CN110068803A - A kind of aerial bracketing device and method of radar equipment - Google Patents
A kind of aerial bracketing device and method of radar equipment Download PDFInfo
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- CN110068803A CN110068803A CN201910305916.0A CN201910305916A CN110068803A CN 110068803 A CN110068803 A CN 110068803A CN 201910305916 A CN201910305916 A CN 201910305916A CN 110068803 A CN110068803 A CN 110068803A
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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
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- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses a kind of aerial bracketing device and methods of radar equipment, it include: GPS receiver (1), data radio station transmitting module (2), data radio station receiving module (3), guidance computer (4), radar equipment (5), data acquisition memory module (6), the output end of the GPS receiver (1) is connect with the input terminal of data radio station transmitting module (2)；The output end of data radio station receiving module (3) is connect with guidance computer (4) input terminal；The output end of guidance computer (4) is connect with the input terminal of radar equipment (5)；The output end of radar equipment (5) is connect with the input terminal of data acquisition memory module (6).The invention has the advantages that realizing simple, realize that aerial bracketing and calibration data acquire using rotor wing unmanned aerial vehicle suspention metal ball, solve ground calibration test is influenced by land clutter, the poor problem of calibration precision, calibration precision can be increased within 1dB, realize the Accurate Calibration to radar equipment system.
Description
Technical field
The present invention relates to a kind of aerial bracketing device and methods of radar equipment.
Background technique
Bracketing is a kind of important means of radar equipment performance estimation, generallys use ground calibration test, calibration body
It is placed on the flat ground of background, it is general to select by the angle transmitter of RCS calibration as calibration body, due to by land clutter
It influencing, angle transmitter calibration error is larger, generally in several dB or more, influence is brought on the accurate estimation of radar equipment performance,
Simultaneously for widebeam radar equipment, complicated landform brings certain difficulty to the selection in ground calibration place.And it utilizes empty
Middle bracketing method not will receive the influence of land clutter, calibration precision is wanted since calibration body is by the way of lift-off measurement
Better than ground calibration, and the freedom degree of place election is higher, more accurate reliable to the performance evaluation of radar equipment.
Summary of the invention
It is an object of that present invention to provide a kind of aerial bracketing method of radar equipment, solve previous ground bracketing by
It is affected to land clutter, the poor problem of calibration precision.
In view of this, present invention provide the technical scheme that a kind of aerial bracketing device of radar equipment, feature exist
In, comprising: GPS receiver, data radio station transmitting module, data radio station receiving module, guidance computer, radar equipment and data
Acquire memory module；
The output end of the GPS receiver is connect with the input terminal of data radio station transmitting module；Data radio station receiving module
Output end with guidance computer input terminal connect；The input terminal of the output end and radar equipment that guide computer connects；Radar
The output end of equipment is connect with the input terminal of data acquisition memory module.
Another object of the present invention is to provide a kind of aerial bracketing methods of radar equipment characterized by comprising
The output end of GPS receiver and the input terminal of data radio station transmitting module are attached；Data radio station receives mould
The output end of block is attached with guidance computer input terminal；The input terminal of the output end and radar equipment that guide computer carries out
Connection；The output end of radar equipment and the input terminal of data acquisition memory module are attached；
Radar equipment is installed on turntable and is leveled, the GPS information of radar equipment position is recorded；
GPS receiver and data radio station transmitting module are mounted on rotor wing unmanned aerial vehicle, select length for the nonmetallic of L
Metal ball is suspended under rotor wing unmanned aerial vehicle by line；
GPS receiver obtains the GPS information of rotor wing unmanned aerial vehicle in real time, is sent to data radio station transmitting module by serial ports, and
By the data radio station receiving module of data radio station transmitting module real-time transmission to ground, data radio station receiving module will by serial ports
GPS information is sent to guidance computer, guidance computer according to the GPS information of radar equipment, the GPS information of rotor wing unmanned aerial vehicle,
Suspend line length L parameter information in midair, real-time resolving goes out to calibrate distance R, pitch angle α, azimuthal angle beta of the metal ball relative to radar equipment
Guidance information is sent into radar equipment by serial ports by guidance information, and control servo persistently tracks aerial metal ball.
Further, further includes: rotor wing unmanned aerial vehicle takes off immediately ahead of radar equipment.
Further, further includes: when distance R > C Δ τ/2, θ/2 pitch angle α >, azimuth that guidance machine solution calculates
When β is near 0 degree, hover unmanned plane, carries out calibration data acquisition.
Further, comprising: radar equipment emits signal, and receives the echo data of calibration metal ball, is sent into data and adopts
Collect memory module.
Further, the metal ball is each to the identical hollow metal sphere of consistency.
Further, the rotor wing unmanned aerial vehicle is except radar equipment antenna beam coverage.
Further, further includes: the background spaciousness in the orientation that the radar equipment is directed toward is unobstructed.
Further, further includes: the step of determining the validity of calibration data.
Further, further includes: it is described determine calibration data validity the step of include:
By the theoretical value P for calculating calibration metal ball echo powerrError delta P between measured value P determines, i.e. Δ
P=| Pr-P|；Wherein, echo power theoretical value uses algorithm:
In formula, PtFor transmission power, G is antenna gain, and λ is signal wavelength, and σ is calibration metal ball RCS, and R sets for radar
Standby (5) and calibration metal ball distance, LsFor atmospheric loss, GAGCFor automatic growth control；
When measurement error Δ P is less than 1dB, it is possible to determine that calibration data at this time are effective.
The present invention realize it is following significant the utility model has the advantages that
Realize simple, comprising: GPS receiver, data radio station transmitting module, data radio station receiving module, guidance computer,
Radar equipment and data acquire memory module；The output end of the GPS receiver and the input terminal of data radio station transmitting module connect
It connects；The output end of data radio station receiving module is connect with guidance computer input terminal；The output end of guidance computer is set with radar
Standby input terminal connection；The output end of radar equipment is connect with the input terminal of data acquisition memory module.The present invention utilizes rotor
Unmanned plane suspends metal ball in midair and realizes that aerial bracketing and calibration data acquire, and solution ground calibration tests the shadow by land clutter
It rings, calibration precision can be increased within 1dB by the poor problem of calibration precision, realize the accurate mark to radar equipment system
It is fixed.
Detailed description of the invention
A kind of aerial bracketing apparatus structure schematic diagram of radar equipment of Fig. 1；
A kind of test schematic diagram of a scenario of the aerial bracketing device of radar equipment of Fig. 2.
2. data radio station transmitting module of 1.GPS receiver, 3. data radio station receiving module
4. 5. radar equipment of computer, 6. data is guided to acquire memory module
Specific embodiment
The present invention is described in further detail below in conjunction with the drawings and specific embodiments, is wanted according to following explanation and right
Book is sought, advantages and features of the invention will become apparent from.It should be noted that attached drawing is all made of very simplified form and is applicable in
Non-accurate ratio, only for the purpose of facilitating and clarifying the purpose of the embodiments of the invention.
It should be noted that present invention spy is for multiple embodiments with further in order to clearly demonstrate the contents of the present invention
Illustrate different implementations of the invention, wherein multiple embodiment is enumeration and non-exhaustive.In addition, in order to illustrate
Succinctly, the content having been mentioned in preceding embodiment is often omitted in rear embodiment, therefore, unmentioned interior in rear embodiment
Appearance can accordingly refer to preceding embodiment.
Although the invention can modification in a variety of forms and replacement extend, also listed in specification some specific
Implement legend and is described in detail.It should be understood that the starting point of inventor is not that the invention is limited to illustrated spy
Determine embodiment, antithesis, the starting point of inventor is to protect in all spirit or scope given and defined by this rights statement
The improvement of progress, equivalent alterations and modifications.Same component number is likely to be used for all attached drawings to represent identical or class
As part.
Please refer to Fig. 1, a kind of aerial bracketing device of radar equipment of the invention, comprising: GPS receiver 1, number conduct electricity
Platform transmitting module 2, data radio station receiving module 3, guidance computer 4, radar equipment 5 and data acquire memory module 6；
The output end of the GPS receiver 1 is connect with the input terminal of data radio station transmitting module 2；Data radio station receives mould
The output end of block 3 is connect with guidance 4 input terminal of computer；The input terminal of the output end and radar equipment 5 that guide computer 4 connects
It connects；The output end of radar equipment 5 is connect with the input terminal of data acquisition memory module 6.
Another object of the present invention is to provide a kind of aerial bracketing methods of radar equipment, comprising: by GPS receiver
The input terminal of 1 output end and data radio station transmitting module 2 is attached；The output end of data radio station receiving module 3 and guidance
4 input terminal of computer is attached；The input terminal of the output end and radar equipment 5 of computer 4 is guided to be attached；Radar equipment
5 output end and the input terminal of data acquisition memory module 6 are attached；
Radar equipment 5 is installed on turntable and is leveled, the GPS information of 5 position of radar equipment is recorded；
GPS receiver 1 and data radio station transmitting module 2 are mounted on rotor wing unmanned aerial vehicle, select length for the nonmetallic of L
Metal ball is suspended under rotor wing unmanned aerial vehicle by line；
GPS receiver 1 obtains the GPS information of rotor wing unmanned aerial vehicle in real time, is sent to data radio station transmitting module 2 by serial ports,
And by the data radio station receiving module 3 of 2 real-time transmission of data radio station transmitting module to ground, data radio station receiving module 3 passes through
GPS information is sent to guidance computer 4 by serial ports, and guidance computer 4 is according to the GPS information of radar equipment 5, rotor wing unmanned aerial vehicle
GPS information, suspention line length L parameter information, real-time resolving go out to calibrate distance R, pitch angle of the metal ball relative to radar equipment 5
Guidance information is sent into radar equipment 5 by serial ports by α, azimuthal angle beta guidance information, and control servo persistently tracks aerial metal ball.
Preferably, further includes: rotor wing unmanned aerial vehicle takes off immediately ahead of radar equipment 5.
Preferably, further includes: when distance R > C Δ τ/2, θ/2 pitch angle α >, azimuthal angle beta that guidance computer 4 calculates
When near 0 degree, hover unmanned plane, carries out calibration data acquisition.
Preferably, comprising: radar equipment 5 emits signal, and receives the echo data of calibration metal ball, is sent into data acquisition
Memory module 6.
Preferably, the metal ball is each to the identical hollow metal sphere of consistency.
Preferably, the rotor wing unmanned aerial vehicle is except 5 antenna beam coverage of radar equipment.
Preferably, further includes: the background spaciousness in the orientation that the radar equipment 5 is directed toward is unobstructed.
Preferably, further includes: the step of determining the validity of calibration data.
Preferably, further includes: it is described determine calibration data validity the step of include:
By the theoretical value P for calculating calibration metal ball echo powerrError delta P between measured value P determines, i.e. Δ
P=| Pr-P|；Wherein, echo power theoretical value uses algorithm:
In formula, PtFor transmission power, G is antenna gain, and λ is signal wavelength, and σ is calibration metal ball RCS, and R sets for radar
Standby (5) and calibration metal ball distance, LsFor atmospheric loss, GAGCFor automatic growth control；
When measurement error Δ P is less than 1dB, it is possible to determine that calibration data at this time are effective.
In one embodiment, the aerial bracketing device of a kind of radar equipment of the invention, comprising: GPS receiver 1,
Data radio station transmitting module 2, data radio station receiving module 3, guidance computer 4, radar equipment 5 and data acquire memory module 6.
In one embodiment, the output end of GPS receiver 1 is connect with the input terminal of data radio station transmitting module 2.Number passes
The output end of radio station receiving module 3 is connect with guidance 4 input terminal of computer.Guide the output end of computer 4 and radar equipment 5
Input terminal connection.The output end of radar equipment 5 is connect with the input terminal of data acquisition memory module 6.
The course of work that the present apparatus carries out bracketing Scenario Design and parameter calculates are as follows: aerial bracketing uses rotor
The mode of unmanned plane suspention metal ball.Since the skyborne posture of calibration body is difficult accurately to control, select each to consistency
Preferable hollow metal sphere is as calibration body, and the RCS of metal ball is in advance by calibration.While in order to guarantee the accurate of the calibration results
Property, rotor wing unmanned aerial vehicle needs except 5 antenna beam coverage of radar equipment when calibration.
The parameter of bracketing scene mainly includes the distance between radar equipment 5 and calibration metal ball R, radar equipment 5
Suspend the length L of line between pitch angle α and rotor wing unmanned aerial vehicle between calibration metal ball and calibration metal ball in midair.Firstly, being
Raising signal-to-noise ratio, the distance between radar equipment 5 and calibration metal ball R are the smaller the better, while to guarantee the R not in radar equipment
5 detection blind area, i.e. R > C Δ τ/2, in formula, C is the light velocity, and Δ τ is transmitting signal pulsewidth；Secondly, miscellaneous not by ground in order to guarantee
Wave action, antenna beam main lobe lower edge cannot be irradiated to ground, i.e. pitch angle α will meet θ/2 α >, and in formula, θ is antenna pitching
To beam angle；Finally, rotor wing unmanned aerial vehicle needs except antenna beam coverage when calibration, therefore, the length L of line is suspended in midair
It can be according to formula L > R θ approximate calculation.
The course of work of the present apparatus progress bracketing scenario building and Test Data Collecting are as follows: firstly, by radar equipment 5
It is installed on turntable and levels, the orientation that radar equipment 5 is directed toward requires background spaciousness unobstructed, records 5 position of radar equipment
GPS information.Secondly, GPS receiver 1 and data radio station transmitting module 2 are mounted on rotor wing unmanned aerial vehicle, select length for L
Non-metal wire, metal ball is suspended under rotor wing unmanned aerial vehicle.Rotor wing unmanned aerial vehicle takes off immediately ahead of radar equipment 5, GPS receiver
Machine 1 obtains the GPS information of rotor wing unmanned aerial vehicle in real time, is sent to data radio station transmitting module 2 by serial ports, and emitted by data radio station
To the data radio station receiving module 3 on ground, data radio station receiving module 3 sent GPS information by serial ports 2 real-time transmission of module
To guidance computer 4, guidance computer 4 is according to the GPS information of radar equipment 5, the GPS information of rotor wing unmanned aerial vehicle, suspention wire length
The parameter informations such as L are spent, real-time resolving goes out to calibrate distance R, pitch angle α, azimuthal angle beta etc. of the metal ball relative to radar equipment 5 and draws
Information is led, guidance information is sent into radar equipment 5 by serial ports, control servo persistently tracks aerial metal ball, when guidance computer 4
Distance R > C Δ τ/2 that calculate, θ/2 pitch angle α >, azimuthal angle beta 0 degree nearby when, meet test scene design requirement, nothing
Bracketing scenario building is completed in man-machine hovering.At this point it is possible to carry out calibration data acquisition.Radar equipment 5 emits signal, and
The echo data of calibration metal ball is received, data is sent into and acquires memory module 6, completes the acquisition storage of bracketing data.
The course of work of present apparatus progress calibration data availability deciding are as follows: the validity of calibration data can pass through calculating
Calibrate the theoretical value P of metal ball echo powerrError delta P between measured value P determines, i.e. Δ P=| Pr-P|.Wherein, it returns
The calculation formula of wave power theoretical value isIn formula, PtFor transmission power, G is antenna gain, and λ is letter
Number wavelength, σ are calibration metal ball RCS, and R is radar equipment 5 and calibration metal ball distance, LsFor atmospheric loss, GAGCTo increase automatically
Benefit control.
Not will receive the influence of the background environments such as land clutter due to calibrating in the air, the error of theoretical value and measured value is smaller,
Under normal circumstances, within 1dB.Therefore, can according to the calculated result of measurement error Δ P, to the validity of calibration data into
Row determines.When measurement error Δ P is less than 1dB, it is possible to determine that calibration data at this time are effective.
The present invention realize it is following significant the utility model has the advantages that
Realize simple, comprising: GPS receiver, data radio station transmitting module, data radio station receiving module, guidance computer,
Radar equipment and data acquire memory module；The output end of the GPS receiver and the input terminal of data radio station transmitting module connect
It connects；The output end of data radio station receiving module is connect with guidance computer input terminal；The output end of guidance computer is set with radar
Standby input terminal connection；The output end of radar equipment is connect with the input terminal of data acquisition memory module.The present invention utilizes rotor
Unmanned plane suspends metal ball in midair and realizes that aerial bracketing and calibration data acquire, and solution ground calibration tests the shadow by land clutter
It rings, calibration precision can be increased within 1dB by the poor problem of calibration precision, realize the accurate mark to radar equipment system
It is fixed.
Technical solution and design according to the present invention can also have other any suitable changes.Skill common for this field
For art personnel, all these replacements, adjustment and improvement be should all belong to the protection domain of appended claims of the present invention.
Claims (10)
1. a kind of aerial bracketing device of radar equipment characterized by comprising GPS receiver (1), data radio station transmitting
Module (2), data radio station receiving module (3), guidance computer (4), radar equipment (5) and data acquisition memory module (6)；
The output end of the GPS receiver (1) is connect with the input terminal of data radio station transmitting module (2)；Data radio station receives mould
The output end of block (3) is connect with guidance computer (4) input terminal；The output end of guidance computer (4) is defeated with radar equipment (5)
Enter end connection；The output end of radar equipment (5) is connect with the input terminal of data acquisition memory module (6).
2. a kind of aerial bracketing method of radar equipment characterized by comprising
The output end of GPS receiver (1) and the input terminal of data radio station transmitting module (2) are attached；Data radio station receives
The output end of module (3) is attached with guidance computer (4) input terminal；Guide the output end and radar equipment of computer (4)
(5) input terminal is attached；The output end of radar equipment (5) and the input terminal of data acquisition memory module (6) are attached；
Radar equipment (5) is installed on turntable and is leveled, the GPS information of radar equipment (5) position is recorded；
GPS receiver (1) and data radio station transmitting module (2) are mounted on rotor wing unmanned aerial vehicle, select length for the nonmetallic of L
Metal ball is suspended under rotor wing unmanned aerial vehicle by line；
GPS receiver (1) obtains the GPS information of rotor wing unmanned aerial vehicle in real time, is sent to data radio station transmitting module (2) by serial ports,
And by the data radio station receiving module (3) of data radio station transmitting module (2) real-time transmission to ground, data radio station receiving module
(3) GPS information is sent to by guidance computer (4) by serial ports, guidance computer (4) is believed according to the GPS of radar equipment (5)
Breath, the GPS information of rotor wing unmanned aerial vehicle, suspention line length L parameter information, real-time resolving go out to calibrate metal ball relative to radar equipment
(5) guidance information is sent into radar equipment (5) by serial ports by distance R, pitch angle α, azimuthal angle beta guidance information, and control servo is held
The continuous aerial metal ball of tracking.
3. the aerial bracketing method of radar equipment according to claim 2, which is characterized in that further include: rotor nobody
Machine takes off immediately ahead of radar equipment (5).
4. the aerial bracketing method of radar equipment according to claim 3, which is characterized in that further include:
When distance R > C Δ τ/2, θ/2 pitch angle α >, azimuthal angle beta for guiding computer (4) to calculate are near 0 degree, hovering
Unmanned plane carries out calibration data acquisition.
5. the aerial bracketing method of radar equipment according to claim 4, which is characterized in that further comprise: radar
Equipment (5) emits signal, and receives the echo data of calibration metal ball, is sent into data acquisition memory module (6).
6. the aerial bracketing method of radar equipment according to claim 2, which is characterized in that the metal ball be it is each to
The identical hollow metal sphere of consistency.
7. the aerial bracketing method of radar equipment according to claim 6, which is characterized in that the rotor wing unmanned aerial vehicle exists
Except radar equipment (5) antenna beam coverage.
8. the aerial bracketing method of radar equipment according to claim 2, which is characterized in that further include: the radar
The background spaciousness in the orientation that equipment (5) is directed toward is unobstructed.
9. the aerial bracketing method of radar equipment according to claim 2, which is characterized in that further include: determine calibration
The step of validity of data.
10. the aerial bracketing method of radar equipment according to claim 9, which is characterized in that further include: the judgement
The step of validity of calibration data includes:
By the theoretical value P for calculating calibration metal ball echo powerrError delta P between measured value P determines, i.e. Δ P=|
Pr-P|；Wherein, echo power theoretical value uses algorithm:
In formula, PtFor transmission power, G is antenna gain, and λ is signal wavelength, and σ is calibration metal ball RCS, and R is radar equipment (5)
With calibration metal ball distance, LsFor atmospheric loss, GAGCFor automatic growth control；
When measurement error Δ P is less than 1dB, determine that calibration data at this time are effective.
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| CN201910305916.0A CN110068803A (en) | 2019-04-16 | 2019-04-16 | A kind of aerial bracketing device and method of radar equipment |
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| CN201910305916.0A CN110068803A (en) | 2019-04-16 | 2019-04-16 | A kind of aerial bracketing device and method of radar equipment |
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Cited By (8)
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| CN111537965A (en) * | 2020-04-28 | 2020-08-14 | 中国气象局气象探测中心 | Weather radar calibration method and system based on unmanned aerial vehicle |
| CN111650568A (en) * | 2020-05-12 | 2020-09-11 | 扬州海科电子科技有限公司 | Radar simulator device based on unmanned aerial vehicle |
| CN112068094A (en) * | 2020-09-09 | 2020-12-11 | 中国航空工业集团公司雷华电子技术研究所 | Airborne millimeter wave cloud finding radar calibration method and system |
| CN112363129A (en) * | 2020-11-03 | 2021-02-12 | 江苏省气象探测中心(江苏省(金坛)气象综合试验基地) | Weather radar differential reflectivity factor parameter calibration method |
| CN110441745B (en) * | 2019-08-16 | 2021-04-30 | 北京环境特性研究所 | Method and system for overlooking and measuring target RCS (radar cross section) based on broadband radar |
| CN115015862A (en) * | 2022-06-30 | 2022-09-06 | 广东纳睿雷达科技股份有限公司 | Dual-polarization radar calibration method and device and storage medium |
| CN115113156A (en) * | 2022-08-26 | 2022-09-27 | 中国人民解放军国防科技大学 | Calibration method and system for dual-polarized phased array meteorological radar |
| CN117419681A (en) * | 2023-12-18 | 2024-01-19 | 华云敏视达雷达(北京)有限公司 | Positioning processing method, system, storage medium and electronic equipment |
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| CN115113156A (en) * | 2022-08-26 | 2022-09-27 | 中国人民解放军国防科技大学 | Calibration method and system for dual-polarized phased array meteorological radar |
| CN117419681A (en) * | 2023-12-18 | 2024-01-19 | 华云敏视达雷达(北京)有限公司 | Positioning processing method, system, storage medium and electronic equipment |
| CN117419681B (en) * | 2023-12-18 | 2024-03-08 | 华云敏视达雷达(北京)有限公司 | Positioning processing method, system, storage medium and electronic equipment |
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