CN109856618A - A kind of target angular velocity of rotation calculation method based on rolling target RCS feature - Google Patents
A kind of target angular velocity of rotation calculation method based on rolling target RCS feature Download PDFInfo
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Abstract
The present invention provides a kind of target angular velocity of rotation calculation method based on rolling target RCS feature, power is received by radar and estimates that the RCS of target changes, and then the angular velocity of rotation of inverting target.Its advantage is that: power is received by radar and obtains target rotation angle, compared to general optical detection method, influenced by environmental factors such as brightness, positions it is smaller, can be with the round-the-clock use of round-the-clock, the present invention is insensitive to distance change between target and radar simultaneously, therefore stability is strong.
Description
Technical field
The present invention relates to space technology fields, and in particular to one kind is based on rolling target RCS (Radar Cross Section
Radar-Cross Section) feature target angular velocity of rotation calculation method.
Background technique
In recent years, with the development of space technology, space tasks are becomed more diverse and are complicated, for being tieed up with fault satellites
It repairs, the demand that unfriendly target monitoring is operated with in-orbit services such as capture, the cleanings of track rubbish is increasingly urgent to.In order to realize in-orbit clothes
Be engaged in operation task, inevitable requirement service ontology to service object carry out short distance high precision manipulation, and ontology and operation mesh
Any slight impact between mark can all make task utter failure, damage ontology, therefore the operating process of in-orbit service is necessary
Avoid any type of collision.
When the extraterrestrial target to three-axis stabilization closely operate, it is only necessary to which ontology is according to pre-determined safety zone
Domain limitation is close to target and is operated.However in space other than the operation target of three-axis stabilization, there is also a large amount of
Non- cooperation rolling target, such as the inert satellite without control rotation in the spinning satellite of enemy, space.The unknown rotation of these targets
Turn not only the high precision manipulation of ontology can be made to be difficult to realize, but also will lead to ontology and collide with operation object.Target is not
Know that the presence of angular velocity of rotation substantially increases the difficulty and risk of operating process, or even scheduled operation scheme can be made thorough
Bottom failure.Due under space microgravity environment, the angular velocity of rotation and rotary shaft of most of Space Rotating target in the short time
It will not be varied widely relative to operation ontology, if ontology can obtain the rotary shaft and rotation angle of target before the procedure
The motion control circuit of the prediction introducing ontology of target rotary motion can then be planned again the motion profile of ontology by speed,
This has biggish application value to the difficulty for reducing space-orbit short distance operating process.
In recent years with the development of computer vision, there has been proposed the dbjective state identification sides much based on binocular vision
Method, but these methods are surrounded all using a central point is chosen in target by the position movement and target that recognize central point
The rotation of the point describes target in the translation and rotation in space, since the central point one that not can guarantee selected is positioned at target
In rotary shaft, thus these methods and the ability for not having the rotary shaft and angular velocity of rotation that recognize pure rolling target.In order to obtain
Obtain the angular velocity of rotation of target, patent " a kind of space circular target rotational motion parameter measurement method based on perspective projection "
(number of patent application: 201110125734.9, patent publication No.: CN102288134A) calculates effective coke of video camera first
Away from, be then based on camera perspective projection principle, with geometric reasoning method, obtain when rotary motion occur when circular target it is straight
The variation of diameter, to calculate the angular velocity of rotation of target.This method optical camera is affected by environment big, between target and camera
Distance is limited, and is limited to the shape of circular target.A kind of patent " space target rotation state identification side based on binocular vision
Method " binocular camera is placed in target proximity by (number of patent application: 201210524887.5, patent publication No.: CN102981011A)
Any position point, by two index points arbitrary in target and characterized by point, calculate the direction vector of rotary shaft, calculating operation
The rotation angle of target.Optical camera in this method is same affected by environment big, and distance is limited between target and camera, and mesh
It is limited to mark feature.The present invention obtains target by radar return and AGC voltage and rotates angle, by environmental factors such as brightness, positions
Influence it is smaller and insensitive to distance change between target and radar, the stability of radar system can be improved.Patent
" a kind of rotary body angular velocity measurement system based on vortex beams " (number of patent application: 201610035730.4, patent publication No.
CN105675903A the directional characteristic of the Poynting vector) based on Doppler frequency shift principle and vortex beams measures angular speed.It should
Need beam orthogonal Plane of rotation in method, thus the direction of the Plane of rotation of noncooperative target determine it is relatively difficult.Document " base
In the satellite angular speed particle filter algorithm for estimating of TAM " (" Harbin Institute of Technology's journal ", No.11,2007) by satellite
Three axis magnetometer (TAM) measurement output and particle filter method realize the estimation to satellite angular speed.This method needs the survey of TAM
Amount output, can not estimate the angular velocity of rotation of satellite and non-partner's satellite without TAM.The present invention passes through radar
The RCS variation for receiving power estimation target does not need beam elevation Plane of rotation and does not need the data of the TAM output of satellite,
Therefore the angular velocity of rotation of noncooperative target can be effectively estimated.Document " extraterrestrial target 3 d pose estimation method "
(" Wuhan University Journal ", No.40,2015) is proposed to satellite geometry feature coding and is carried out most narrow spacing in attitude data library
Method from matching to estimate extraterrestrial target 3 d pose.But this method needs image segmentation, feature extraction etc. to handle, meter
Calculation amount is big, it is insensitive to identify to attitudes vibration.Treatment process of the present invention is simple and without scanning for database, time-consuming short.
In addition, radar AGC voltage or radar digital signal echo amplitude are sensitive with target RCS variation, not by targeted attitude database
The limitation of data volume, estimated result are more accurate.
Summary of the invention
The purpose of the present invention is to provide a kind of target angular velocity of rotation calculation method based on rolling target RCS feature,
The echo strength and target radar scattering cross-section product (Radar- of target can currently be tracked with real time reaction by receiving power by radar
Cross Section, RCS), and the Radar Cross Section of target with target attitude angle change and change, therefore, radar with
When track target, receiving power by radar can estimate that the RCS of target changes, while can estimate the attitude angle variation week of target
Phase, i.e. target angular velocity of rotation.
In order to achieve the above object, the invention is realized by the following technical scheme:
A kind of target angular velocity of rotation calculation method based on rolling target RCS feature, it is characterized in that:
The RCS variation that power estimates target, and then the angular velocity of rotation of inverting target are received by radar.
The above-mentioned target angular velocity of rotation calculation method based on rolling target RCS feature, wherein specifically include following step
It is rapid:
S1, radar reception power is analyzed, obtains the variation relation that radar receives power and radar target RCS,
Radar target distance farther out, target RCS it is smaller when, radar receive power it is smaller, radar AGC voltage does not start to control, at this time radar number
Word signal echo amplitude can receive changed power and corresponding change with radar；Be closer in radar target, target RCS it is larger
When, radar receives that power is larger, and radar AGC voltage starts to control, and AGC voltage can receive changed power and corresponding change with radar；
S2, judge whether radar AGC voltage starts to control, when not starting to control, estimated by radar digital signal echo amplitude data
The swing circle of target out；When starting to control, the swing circle of target is estimated by radar AGC voltage data；
S3, the angular velocity of rotation that target is calculated by the swing circle of target.It is above-mentioned based on rolling target RCS feature
Target angular velocity of rotation calculation method, wherein in the step S2:
When radar AGC voltage starts to control, DC component carried out to radar AGC voltage data, then to AGC voltage data into
The processing of row interpolation is to improve the resolution ratio of target angular velocity of rotation estimation, according to going DC component and interpolation treated AGC electricity
Press the change frequency of the relationship inverting AGC voltage data of data amplitude-frequency analysis chart and sample frequency and sampling number, and then inverting
The swing circle of target.
The above-mentioned target angular velocity of rotation calculation method based on rolling target RCS feature, wherein the step S2
In:
When radar AGC voltage does not start to control, DC component is carried out to radar return amplitude data, then to radar return width
Degree is handled according to interpolation is carried out to improve the resolution ratio of target angular velocity of rotation estimation, after going DC component and interpolation to handle
Radar return amplitude data amplitude-frequency analysis chart and sample frequency and the relationship inverting radar return amplitude data of sampling number
Change frequency, and then the swing circle of inverting target.
Compared with the prior art, the present invention has the following advantages:
Complex disposal process degree is low, and overall calculation amount is small, therefore requires hardware device lower, it is easy to accomplish；Pass through thunder
Target is obtained up to echo and AGC voltage data and rotates angle, compared to general optical detection method, by environment such as brightness, positions
The influence of factor is smaller, can be with the round-the-clock use of round-the-clock, while the present invention is insensitive to distance change between target and radar,
Therefore stability is strong；The RCS variation that data estimate target is received by radar, does not need beam elevation Plane of rotation, therefore this
Invention operating condition is more easier to meet；Without the support of the databases such as targeted attitude, save search in the database when
Between, target rotation angle, strong real-time can be quickly obtained；The radar AGC voltage or radar digital signal echo amplitude used
Data are sensitive with target RCS variation, do not limited by data volume in targeted attitude database, estimated result is more accurate；This hair
Bright input is only radar return data and radar AGC voltage data, does not need target and carries the equipment such as TAM, therefore the present invention
The scope of application is wider, is conducive to estimate the angular velocity of rotation of noncooperative target.
Detailed description of the invention
Fig. 1 is that the present invention is based on the flow charts of the target angular velocity of rotation calculation method of rolling target RCS feature；
Fig. 2 is radar and big-dipper satellite working model in the embodiment of the present invention；
Fig. 3 is big-dipper satellite target RCS distribution map in the embodiment of the present invention；
Fig. 4 is that radar AGC voltage and echo amplitude and radar receive power relation schematic diagram in the embodiment of the present invention；
Fig. 5 is radar AGC voltage measured drawing when radar reception power is smaller in the embodiment of the present invention；
Fig. 6 is radar digital signal echo amplitude measured drawing when radar reception power is smaller in the embodiment of the present invention；
Fig. 7 is radar AGC voltage measured drawing when radar reception power is larger in the embodiment of the present invention；
Fig. 8 is radar digital signal echo amplitude measured drawing when radar reception power is larger in the embodiment of the present invention；
Fig. 9 is radar digital signal echo amplitude amplitude-frequency response figure in the embodiment of the present invention；
Figure 10 is radar AGC voltage amplitude-frequency response figure in the embodiment of the present invention；
Figure 11 is in the embodiment of the present invention according to radar digital signal echo amplitude inverting target angular velocity of rotation；
Figure 12 is in the embodiment of the present invention according to radar AGC voltage inverting target angular velocity of rotation.
Specific embodiment
The present invention is further elaborated by the way that a preferable specific embodiment is described in detail below in conjunction with attached drawing.
The invention is realized by the following technical scheme: a kind of target angular velocity of rotation based on rolling target RCS feature is drilled
Calculation method: receiving power by radar and estimate that the RCS of target changes, and then the angular velocity of rotation of inverting target, specific:
S1, radar reception power is analyzed, obtains the variation relation that radar receives power and radar target RCS: i.e.
Radar receives power to be believed by radar automatic growth control (Automatic Gain Control, AGC) voltage or digital radar
Number echo amplitude can be estimated, radar target distance farther out, target RCS it is smaller when, it is smaller that radar receives power, radar
AGC voltage does not start to control, and radar digital signal echo amplitude can receive changed power and corresponding change with radar at this time；In radar mesh
Subject distance is compared with when close, target RCS is larger, and radar reception power is larger, and radar AGC voltage starts to control, and AGC voltage can be received with radar
Changed power and corresponding change；Therefore, the RCS that radar reception power can currently track target with real time reaction changes, and target
RCS change with the attitude angle of target and change, receiving power by radar can estimate that the RCS of target changes, while can be with
Estimate the attitude angle period of change of target, i.e. target angular velocity of rotation；
S2, judge whether radar AGC voltage starts to control, when not starting to control, estimated by radar digital signal echo amplitude data
The swing circle of target out；When starting to control, the swing circle of target is estimated by radar AGC voltage data；
S3, the angular velocity of rotation that target is calculated by the swing circle of target.Wherein, in the step S2:
When radar AGC voltage starts to control, DC component carried out to radar AGC voltage data, then to AGC voltage data into
The processing of row interpolation is to improve the resolution ratio of target angular velocity of rotation estimation, according to going DC component and interpolation treated AGC electricity
Press the change frequency of the relationship inverting AGC voltage data of data amplitude-frequency analysis chart and sample frequency and sampling number, and then inverting
The swing circle of target；
When radar AGC voltage does not start to control, DC component is carried out to radar return amplitude data, then to radar return width
Degree is handled according to interpolation is carried out to improve the resolution ratio of target angular velocity of rotation estimation, after going DC component and interpolation to handle
Radar return amplitude data amplitude-frequency analysis chart and sample frequency and the relationship inverting radar return amplitude data of sampling number
Change frequency, and then the swing circle of inverting target.
Embodiment
1. target RCS is analyzed
The working model of big-dipper satellite and satellite is as shown in Fig. 2, big-dipper satellite includes satellite body and two pieces of solar energy sails
Plate, establishes three-dimensional cartesian coordinate system centered on big-dipper satellite, and big-dipper satellite is rotated around x-axis direction.Radar to big-dipper satellite into
Row observation；Big-dipper satellite target RCS image as shown in figure 3, when being to different orientations and pitch angle big-dipper satellite target RCS
It is counted, as can be seen from Fig. 3, when pitch angle is near 0 ° and 180 °, peak value occurs in RCS, at this time electromagnetic wave incident direction
It is vertical with two pieces of solar energy sailboards with satellite body.At 0 °, 90 ° or 180 ° of azimuth, satellite body is by vertical irradiation, RCS
Also peak value is presented.The RCS of satellite is counted, can obtain its maximum value is 83000000m2(79.2dBm above2), minimum value goes out
Present 125 ° -126 ° of pitch angle, -133 ° of ranges in 130 ° of azimuth；Minimum value is 0.00028m2(-35.6dBm2), mean value is
13.11dBm2。
2. the analysis of radar reception power
Radar, which can be derived, according to radar equation receives power PrAre as follows:
Wherein, PtFor radar transmission power, G is that radar antenna receives and dispatches gain, and λ is radar emission signal wavelength, and S is radar
Target RCS, R are target range.
As seen from the above equation, it is certain in transmission power, antenna gain, transmitting signal wavelength and target range to receive power for radar
In the case where, it is in a linear relationship with radar target RCS.With the variation of radar return signal power, AGC voltage can accordingly occur
Adjustment, specific correspondence diagram as shown in figure 4, radar target distance farther out, target RCS it is smaller so that radar receive function
When rate is less than -100dBm, radar AGC is not started to control, and radar digital signal echo amplitude can be corresponding with changed power is received at this time
Variation；Radar target is closer, target RCS is larger so that radar receive power be greater than -100dBm when, radar AGC is started to control,
AGC voltage can be with receiving changed power and corresponding change.
(when being less than -100dBm in this experiment), radar AGC voltage is measured when radar reception power is smaller,
Radar AGC voltage keeps definite value, and radar AGC does not control the gain of intermediate-frequency receiver, as shown in Figure 5.And digital radar echo
Amplitude increases with power increase is received, and it is the numerical value less than -100dBm that radar, which is received power setting, believes digital radar
Number echo data measures, as shown in Figure 6.Become at this time using the RCS of radar digital signal echo amplitude data inversion target
Change.
(when being greater than -100dBm in this experiment), radar AGC voltage data is measured when reception power is larger,
Radar AGC voltage is with power cycle variation is received at this time, as shown in Figure 7.Changed at this time using the RCS of AGC voltage inverting target.
Radar AGC is started to control, and it is the numerical value greater than -100dBm that radar, which is received power setting, is carried out to radar digital signal echo data
Measurement, radar digital signal echo amplitude are basically unchanged with power is received, as shown in Figure 8.
3. radar receives data and goes DC component
The cycle T that radar output power sinusoidal variations are arranged is 60s, simulated target swing circle TtFor 60s, i.e. target is revolved
Tarnsition velocity w is 6 °/s.Digital signal echo amplitude data sampling period TeFor 400ms (sample frequency fseFor 2.5Hz), radar
AGC voltage data sampling period TaFor 200ms (sample frequency fsaFor 5Hz).
When radar AGC voltage does not start to control (when setting radar reception data are smaller), using digital radar echo amplitude number
Change according to the RCS of inverting target.The process for removing DC component in radar return amplitude data is as follows: if radar return data
Sampled data is(N1For the sampling number of radar return data), N1A radar return sampled data is averaged
Value isThen k-th of radar return sampled data akIt is after removal DC component
When radar AGC voltage starts to control (when setting radar reception data are larger), using the RCS of AGC voltage inverting target
Variation, the process for removing DC component in radar AGC voltage data are as follows: if the sampled data of radar AGC voltage data is(N2For the sampling number of radar AGC voltage data), N2The average value of a radar AGC voltage sample data isThen k-th of radar AGC voltage sample data bkIt is after removal DC component
4. radar receives data interpolating
When setting radar AGC voltage does not start to control, to sampling number N1M times of interpolation is done for 498 radar return amplitude data
(M value is 10 in this experiment)；
When setting radar AGC voltage starts to control, to sampling number N2M times of interpolation is carried out for 3303 radar AGC voltage data
Operation.
5. radar receives data amplitude-frequency response
When radar AGC voltage does not start to control, Fourier transformation processing is carried out to the radar return amplitude data after interpolation, is obtained
To the amplitude-frequency response of radar digital signal echo data.By the interpolation operation of step 4, by the frequency resolution f before interpolationse/
N1Frequency resolution f after being increased to interpolation for 0.005Hzse/(M*N1) it is 0.0005Hz, the radar return amplitude-frequency after interpolation is rung
It should scheme as shown in Figure 9；
When radar AGC voltage starts to control, Fourier transformation processing is carried out to the radar AGC voltage data after interpolation, is obtained
The amplitude-frequency response of radar AGC voltage data.By the interpolation operation of third step, by the frequency resolution f before interpolationsa/N2For
0.0015Hz is increased to the frequency resolution f after interpolationsa/(M*N2) it is 0.00015Hz, the radar AGC voltage amplitude-frequency after interpolation
Response diagram is as shown in Figure 10.
6. the swing circle of target is estimated
When radar AGC voltage does not start to control, using radar digital signal echo data amplitude-frequency response figure and sampling number with
The relationship estimation radar of sample frequency receives power magnitude change frequency, and then the swing circle T of inverting targettFor
When radar AGC voltage starts to control, the amplitude-frequency response figure and sampling number and sampling frequency of radar AGC voltage data are utilized
The relationship estimation radar of rate receives power magnitude change frequency, and then the swing circle T of inverting targettFor
7. target angular velocity of rotation is estimated
It resolves to obtain the angular velocity of rotation of target according to the target swing circle that estimation obtains.Radar AGC voltage does not start to control
When, utilize the angular velocity of rotation of the target swing circle solving target of radar digital signal echo amplitude period of change inverting, knot
Fruit is as shown in figure 11.It can be seen from fig. 11 that the target angular velocity of rotation of inverting is 6.145 °/s, the target rotation angle of setting
Speed is 6 °/s, therefore evaluated error is 0.145 °/s；
When radar AGC voltage starts to control, the target swing circle solving target of radar AGC voltage change period inverting is utilized
Angular velocity of rotation, as a result as shown in figure 12.In figure 12 it can be seen that the target angular velocity of rotation of inverting is 6.049 °/s, if
The target angular velocity of rotation set is 6 °/s, therefore evaluated error is 0.049 °/s.
It is discussed in detail although the contents of the present invention have passed through above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read above content, for of the invention
A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (4)
1. a kind of target angular velocity of rotation calculation method based on rolling target RCS feature, it is characterised in that:
The RCS variation that power estimates target, and then the angular velocity of rotation of inverting target are received by radar.
2. as described in claim 1 based on the target angular velocity of rotation calculation method of rolling target RCS feature, feature exists
In, comprising the following steps:
S1, radar reception power is analyzed, the variation relation that radar receives power and radar target RCS is obtained, in radar
Target range farther out, target RCS it is smaller when, radar receive power it is smaller, radar AGC voltage does not start to control, at this time digital radar believe
Number echo amplitude can receive changed power and corresponding change with radar；When radar target is closer, target RCS is larger, thunder
Power is larger, and radar AGC voltage is started to control up to receiving, and AGC voltage can receive changed power and corresponding change with radar；
S2, judge whether radar AGC voltage starts to control, when not starting to control, estimate mesh by radar digital signal echo amplitude data
Target swing circle；When starting to control, the swing circle of target is estimated by radar AGC voltage data；
S3, the angular velocity of rotation that target is calculated by the swing circle of target.
3. as claimed in claim 2 based on the target angular velocity of rotation calculation method of rolling target RCS feature, feature exists
In in the step S2:
When radar AGC voltage starts to control, DC component is carried out to radar AGC voltage data, then in the progress of AGC voltage data
Processing is inserted to improve the resolution ratio of target angular velocity of rotation estimation, according to going DC component and interpolation treated AGC voltage number
According to the change frequency of amplitude-frequency analysis chart and sample frequency and the relationship inverting AGC voltage data of sampling number, and then inverting target
Swing circle.
4. as claimed in claim 2 based on the target angular velocity of rotation calculation method of rolling target RCS feature, feature exists
In in the step S2:
When radar AGC voltage does not start to control, DC component is carried out to radar return amplitude data, then to radar return amplitude number
According to carrying out interpolation processing to improve the resolution ratio of target angular velocity of rotation estimation, according to going DC component and interpolation treated thunder
Up to the variation of echo amplitude data amplitude-frequency analysis chart and sample frequency and the relationship inverting radar return amplitude data of sampling number
Frequency, and then the swing circle of inverting target.
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