Background technique
Vehicle-mounted rotor wing unmanned aerial vehicle is a kind of combat aircraft using land vehicle as base station, and it is dynamic to possess investigation, counter, battlefield
The fight capabilities such as state control, can farthest adapt to the working environment, natural environment and operational environment on land.Currently, rotor
The research application of unmanned plane recycling guidance mode mainly has laser aiming, GPS guidance and TV track guidance etc..Wherein laser draws
Leading with the core technology of TV track guidance is image processing techniques, the picture and machine that will be prestored in rotor wing unmanned aerial vehicle flight control system
It carries picture captured by camera to be compared in real time, finds landing platform；The core technology of GPS guidance is space orientation and navigation
Technology is referred to by the spatial positional information of ground base station real-time resolving rotor wing unmanned aerial vehicle to the transmission of rotor wing unmanned aerial vehicle flight control system
It enables, it is enabled to make a return voyage.
Above rotor wing unmanned aerial vehicle recycling guidance mode is although simple and easy, but Battlefield situation is changeable, usually will be into
Row night operations, inclement weather conditions operation, under these extreme conditions, laser aiming and TV track guidance will no longer have
Advantage；GPS guidance shows generally in guidance accuracy, and position clearing are slower, and real-time is poor.Therefore it is needed in the prior art
A kind of novel technical solution is wanted to solve the problems, such as this.
Summary of the invention
The technical problems to be solved by the present invention are: for cannot be real existing for existing rotor wing unmanned aerial vehicle recycling guidance mode
Existing rotor wing unmanned aerial vehicle is round-the-clock to recycle, do not adapt to various operational environments and can not achieve the problems such as vehicle-mounted dynamic recycles, and mentions
For a kind of vehicle-mounted rotor wing unmanned aerial vehicle recycling guidance system and method based on millimetre-wave radar, rotor wing unmanned aerial vehicle can effectively improve
The universality of operational environment realizes Autonomous landing, the recycling of round-the-clock dynamic of rotor wing unmanned aerial vehicle.
Vehicle-mounted rotor wing unmanned aerial vehicle based on millimetre-wave radar recycles guidance system characterized by comprising vehicle GPS system
System, vehicle-mounted millimeter wave radar system, vehicle-mounted rotor wing unmanned aerial vehicle recovery system, power supply system and central controller,
The vehicle GPS is used to obtain the real-time position information of vehicle, and the real-time position information is sent to rotation
Wing unmanned plane；
The vehicle-mounted millimeter wave radar system include FM signal modulator, voltage controlled oscillator, directional coupler, circulator,
Frequency mixer, dual-mode antenna, low-pass filter and signal processor, the input terminal of FM signal modulator and the height of central controller
The connection of level control terminal, the output end of FM signal modulator and the input terminal of voltage controlled oscillator connect, and FM signal modulator is used for
Required modulated signal is generated in a manner of FMCW CW with frequency modulation；Voltage controlled oscillator is for generating GHz rank, continuous cycles etc.
The input terminal of width signal, the output end of voltage controlled oscillator and directional coupler connects, the output end of directional coupler respectively with ring
The input terminal connection of the input terminal, frequency mixer of shape device, directional coupler is for a part of continuous cycles constant-amplitude signal to be delivered to
Frequency mixer is delivered to circulator by dual-mode antenna with electromagnetic wave as local oscillation signal, another part continuous cycles constant-amplitude signal
To air-launched；The transmitting-receiving multiplexing end of circulator is connect with dual-mode antenna, and the output end of circulator and the input terminal of frequency mixer connect
It connecing, circulator is for amplifying the reflected echo-signal of rotor wing unmanned aerial vehicle, performance number needed for emitting signal with satisfaction,
And amplified echo-signal is sent to frequency mixer；Frequency mixer is for mixing amplified echo-signal with local oscillation signal
Frequency is handled, and obtains difference frequency signal；The input terminal of low-pass filter and the output end of frequency mixer connect, the output end of low-pass filter
It is connect with the input terminal of signal processor, low-pass filter is used to filter out the noise signal in difference frequency signal；Signal processor
Output end is connect with the input terminal of the AD sample port on central controller, and signal processor is for amplifying filtered difference frequency letter
Number, so that filtered difference frequency signal intensity reaches the intensity requirement of central controller acquisition signal；
The power supply system is recycled with vehicle GPS, vehicle-mounted millimeter wave radar system, vehicle-mounted rotor wing unmanned aerial vehicle respectively
System, power supply system are connected with the voltage input end of central controller, for providing vehicle GPS, vehicle-mounted millimeter wave radar system
System, vehicle-mounted rotor wing unmanned aerial vehicle recovery system, power supply system and the corresponding rated operational voltage of central controller；
The central controller is for acquiring the difference frequency signal after filter and amplification, and to the vehicle GPS, vehicle-mounted milli
Metre wave radar system, vehicle-mounted rotor wing unmanned aerial vehicle recovery system and rotor wing unmanned aerial vehicle send control instruction, for complete rotor nobody
Machine is maked a return voyage, lands and is recycled.
Wherein, the vehicle GPS includes GPS module and wireless communication module, and GPS module is used to obtain the reality of vehicle
When location information；Wireless communication module is used for the real-time position information to rotor wing unmanned aerial vehicle transmission vehicle.
Wherein, the microcontroller chip for the model XMC4100 that the central controller is produced using Infineon company.
Wherein, the frequency range for the continuous cycles constant-amplitude signal that the voltage controlled oscillator generates is 24GHz.
Vehicle-mounted rotor wing unmanned aerial vehicle based on millimetre-wave radar recycles bootstrap technique, which is characterized in that described in this method uses
System, specifically includes the following steps:
Step 1: central controller sends instruction of making a return voyage to the flight control system of rotor wing unmanned aerial vehicle, while central controller opens
Dynamic vehicle GPS obtains vehicle position in real time and real-time position information is transmitted to the flight control system of rotor wing unmanned aerial vehicle,
Rotor wing unmanned aerial vehicle makes a return voyage to vehicle position, and vehicle GPS calculates vehicle in real time during rotor wing unmanned aerial vehicle makes a return voyage
The distance between rotor wing unmanned aerial vehicle；
Step 2: the distance between the vehicle that vehicle GPS in step 1 is calculated in real time and rotor wing unmanned aerial vehicle and rotation
Wing unmanned plane drop threshold is compared in real time, if the distance between rotor wing unmanned aerial vehicle and vehicle within drop threshold, by
Central controller starts vehicle-mounted vehicle-mounted millimeter wave radar system to obtain rotor wing unmanned aerial vehicle motion state parameters；
Step 3: signal waveform required for being exported by the FM signal modulator in vehicle-mounted millimeter wave radar system；Signal
Waveform generates continuous cycles constant-amplitude signal by voltage controlled oscillator；Then, continuous cycles constant-amplitude signal is input to directional coupler,
Continuous cycles constant-amplitude signal a part after being coupled is believed after circulator, through dual-mode antenna to air-launched electromagnetic wave
Number, referred to as emit signal, when transmitting signal encounters the rotor wing unmanned aerial vehicle in drop threshold, the body of rotor wing unmanned aerial vehicle
The transmitting signal reflex can be returned；
It is adopted Step 4: carrying out signal by dual-mode antenna by the reflected electromagnetic wave signal of body of rotor wing unmanned aerial vehicle
Collection, reflected electromagnetic wave signal abbreviation echo-signal, echo-signal is input to circulator after amplification, then is input to mixed
Frequency device, meanwhile, another part of the continuous cycles constant-amplitude signal coupled in step 3 is also input into frequency mixer, will be emitted
Signal and echo-signal carry out Frequency mixing processing, obtain difference frequency signal；
Step 5: difference frequency signal is input to low-pass filter, filters out and be mingled in noise signal therein, after obtaining filtering
Difference frequency signal；Filtered difference frequency signal signal processor is input to again to amplify it；
It is adopted Step 6: carrying out AD to the amplified difference frequency signal of signal processor by the AD sample port of central controller
Sample；
Step 7: central controller carries out spectrum analysis using difference frequency signal of the fast fourier transform algorithm to acquisition,
From in frequency spectrum spectral peak extract rotor wing unmanned aerial vehicle between vehicle at a distance from and relative velocity；
Step 8: by dual-mode antenna receiving and transmitting signal present position and receive echo phase difference calculating obtain rotor without
The man-machine azimuth relative to vehicle；
Step 9: vehicle and rotor wing unmanned aerial vehicle that vehicle GPS is calculated in real time in rotor wing unmanned aerial vehicle descent
The distance between with rotor wing unmanned aerial vehicle recycling distance threshold compared in real time, if the distance between rotor wing unmanned aerial vehicle and vehicle exist
It recycles within distance threshold, then completes the recycling of rotor wing unmanned aerial vehicle by central controller starting vehicle-mounted unmanned aerial vehicle recovery system.
Wherein, drop threshold described in step 2 is 3m~100m.
Wherein, the rotor wing unmanned aerial vehicle motion state parameters include rotor wing unmanned aerial vehicle flying height, speed and pitch angle.
Wherein, the recycling distance threshold is 0m~3m.
Wherein, in step 7, central controller carries out frequency using difference frequency signal of the fast fourier transform algorithm to acquisition
Spectrum analysis, from frequency spectrum spectral peak extract rotor wing unmanned aerial vehicle between vehicle at a distance from and relative velocity detailed process is as follows:
Obtain the centre frequency f of rotor wing unmanned aerial vehicle in two adjacent frequency modulation periodsaWith fa', whereinμ is signal modulation slope, and T is signal modulation period, f0For
Millimetre-wave radar emits the carrier frequency of signal, and c is the light velocity, V1For the speed of the rotor wing unmanned aerial vehicle within first modulation period, R1For
Rotor wing unmanned aerial vehicle is at a distance from vehicle in first modulation period, V2For the speed of the rotor wing unmanned aerial vehicle within second modulation period
Degree, R2For for rotor wing unmanned aerial vehicle at a distance from vehicle, the threshold value of signal modulation cycle T is less than 10ms within second modulation period,
The velocity variations value of rotor wing unmanned aerial vehicle is ignored, within two adjacent frequency modulation periods, the centre frequency difference of rotor wing unmanned aerial vehicle
ForΔ R is position of the rotor wing unmanned aerial vehicle relative to vehicle in a signal modulation cycle T
It moves, contains the range information and velocity information of rotor wing unmanned aerial vehicle and vehicle in centre frequency difference Δ f, that is, pass through the center
Frequency difference Δ f obtain rotor wing unmanned aerial vehicle between vehicle at a distance from and relative velocity.
Through the above design, the present invention can be brought the following benefits:
1, the vehicle-mounted rotor wing unmanned aerial vehicle recycling guidance system of the present invention based on millimetre-wave radar can be realized rotor
The round-the-clock of unmanned plane, dynamic, voluntary recall can more strongly adapt to various operational environments；
2, it is of the present invention based on millimetre-wave radar vehicle-mounted rotor wing unmanned aerial vehicle recycling guidance system use frequency range for
The millimeter wave of 24GHz is not easy to be trapped, and is not easy to be cracked, and greatly improves the safety of operation, and largely promoted
The recycling precision of rotor wing unmanned aerial vehicle；
3, letter is utilized in the vehicle-mounted rotor wing unmanned aerial vehicle recycling bootstrap technique due to of the present invention based on millimetre-wave radar
Number processing technique resolve rotor wing unmanned aerial vehicle between vehicle at a distance from, the information such as relative velocity and pitch angle, therefore the present invention is one
Determine to have saved cost in degree；
4, the vehicle-mounted rotor wing unmanned aerial vehicle recycling bootstrap technique of the present invention based on millimetre-wave radar is using in quick Fu
Leaf transformation algorithm carries out frequency modulation(PFM), which realizes that simply calculation amount is smaller, is able to satisfy vehicle-mounted rotor wing unmanned aerial vehicle recycling guidance
The requirement of real-time of system.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description explanation does not constitute improper restriction of the invention for understanding the present invention, in the accompanying drawings:
Fig. 1 is that millimetre-wave radar work in guidance system is recycled the present invention is based on the vehicle-mounted rotor wing unmanned aerial vehicle of millimetre-wave radar
Principle sketch.
Fig. 2 is that the present invention is based on the structural block diagrams that the vehicle-mounted rotor wing unmanned aerial vehicle of millimetre-wave radar recycles guidance system.
Fig. 3 is that the present invention is based on the azimuth determination principles that the vehicle-mounted rotor wing unmanned aerial vehicle of millimetre-wave radar recycles bootstrap technique
Figure.
Fig. 4 is that the present invention is based on the flow charts that the vehicle-mounted rotor wing unmanned aerial vehicle of millimetre-wave radar recycles bootstrap technique.
It is respectively marked in figure as follows: 1- rotor wing unmanned aerial vehicle, 4- vehicle, 5- vehicle GPS, 6- vehicle-mounted millimeter wave radar system
System, the vehicle-mounted rotor wing unmanned aerial vehicle recovery system of 7-, 8- power supply system, 9- central controller, 10-GPS module, 11- radio communication mold
Block, 12-FM signal modulator, 13- voltage controlled oscillator, 14- directional coupler, 15- circulator, 16- frequency mixer, 17- receive and dispatch day
Line, 18- low-pass filter, 19- signal processor, 20-AD sample port.
Specific embodiment
In order to clearly illustrate that the present invention, the present invention is done further below with reference to preferred embodiments and drawings
It is bright.It will be appreciated by those skilled in the art that specifically described content is illustrative and be not restrictive below, it should not be with this
It limits the scope of the invention.In order to avoid obscuring essence of the invention, well known method, process, process, element and circuit
It is not described in detail.
Refering to fig. 1 and Fig. 2, the vehicle-mounted rotor wing unmanned aerial vehicle recycling guidance system based on millimetre-wave radar includes vehicle GPS system
System 5, vehicle-mounted millimeter wave radar system 6, vehicle-mounted rotor wing unmanned aerial vehicle recovery system 7, power supply system 8 and central controller 9,
The vehicle GPS 5 includes GPS module 10 and wireless communication module 11, and GPS module 10 for obtaining vehicle in real time
4 location information；Wireless communication module 11 is used to convey the location information of vehicle 4 in real time to rotor wing unmanned aerial vehicle；
The vehicle-mounted millimeter wave radar system 6 include FM signal modulator 12, voltage controlled oscillator 13, directional coupler 14,
Circulator 15, frequency mixer 16, dual-mode antenna 17, low-pass filter 18 and signal processor 19, the input of FM signal modulator 12
End is connect with the low and high level control terminal of central controller 9, and the output end of FM signal modulator 12 is defeated with voltage controlled oscillator 13
Enter end connection, FM signal modulator 12 in a manner of FMCW CW with frequency modulation for generating required modulated signal；Voltage controlled oscillation
For device 13 for generating GHz rank, continuous cycles constant-amplitude signal, specific frequency range is 24GHz, the output end of voltage controlled oscillator 13 and fixed
Connected to the input terminal of coupler 14, the output end of directional coupler 14 respectively with the input terminal of circulator 15, frequency mixer 16
Input terminal connection, directional coupler 14 is used to for a part of continuous cycles constant-amplitude signal to be delivered to frequency mixer 16 to be believed as local oscillator
Number, another part continuous cycles constant-amplitude signal be delivered to circulator 15 from dual-mode antenna 17 with electromagnetic wave to air-launched；
The transmitting-receiving multiplexing end of circulator 15 is connect with dual-mode antenna 17, and the output end of circulator 15 is connect with the input terminal of frequency mixer 16,
Circulator 15 is for amplifying the reflected echo-signal of rotor wing unmanned aerial vehicle 1, performance number needed for emitting signal with satisfaction,
And amplified echo-signal is sent to frequency mixer 16；Frequency mixer 16 be used for amplified echo-signal and local oscillation signal into
Row Frequency mixing processing, obtains difference frequency signal；The input terminal of low-pass filter 18 is connect with the output end of frequency mixer 16, low-pass filter
18 output end is connect with the input terminal of signal processor 19, and low-pass filter 18 is used to filter out the noise letter in difference frequency signal
Number；The output end of signal processor 19 is connect with the input terminal of the AD sample port 20 on central controller 9, signal processor 19
For amplifying filtered difference frequency signal, so that filtered difference frequency signal intensity, which reaches central controller 9, acquires signal
Intensity requirement；
The power supply system 8 provides corresponding volume by design a series of voltage conversion circuit for each system and module
Fixed working voltage transports vehicle GPS 5, vehicle-mounted millimeter wave radar system 6 and vehicle-mounted rotor wing unmanned aerial vehicle recovery system 7 normally
Row, power supply system 8 respectively with vehicle GPS 5, vehicle-mounted millimeter wave radar system 6, vehicle-mounted rotor wing unmanned aerial vehicle recovery system 7 and
The voltage input end of central controller 9 connects；
The central controller 9 is for acquiring the difference frequency signal after filter and amplification, and to the vehicle GPS 5, vehicle-mounted
Millimetre-wave radar system 6, vehicle-mounted rotor wing unmanned aerial vehicle recovery system 7 and rotor wing unmanned aerial vehicle 1 send control instruction, for completing rotor
Unmanned plane 1 is maked a return voyage, lands and is recycled, it is preferred that the model that central controller 9 is produced using Infineon company
The microcontroller chip of XMC4100；
Each system described above and the equal integrability of module are simultaneously fixed on any substrate composition based on millimetre-wave radar
Vehicle-mounted rotor wing unmanned aerial vehicle recycles guidance system, and is fixed on 4 top of vehicle by the substrate.
In conjunction with Fig. 1, Fig. 3 and Fig. 4, the vehicle-mounted rotor wing unmanned aerial vehicle based on millimetre-wave radar recycles bootstrap technique, including following
Step:
Step 1: central controller 9 sends make a return voyage instruction, while central controller 9 to the flight control system of rotor wing unmanned aerial vehicle 1
Start vehicle GPS 5, obtains 4 place of vehicle in real time by four position location satellites by the GPS module 10 in vehicle GPS 5
Position, the real-time record position information of vehicle GPS, then the location information is passed to by wireless communication module 11 and is being flown
Rotor wing unmanned aerial vehicle 1 flight control system, rotor wing unmanned aerial vehicle 1 makes a return voyage to 4 position of vehicle, vehicle GPS 5 rotor nobody
Machine 1 calculates the distance between vehicle 4 and rotor wing unmanned aerial vehicle 1 during making a return voyage in real time；
Step 2: vehicle 4 and rotor that vehicle GPS 5 is calculated in real time during rotor wing unmanned aerial vehicle 1 makes a return voyage without
Man-machine the distance between 1 is compared in real time with 1 drop threshold of rotor wing unmanned aerial vehicle, which is 3m~100m, if rotor
The distance between unmanned plane 1 and vehicle 4 then start vehicle-mounted millimeter wave radar system 6 by central controller 9 within drop threshold
To obtain the height, speed and pitch angle information of rotor wing unmanned aerial vehicle 1；
Step 3: exporting required signal waveform by the FM signal modulator 12 in vehicle-mounted millimeter wave radar system 6；Letter
Number waveform generates continuous cycles constant-amplitude signal by voltage controlled oscillator 13；Then, continuous cycles constant-amplitude signal is input to orientation coupling
Clutch 14, continuous cycles constant-amplitude signal a part after being coupled is after circulator 15, by dual-mode antenna 17 to aerial
Electromagnetic signals, referred to as transmitting signal, when transmitting signal encounters the rotor wing unmanned aerial vehicle 1 in drop threshold, rotation
The body of wing unmanned plane 1 can return the transmitting signal reflex；
Step 4: carrying out signal by dual-mode antenna 17 by the reflected electromagnetic wave signal of body of rotor wing unmanned aerial vehicle 1
Acquisition, rear abbreviation echo-signal, echo-signal is input to circulator 15 after amplification, then is input to frequency mixer 16, meanwhile, it will
Another part of the continuous cycles constant-amplitude signal coupled in step 3 also inputs to frequency mixer 16, by transmitting signal and echo
Signal carries out Frequency mixing processing, obtains difference frequency signal；
Step 5: difference frequency signal is input to low-pass filter 18, filters out and be mingled in noise signal therein；It is filtered
Difference frequency signal afterwards；Filtered difference frequency signal signal processor 19 is input to again to amplify it；
Step 6: carrying out AD sampling to amplified difference frequency signal by the AD sample port 20 of central controller 9；
Step 7: the difference frequency signal progress spectrum analysis using fast fourier transform algorithm to acquisition, adjacent two
In the frequency modulation period, the centre frequency of rotor wing unmanned aerial vehicle 1 is respectively faWith fa', it can be by the spectrogram of two adjacent modulation periods
Specific value is obtained, respectively
In above two formula, μ is signal modulation slope, and T is signal modulation period, f0Emit the load of signal for millimetre-wave radar
Frequently, c is the light velocity, V1For the speed of the rotor wing unmanned aerial vehicle 1 within first modulation period, R1For the rotor within first modulation period
Unmanned plane 1 is at a distance from vehicle 4, V2For the speed of the rotor wing unmanned aerial vehicle 1 within second modulation period, R2To be modulated at second
Rotor wing unmanned aerial vehicle 1 is at a distance from vehicle 4 in period；
The threshold value of signal modulation cycle T is less than 10ms, and since signal modulation cycle T is extremely short, the speed of rotor wing unmanned aerial vehicle 1 becomes
Change minimum, the velocity variations value of rotor wing unmanned aerial vehicle 1 is ignored, and V can be approximately considered1≈V2.So two adjacent frequency modulation periods
Interior, the centre frequency difference of rotor wing unmanned aerial vehicle 1 is
In above formula, Δ R is displacement of the rotor wing unmanned aerial vehicle 1 relative to vehicle 4 in a signal modulation cycle T.So should
The range information and velocity information of rotor wing unmanned aerial vehicle 1 Yu vehicle 4 are contained in centre frequency difference Δ f, passes through the centre frequency
Difference DELTA f can calculate rotor wing unmanned aerial vehicle 1 at a distance from vehicle 4 and relative velocity；
Step 8: passing through the geometric distance R between 17 receiving and transmitting signal present position of dual-mode antenna and receiving the phase of echo
Azimuth ɑ of the rotor wing unmanned aerial vehicle 1 relative to vehicle 4 is calculated in potential difference b；
Step 9: the vehicle 4 that vehicle GPS 5 is calculated in real time in 1 descent of rotor wing unmanned aerial vehicle and rotor nobody
The distance between machine 1 recycles distance threshold with rotor wing unmanned aerial vehicle 1 and is compared in real time, which is 0m~3m, if
The distance between rotor wing unmanned aerial vehicle 1 and vehicle 4 then start vehicle-mounted unmanned aerial vehicle by central controller 9 within recycling distance threshold
The recycling of the completion rotor wing unmanned aerial vehicle 1 of recovery system 7.
Obviously, the above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be pair
The restriction of embodiment of the present invention for those of ordinary skill in the art on the basis of the above description can be with
It makes other variations or changes in different ways, all embodiments can not be exhaustive here, it is all to belong to the present invention
Technical solution changes and variations that derived from still in the scope of protection of the present invention.
Claims (9)
1. the vehicle-mounted rotor wing unmanned aerial vehicle based on millimetre-wave radar recycles guidance system characterized by comprising vehicle GPS
(5), vehicle-mounted millimeter wave radar system (6), vehicle-mounted rotor wing unmanned aerial vehicle recovery system (7), power supply system (8) and central controller
(9),
The vehicle GPS (5) is used to obtain the real-time position information of vehicle (4), and the real-time position information is sent to
Rotor wing unmanned aerial vehicle (1)；
The vehicle-mounted millimeter wave radar system (6) includes FM signal modulator (12), voltage controlled oscillator (13), directional coupler
(14), circulator (15), frequency mixer (16), dual-mode antenna (17), low-pass filter (18) and signal processor (19), FM signal
The input terminal of modulator (12) is connect with the low and high level control terminal of central controller (9), the output of FM signal modulator (12)
End is connect with the input terminal of voltage controlled oscillator (13), and FM signal modulator (12) in a manner of FMCW CW with frequency modulation for generating institute
The modulated signal needed；Voltage controlled oscillator for generating GHz rank, continuous cycles constant-amplitude signal, voltage controlled oscillator (13) it is defeated
Outlet is connect with the input terminal of directional coupler (14), the input with circulator (15) respectively of the output end of directional coupler (14)
The input terminal connection at end, frequency mixer (16), directional coupler (14) are mixed for a part of continuous cycles constant-amplitude signal to be delivered to
Frequency device (16) be used as local oscillation signal, another part continuous cycles constant-amplitude signal be delivered to circulator (15) by dual-mode antenna (17) with
Electromagnetic wave is to air-launched；Circulator (15) transmitting-receiving multiplexing end connect with dual-mode antenna (17), circulator (15) it is defeated
Outlet is connect with the input terminal of frequency mixer (16), and circulator (15) is used for rotor wing unmanned aerial vehicle (1) reflected echo-signal
It amplifies, performance number needed for emitting signal with satisfaction, and amplified echo-signal is sent to frequency mixer (16)；Frequency mixer
(16) for carrying out Frequency mixing processing to amplified echo-signal and local oscillation signal, difference frequency signal is obtained；Low-pass filter (18)
Input terminal connect with the output end of frequency mixer (16), the input of the output end of low-pass filter (18) and signal processor (19)
End connection, low-pass filter (18) are used to filter out the noise signal in difference frequency signal；The output end of signal processor (19) is in
The input terminal connection of the AD sample port (20) on controller (9) is entreated, signal processor (19) is for amplifying filtered difference frequency
Signal, so that filtered difference frequency signal intensity reaches the intensity requirement of central controller (9) acquisition signal；
The power supply system (8) respectively with vehicle GPS (5), vehicle-mounted millimeter wave radar system (6), vehicle-mounted rotor wing unmanned aerial vehicle
Recovery system (7), power supply system (8) are connected with the voltage input end of central controller (9), for providing vehicle GPS
(5), vehicle-mounted millimeter wave radar system (6), vehicle-mounted rotor wing unmanned aerial vehicle recovery system (7), power supply system (8) and central controller
(9) corresponding rated operational voltage；
The central controller (9) is for acquiring the difference frequency signal after filter and amplification, and to the vehicle GPS (5), vehicle-mounted
Millimetre-wave radar system (6), vehicle-mounted rotor wing unmanned aerial vehicle recovery system (7) and rotor wing unmanned aerial vehicle (1) send control instruction, have been used for
Making a return voyage, land and recycling at rotor wing unmanned aerial vehicle (1).
2. the vehicle-mounted rotor wing unmanned aerial vehicle according to claim 1 based on millimetre-wave radar recycles guidance system, wherein described
Vehicle GPS (5) includes GPS module (10) and wireless communication module (11), and GPS module (10) is for obtaining vehicle (4)
Real-time position information；Wireless communication module (11) is used for the real-time position information to rotor wing unmanned aerial vehicle (1) transmission vehicle (4).
3. the vehicle-mounted rotor wing unmanned aerial vehicle according to claim 1 based on millimetre-wave radar recycles guidance system, wherein described
The microcontroller chip for the model XMC4100 that central controller (9) is produced using Infineon company.
4. the vehicle-mounted rotor wing unmanned aerial vehicle according to claim 1 based on millimetre-wave radar recycles guidance system, wherein described
The frequency range for the continuous cycles constant-amplitude signal that voltage controlled oscillator (13) generates is 24GHz.
5. the vehicle-mounted rotor wing unmanned aerial vehicle based on millimetre-wave radar recycles bootstrap technique, which is characterized in that this method is wanted using right
System described in any one of 1-4 is sought, specifically includes the following steps:
Step 1: central controller (9) sends make a return voyage instruction, while central controller to the flight control system of rotor wing unmanned aerial vehicle (1)
(9) starting vehicle GPS (5) obtains vehicle (4) position in real time and real-time position information is transmitted to rotor wing unmanned aerial vehicle
(1) flight control system, rotor wing unmanned aerial vehicle (1) make a return voyage to vehicle (4) position, and vehicle GPS (5) is in rotor wing unmanned aerial vehicle
(1) the distance between vehicle (4) and rotor wing unmanned aerial vehicle (1) are calculated during making a return voyage in real time；
Step 2: the distance between the vehicle (4) that vehicle GPS in step 1 (5) is calculated in real time and rotor wing unmanned aerial vehicle (1)
It is compared in real time with rotor wing unmanned aerial vehicle (1) drop threshold, if the distance between rotor wing unmanned aerial vehicle (1) and vehicle (4) are landing
Within threshold value, then start vehicle-mounted vehicle-mounted millimeter wave radar system (6) by central controller (9) to obtain rotor wing unmanned aerial vehicle (1) fortune
Dynamic state parameter；
Step 3: signal waveform required for being exported by the FM signal modulator (12) in vehicle-mounted millimeter wave radar system (6)；Letter
Number waveform generates continuous cycles constant-amplitude signal by voltage controlled oscillator (13)；Then, continuous cycles constant-amplitude signal is input to orientation
Coupler (14), continuous cycles constant-amplitude signal a part after being coupled pass through dual-mode antenna after circulator (15)
(17) to air-launched electromagnetic wave signal, referred to as transmitting signal, when transmitting signal encounter the rotor in drop threshold without
When man-machine (1), the body of rotor wing unmanned aerial vehicle (1) can return the transmitting signal reflex；
Step 4: carrying out signal by dual-mode antenna (17) by the reflected electromagnetic wave signal of body of rotor wing unmanned aerial vehicle (1)
Acquisition, reflected electromagnetic wave signal abbreviation echo-signal, echo-signal are input to circulator (15) after amplification, then defeated
Enter to frequency mixer (16), meanwhile, another part of the continuous cycles constant-amplitude signal coupled in step 3 is also input to mixed
Transmitting signal and echo-signal are carried out Frequency mixing processing, obtain difference frequency signal by frequency device (16)；
Step 5: difference frequency signal is input to low-pass filter (18), filters out and be mingled in noise signal therein, after obtaining filtering
Difference frequency signal；Filtered difference frequency signal signal processor (19) is input to again to amplify it；
Step 6: by central controller (9) AD sample port (20) to signal processor (19) amplified difference frequency signal into
Row AD sampling；
Step 7: central controller (9) carries out spectrum analysis using difference frequency signal of the fast fourier transform algorithm to acquisition, from
In frequency spectrum spectral peak extract rotor wing unmanned aerial vehicle (1) between vehicle (4) at a distance from and relative velocity；
Step 8: by dual-mode antenna (17) receiving and transmitting signal present position and receive echo phase difference calculating obtain rotor without
The azimuth of man-machine (1) relative to vehicle (4)；
Step 9: vehicle (4) and rotor that vehicle GPS (5) is calculated in real time in rotor wing unmanned aerial vehicle (1) descent without
The distance between man-machine (1) is compared in real time with rotor wing unmanned aerial vehicle (1) recycling distance threshold, if rotor wing unmanned aerial vehicle (1) and vehicle
The distance between (4) then start vehicle-mounted unmanned aerial vehicle recovery system (7) by central controller (9) within recycling distance threshold
Complete the recycling of rotor wing unmanned aerial vehicle (1).
6. the vehicle-mounted rotor wing unmanned aerial vehicle according to claim 5 based on millimetre-wave radar recycles bootstrap technique, wherein step
Drop threshold described in two is 3m~100m.
7. the vehicle-mounted rotor wing unmanned aerial vehicle according to claim 5 based on millimetre-wave radar recycles bootstrap technique, wherein described
Rotor wing unmanned aerial vehicle (1) motion state parameters include rotor wing unmanned aerial vehicle (1) flying height, speed and pitch angle.
8. the vehicle-mounted rotor wing unmanned aerial vehicle according to claim 5 based on millimetre-wave radar recycles bootstrap technique, wherein described
Recycling distance threshold is 0m~3m.
9. the vehicle-mounted rotor wing unmanned aerial vehicle according to claim 5 based on millimetre-wave radar recycles bootstrap technique, wherein step
In seven, central controller (9) carries out spectrum analysis using difference frequency signal of the fast fourier transform algorithm to acquisition, composes from frequency spectrum
In peak extract rotor wing unmanned aerial vehicle (1) between vehicle (4) at a distance from and relative velocity detailed process is as follows:
Obtain the centre frequency f of rotor wing unmanned aerial vehicle (1) in two adjacent frequency modulation periodsaWith fa', whereinμ is signal modulation slope, and T is signal modulation period, f0For
Millimetre-wave radar emits the carrier frequency of signal, and c is the light velocity, V1For the speed of the rotor wing unmanned aerial vehicle (1) within first modulation period, R1
For rotor wing unmanned aerial vehicle (1) is at a distance from vehicle (4) within first modulation period, V2For within second modulation period rotor without
The speed of man-machine (1), R2For rotor wing unmanned aerial vehicle (1) is at a distance from vehicle (4) within second modulation period, the signal modulation period
The threshold value of T be less than 10ms, the velocity variations value of rotor wing unmanned aerial vehicle (1) is ignored, within two adjacent frequency modulation periods, rotor without
The centre frequency difference of man-machine (1) isΔ R is the rotor in a signal modulation cycle T
Displacement of the unmanned plane (1) relative to vehicle (4) contains rotor wing unmanned aerial vehicle (1) and vehicle (4) in centre frequency difference Δ f
Range information and velocity information, i.e., by centre frequency difference Δ f obtain between rotor wing unmanned aerial vehicle (1) and vehicle (4) away from
From and relative velocity.
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