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 PDF

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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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radar equipment
calibration
aerial
output end
radar
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金威
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Beijing Institute of Remote Sensing Equipment
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Beijing Institute of Remote Sensing Equipment
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40Means 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

本发明公开了一种雷达设备空中定标试验装置及方法,包括:GPS接收机(1)、数传电台发射模块(2)、数传电台接收模块(3)、引导计算机(4)、雷达设备(5)、数据采集存储模块(6),所述GPS接收机(1)的输出端与数传电台发射模块(2)的输入端连接;数传电台接收模块(3)的输出端与引导计算机(4)输入端连接;引导计算机(4)的输出端与雷达设备(5)的输入端连接;雷达设备(5)的输出端与数据采集存储模块(6)的输入端连接。本发明的优点是:实现简单,利用旋翼无人机悬吊金属球实现空中定标试验与定标数据采集,解决地面定标试验受到地杂波的影响,定标精度较差的问题,能够将定标精度提高到1dB以内,实现对雷达设备系统的精确标定。

The invention discloses an aerial calibration test device and method for radar equipment, comprising: a GPS receiver (1), a digital radio transmitter module (2), a digital radio receiver module (3), a guidance computer (4), a radar A device (5), a data acquisition and storage module (6), the output end of the GPS receiver (1) is connected with the input end of the data transmission station transmitting module (2); the output end of the data transmission station receiving module (3) is connected to the The input end of the guidance computer (4) is connected; the output end of the guidance computer (4) is connected with the input end of the radar device (5); the output end of the radar device (5) is connected with the input end of the data acquisition and storage module (6). The advantages of the invention are: simple to implement, use the rotor unmanned aerial vehicle to suspend the metal ball to realize the aerial calibration test and calibration data acquisition, solve the problem that the ground calibration test is affected by the ground clutter and the calibration accuracy is poor, and can The calibration accuracy is improved to within 1dB, and the accurate calibration of the radar equipment system is realized.

Description

一种雷达设备空中定标试验装置及方法A kind of radar equipment aerial calibration test device and method

技术领域technical field

本发明涉及一种雷达设备空中定标试验装置及方法。The invention relates to an air calibration test device and method for radar equipment.

背景技术Background technique

定标试验是雷达设备性能估计的一种重要手段,通常采用地面定标试验,定标体放置在背景平坦的地面,一般选用经过RCS标定的角发射器作为定标体,由于受到地杂波的影响,角发射器定标误差较大,一般在几dB以上,对雷达设备性能的准确估计带来了影响,同时对于宽波束雷达设备,复杂的地形对地面定标场地的选择带来了一定难度。而利用空中定标试验方法,由于定标体采用升空测量的方式,不会受到地杂波的影响,其定标精度要优于地面定标,并且场地选择的自由度更高,对雷达设备的性能估算更加的精确可靠。The calibration test is an important means of estimating the performance of radar equipment. Usually, the ground calibration test is used. The calibration body is placed on the ground with a flat background. Generally, the angular transmitter calibrated by RCS is used as the calibration body. The calibration error of the angular transmitter is relatively large, generally more than a few dB, which has an impact on the accurate estimation of the performance of the radar equipment. At the same time, for the wide-beam radar equipment, the complex terrain has brought about the selection of the ground calibration site. certain difficulty. However, using the aerial calibration test method, because the calibration body adopts the method of lift-off measurement, it will not be affected by ground clutter. Equipment performance estimates are more accurate and reliable.

发明内容SUMMARY OF THE INVENTION

本发明目的在于提供一种雷达设备空中定标试验方法,解决以往地面定标试验受到地杂波影响较大,定标精度较差的问题。The purpose of the present invention is to provide an aerial calibration test method of radar equipment, which solves the problems that the previous ground calibration test is greatly affected by ground clutter and the calibration accuracy is poor.

有鉴于此,本发明提供的技术方案是:一种雷达设备空中定标试验装置,其特征在于,包括:GPS接收机、数传电台发射模块、数传电台接收模块、引导计算机、雷达设备和数据采集存储模块;In view of this, the technical solution provided by the present invention is: an air calibration test device for radar equipment, which is characterized in that it includes: a GPS receiver, a digital radio transmitter module, a digital radio receiver module, a guidance computer, radar equipment and Data acquisition and storage module;

所述GPS接收机的输出端与数传电台发射模块的输入端连接;数传电台接收模块的输出端与引导计算机输入端连接;引导计算机的输出端与雷达设备的输入端连接;雷达设备的输出端与数据采集存储模块的输入端连接。The output end of the GPS receiver is connected with the input end of the data transmission station transmitting module; the output end of the data transmission station receiving module is connected with the input end of the guiding computer; the output end of the guiding computer is connected with the input end of the radar equipment; The output end is connected with the input end of the data acquisition storage module.

本发明的另一目的在于提供一种雷达设备空中定标试验方法,其特征在于,包括:Another object of the present invention is to provide an aerial calibration test method for radar equipment, characterized in that it includes:

将GPS接收机的输出端与数传电台发射模块的输入端进行连接;数传电台接收模块的输出端与引导计算机输入端进行连接;引导计算机的输出端与雷达设备的输入端进行连接;雷达设备的输出端与数据采集存储模块的输入端进行连接;Connect the output end of the GPS receiver with the input end of the data transmission radio transmitter module; the output end of the data transmission radio receiving module is connected with the input end of the guide computer; the output end of the guide computer is connected with the input end of the radar equipment; the radar The output end of the device is connected with the input end of the data acquisition and storage module;

将雷达设备安装于转台并调平,记录雷达设备所在位置的GPS信息;Install the radar equipment on the turntable and level it, and record the GPS information of the location of the radar equipment;

将GPS接收机和数传电台发射模块安装在旋翼无人机上,选择长度为L的非金属线,将金属球悬吊在旋翼无人机下;Install the GPS receiver and digital radio transmitter module on the rotor drone, select a non-metallic wire with a length of L, and suspend the metal ball under the rotor drone;

GPS接收机实时获取旋翼无人机的GPS信息,由串口发送至数传电台发射模块,并由数传电台发射模块实时传送至地面的数传电台接收模块,数传电台接收模块通过串口将GPS信息发送至引导计算机,引导计算机根据雷达设备的GPS信息、旋翼无人机的GPS信息、悬吊线长度L参数信息,实时解算出定标金属球相对于雷达设备的距离R、俯仰角α、方位角β引导信息,由串口将引导信息送入雷达设备,控制伺服持续跟踪空中金属球。The GPS receiver obtains the GPS information of the rotor UAV in real time, sends it to the digital radio transmitter module through the serial port, and transmits it to the ground digital radio receiver module in real time by the digital radio transmitter module. The information is sent to the guidance computer, and the guidance computer calculates the distance R, pitch angle α, azimuth of the calibration metal ball relative to the radar equipment in real time according to the GPS information of the radar equipment, the GPS information of the rotor UAV, and the L parameter information of the suspension line length. Angle β guidance information, the guidance information is sent to the radar device by the serial port, and the servo is controlled to continuously track the metal ball in the air.

进一步地,还包括:旋翼无人机在雷达设备正前方起飞。Further, it also includes: the rotor drone takes off right in front of the radar equipment.

进一步地,还包括:当引导计算机解算出的距离R>CΔτ/2、俯仰角α>θ/2、方位角β在0度附近时,悬停无人机,进行定标数据采集。Further, it also includes: when the distance R>CΔτ/2, the pitch angle α>θ/2, and the azimuth angle β calculated by the guidance computer are near 0 degrees, hovering the drone to collect calibration data.

进一步地,包括:雷达设备发射信号,并接收定标金属球的回波数据,送入数据采集存储模块。Further, it includes: the radar device transmits signals, receives echo data of the calibration metal ball, and sends it to the data acquisition and storage module.

进一步地,所述金属球为各向一致性相同的空心金属球。Further, the metal spheres are hollow metal spheres with the same isotropic consistency.

进一步地,所述旋翼无人机在雷达设备天线波束覆盖范围之外。Further, the rotor UAV is outside the coverage of the radar equipment antenna beam.

进一步地,还包括:所述雷达设备指向的方位的背景空旷无遮挡。Further, it also includes: the background of the orientation pointed by the radar device is open and unobstructed.

进一步地,还包括:判定定标数据的有效性的步骤。Further, it also includes: the step of judging the validity of the calibration data.

进一步地,还包括:所述判定定标数据的有效性的步骤包括:Further, it also includes: the step of judging the validity of the calibration data includes:

通过计算定标金属球回波功率的理论值Pr与测量值P之间的误差ΔP来判定,即ΔP=|Pr-P|;其中,回波功率理论值采用算法:It is determined by calculating the error ΔP between the theoretical value Pr of the echo power of the calibration metal ball and the measured value P, that is, ΔP =| Pr -P|; where, the theoretical value of the echo power adopts the algorithm:

式中,Pt为发射功率,G为天线增益,λ为信号波长,σ为定标金属球RCS,R为雷达设备(5)与定标金属球距离,Ls为大气损耗,GAGC为自动增益控制;In the formula, P t is the transmit power, G is the antenna gain, λ is the signal wavelength, σ is the calibration metal ball RCS, R is the distance between the radar equipment (5) and the calibration metal ball, L s is the atmospheric loss, G AGC is Automatic gain control;

当测量误差ΔP小于1dB时,可以判定此时的定标数据是有效的。When the measurement error ΔP is less than 1 dB, it can be determined that the calibration data at this time is valid.

本发明实现了以下显著的有益效果:The present invention has achieved the following remarkable beneficial effects:

实现简单,包括:GPS接收机、数传电台发射模块、数传电台接收模块、引导计算机、雷达设备和数据采集存储模块;所述GPS接收机的输出端与数传电台发射模块的输入端连接;数传电台接收模块的输出端与引导计算机输入端连接;引导计算机的输出端与雷达设备的输入端连接;雷达设备的输出端与数据采集存储模块的输入端连接。本发明利用旋翼无人机悬吊金属球实现空中定标试验与定标数据采集,解决地面定标试验受到地杂波的影响,定标精度较差的问题,能够将定标精度提高到1dB以内,实现对雷达设备系统的精确标定。Simple to implement, including: GPS receiver, digital radio transmitter module, digital radio receiver module, guidance computer, radar equipment and data acquisition and storage module; the output end of the GPS receiver is connected to the input end of the digital radio transmitter module The output end of the data transmission radio receiving module is connected with the input end of the guide computer; the output end of the guide computer is connected with the input end of the radar equipment; the output end of the radar equipment is connected with the input end of the data acquisition and storage module. The invention utilizes the rotor unmanned aerial vehicle to suspend the metal ball to realize the aerial calibration test and calibration data acquisition, solves the problem that the ground calibration test is affected by the ground clutter and the calibration accuracy is poor, and can improve the calibration accuracy to 1dB To achieve accurate calibration of the radar equipment system.

附图说明Description of drawings

图1一种雷达设备空中定标试验装置结构示意图;Figure 1 is a schematic structural diagram of a radar equipment aerial calibration test device;

图2一种雷达设备空中定标试验装置的试验场景示意图。Figure 2 is a schematic diagram of a test scene of a radar equipment aerial calibration test device.

1.GPS接收机 2.数传电台发射模块 3.数传电台接收模块1. GPS receiver 2. Digital radio transmitter module 3. Digital radio receiver module

4.引导计算机 5.雷达设备 6.数据采集存储模块4. Guidance computer 5. Radar equipment 6. Data acquisition storage module

具体实施方式Detailed ways

以下结合附图和具体实施例对本发明作进一步详细说明,根据下面说明和权利要求书,本发明的优点和特征将更清楚。需要说明的是,附图均采用非常简化的形式且均适用非精准的比例,仅用以方便、明晰地辅助说明本发明实施例的目的。The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments, and the advantages and characteristics of the present invention will be more clearly understood from the following description and claims. It should be noted that, the accompanying drawings are all in a very simplified form and are all applied to inaccurate scales, and are only used to facilitate and clearly assist the purpose of explaining the embodiments of the present invention.

需要说明的是,为了清楚地说明本发明的内容,本发明特举多个实施例以进一步阐释本发明的不同实现方式,其中,该多个实施例是列举式而非穷举式。此外,为了说明的简洁,前实施例中已提及的内容往往在后实施例中予以省略,因此,后实施例中未提及的内容可相应参考前实施例。It should be noted that, in order to clearly illustrate the content of the present invention, the present invention provides multiple embodiments to further illustrate different implementations of the present invention, wherein the multiple embodiments are enumerated rather than exhaustive. In addition, for the sake of brevity of description, the content mentioned in the previous embodiment is often omitted in the latter embodiment, and therefore, the content not mentioned in the latter embodiment may refer to the former embodiment accordingly.

虽然该发明可以以多种形式的修改和替换来扩展,说明书中也列出了一些具体的实施图例并进行详细阐述。应当理解的是,发明者的出发点不是将该发明限于所阐述的特定实施例,正相反,发明者的出发点在于保护所有给予由本权利声明定义的精神或范围内进行的改进、等效替换和修改。同样的元器件号码可能被用于所有附图以代表相同的或类似的部分。Although the invention can be expanded in various forms of modification and substitution, some specific embodiments are also listed and described in detail in the specification. It should be understood that it is not the intention of the inventor to limit the invention to the particular embodiments set forth, but on the contrary, the intention of the inventor is to protect all improvements, equivalent substitutions and modifications made within the spirit or scope defined by this statement of claims . The same part numbers may be used throughout the drawings to represent the same or similar parts.

请参照图1,本发明的一种雷达设备空中定标试验装置,包括:GPS接收机1、数传电台发射模块2、数传电台接收模块3、引导计算机4、雷达设备5和数据采集存储模块6;Please refer to FIG. 1, a radar equipment aerial calibration test device of the present invention includes: a GPS receiver 1, a digital radio transmitter module 2, a digital radio receiver module 3, a guidance computer 4, radar equipment 5 and data acquisition and storage module 6;

所述GPS接收机1的输出端与数传电台发射模块2的输入端连接;数传电台接收模块3的输出端与引导计算机4输入端连接;引导计算机4的输出端与雷达设备5的输入端连接;雷达设备5的输出端与数据采集存储模块6的输入端连接。The output end of the GPS receiver 1 is connected with the input end of the data transmission station transmitting module 2; the output end of the data transmission station receiving module 3 is connected with the input end of the guiding computer 4; the output end of the guiding computer 4 is connected with the input end of the radar equipment 5 The output end of the radar device 5 is connected with the input end of the data acquisition and storage module 6 .

本发明的另一目的在于提供一种雷达设备空中定标试验方法,包括:将GPS接收机1的输出端与数传电台发射模块2的输入端进行连接;数传电台接收模块3的输出端与引导计算机4输入端进行连接;引导计算机4的输出端与雷达设备5的输入端进行连接;雷达设备5的输出端与数据采集存储模块6的输入端进行连接;Another object of the present invention is to provide an air calibration test method for radar equipment, including: connecting the output end of the GPS receiver 1 with the input end of the data transmission radio transmitter module 2; the output end of the data transmission radio receiving module 3 Connect with the input end of the guidance computer 4; the output end of the guidance computer 4 is connected with the input end of the radar equipment 5; the output end of the radar equipment 5 is connected with the input end of the data acquisition storage module 6;

将雷达设备5安装于转台并调平,记录雷达设备5所在位置的GPS信息;Install the radar equipment 5 on the turntable and level it, and record the GPS information of the location of the radar equipment 5;

将GPS接收机1和数传电台发射模块2安装在旋翼无人机上,选择长度为L的非金属线,将金属球悬吊在旋翼无人机下;Install the GPS receiver 1 and the digital radio transmitter module 2 on the rotor drone, select a non-metallic wire with a length of L, and suspend the metal ball under the rotor drone;

GPS接收机1实时获取旋翼无人机的GPS信息,由串口发送至数传电台发射模块2,并由数传电台发射模块2实时传送至地面的数传电台接收模块3,数传电台接收模块3通过串口将GPS信息发送至引导计算机4,引导计算机4根据雷达设备5的GPS信息、旋翼无人机的GPS信息、悬吊线长度L参数信息,实时解算出定标金属球相对于雷达设备5的距离R、俯仰角α、方位角β引导信息,由串口将引导信息送入雷达设备5,控制伺服持续跟踪空中金属球。The GPS receiver 1 acquires the GPS information of the rotor UAV in real time, sends it to the data transmission radio transmitter module 2 through the serial port, and transmits it to the ground data transmission radio reception module 3 in real time by the data transmission radio transmission module 2, and the data transmission radio reception module 3. Send the GPS information to the guidance computer 4 through the serial port, and the guidance computer 4 calculates in real time that the calibration metal ball is relative to the radar equipment 5 according to the GPS information of the radar equipment 5, the GPS information of the rotor UAV, and the L parameter information of the length of the suspension line. The distance R, the pitch angle α, and the azimuth angle β guidance information are sent to the radar device 5 through the serial port, and the servo is controlled to continuously track the metal ball in the air.

优选地,还包括:旋翼无人机在雷达设备5正前方起飞。Preferably, it also includes: the rotor drone takes off right in front of the radar device 5 .

优选地,还包括:当引导计算机4解算出的距离R>CΔτ/2、俯仰角α>θ/2、方位角β在0度附近时,悬停无人机,进行定标数据采集。Preferably, it also includes: hovering the drone to collect calibration data when the distance R>CΔτ/2, the pitch angle α>θ/2, and the azimuth angle β calculated by the guidance computer 4 are near 0 degrees.

优选地,包括:雷达设备5发射信号,并接收定标金属球的回波数据,送入数据采集存储模块6。Preferably, it includes: the radar device 5 transmits a signal, receives echo data of the calibration metal ball, and sends it to the data acquisition and storage module 6 .

优选地,所述金属球为各向一致性相同的空心金属球。Preferably, the metal spheres are hollow metal spheres with the same isotropic consistency.

优选地,所述旋翼无人机在雷达设备5天线波束覆盖范围之外。Preferably, the rotor UAV is outside the coverage of the radar device 5 antenna beam.

优选地,还包括:所述雷达设备5指向的方位的背景空旷无遮挡。Preferably, it also includes: the background of the orientation pointed by the radar device 5 is open and unobstructed.

优选地,还包括:判定定标数据的有效性的步骤。Preferably, the method further includes: a step of determining the validity of the calibration data.

优选地,还包括:所述判定定标数据的有效性的步骤包括:Preferably, it also includes: the step of judging the validity of the calibration data includes:

通过计算定标金属球回波功率的理论值Pr与测量值P之间的误差ΔP来判定,即ΔP=|Pr-P|;其中,回波功率理论值采用算法:It is determined by calculating the error ΔP between the theoretical value Pr of the echo power of the calibration metal ball and the measured value P, that is, ΔP =| Pr -P|; where, the theoretical value of the echo power adopts the algorithm:

式中,Pt为发射功率,G为天线增益,λ为信号波长,σ为定标金属球RCS,R为雷达设备(5)与定标金属球距离,Ls为大气损耗,GAGC为自动增益控制;In the formula, P t is the transmit power, G is the antenna gain, λ is the signal wavelength, σ is the calibration metal ball RCS, R is the distance between the radar equipment (5) and the calibration metal ball, L s is the atmospheric loss, G AGC is Automatic gain control;

当测量误差ΔP小于1dB时,可以判定此时的定标数据是有效的。When the measurement error ΔP is less than 1 dB, it can be determined that the calibration data at this time is valid.

在一个实施例中,本发明的一种雷达设备空中定标试验装置,包括:GPS接收机1、数传电台发射模块2、数传电台接收模块3、引导计算机4、雷达设备5和数据采集存储模块6。In one embodiment, a radar equipment aerial calibration test device of the present invention includes: a GPS receiver 1, a digital radio transmitter module 2, a digital radio receiver module 3, a guidance computer 4, radar equipment 5 and data acquisition storage module 6.

在一个实施例中,GPS接收机1的输出端与数传电台发射模块2的输入端连接。数传电台接收模块3的输出端与引导计算机4输入端连接。引导计算机4的输出端与雷达设备5的输入端连接。雷达设备5的输出端与数据采集存储模块6的输入端连接。In one embodiment, the output end of the GPS receiver 1 is connected to the input end of the digital radio transmitter module 2 . The output end of the digital radio receiving module 3 is connected with the input end of the guiding computer 4 . The output of the guidance computer 4 is connected to the input of the radar device 5 . The output end of the radar device 5 is connected with the input end of the data acquisition and storage module 6 .

本装置进行定标试验场景设计与参数计算的工作过程为:空中定标试验采用旋翼无人机悬吊金属球的方式。由于定标体在空中的姿态很难精确控制,因此选择各向一致性较好的空心金属球作为定标体,金属球的RCS事先经过标定。同时为了保证定标结果的准确性,定标时旋翼无人机需要在雷达设备5天线波束覆盖范围之外。The working process of the device for the design of the calibration test scene and the calculation of the parameters is as follows: the aerial calibration test adopts the method of suspending the metal ball by the rotor drone. Since the attitude of the calibration body in the air is difficult to precisely control, a hollow metal sphere with good isotropic consistency is selected as the calibration body, and the RCS of the metal sphere is calibrated in advance. At the same time, in order to ensure the accuracy of the calibration results, the rotor UAV needs to be outside the coverage of the radar equipment 5 antenna beam during calibration.

定标试验场景的参数主要包括雷达设备5和定标金属球之间的距离R、雷达设备5与定标金属球之间的俯仰角α、以及旋翼无人机和定标金属球之间悬吊线的长度L。首先,为了提高信噪比,雷达设备5与定标金属球之间的距离R越小越好,同时要保证R不在雷达设备5的探测盲区,即R>CΔτ/2,式中,C为光速,Δτ是发射信号脉宽;其次,为了保证不受地杂波影响,天线波束主瓣下沿不能照射到地面,即俯仰角α要满足α>θ/2,式中,θ为天线俯仰向波束宽度;最后,定标时旋翼无人机需要在天线波束覆盖范围之外,因此,悬吊线的长度L可以按照公式L>Rθ近似计算。The parameters of the calibration test scene mainly include the distance R between the radar device 5 and the calibration metal ball, the pitch angle α between the radar device 5 and the calibration metal ball, and the suspension between the rotor UAV and the calibration metal ball. The length L of the hanging wire. First of all, in order to improve the signal-to-noise ratio, the smaller the distance R between the radar device 5 and the calibration metal ball, the better. At the same time, it is necessary to ensure that R is not in the detection blind area of the radar device 5, that is, R>CΔτ/2, where C is The speed of light, Δτ is the pulse width of the transmitted signal; secondly, in order to ensure that it is not affected by ground clutter, the lower edge of the main lobe of the antenna beam cannot illuminate the ground, that is, the pitch angle α should satisfy α>θ/2, where θ is the antenna pitch Finally, the rotor UAV needs to be outside the coverage of the antenna beam when calibrating. Therefore, the length L of the suspension line can be approximately calculated according to the formula L>Rθ.

本装置进行定标试验场景构建与试验数据采集的工作过程为:首先,将雷达设备5安装于转台并调平,雷达设备5指向的方位要求背景空旷无遮挡,记录雷达设备5所在位置的GPS信息。其次,将GPS接收机1和数传电台发射模块2安装在旋翼无人机上,选择长度为L的非金属线,将金属球悬吊在旋翼无人机下。旋翼无人机在雷达设备5正前方起飞,GPS接收机1实时获取旋翼无人机的GPS信息,由串口发送至数传电台发射模块2,并由数传电台发射模块2实时传送至地面的数传电台接收模块3,数传电台接收模块3通过串口将GPS信息发送至引导计算机4,引导计算机4根据雷达设备5的GPS信息、旋翼无人机的GPS信息、悬吊线长度L等参数信息,实时解算出定标金属球相对于雷达设备5的距离R、俯仰角α、方位角β等引导信息,由串口将引导信息送入雷达设备5,控制伺服持续跟踪空中金属球,当引导计算机4解算出的距离R>CΔτ/2、俯仰角α>θ/2、方位角β在0度附近时,满足试验场景设计要求,无人机悬停,完成定标试验场景构建。此时,可以进行定标数据采集。雷达设备5发射信号,并接收定标金属球的回波数据,送入数据采集存储模块6,完成定标试验数据的采集存储。The working process of the device for the construction of the calibration test scene and the collection of test data is as follows: first, the radar equipment 5 is installed on the turntable and leveled. The orientation of the radar equipment 5 requires that the background is open and unobstructed, and the GPS of the location of the radar equipment 5 is recorded. information. Next, install the GPS receiver 1 and the digital radio transmitter module 2 on the rotor drone, select a non-metallic wire with a length of L, and suspend the metal ball under the rotor drone. The rotor drone takes off right in front of the radar device 5, and the GPS receiver 1 acquires the GPS information of the rotor drone in real time, sends it to the digital radio transmitter module 2 through the serial port, and transmits it to the ground receiver in real time by the digital radio transmitter module 2. The digital radio receiving module 3, the digital radio receiving module 3 sends the GPS information to the guidance computer 4 through the serial port, and the guidance computer 4 is based on the GPS information of the radar equipment 5, the GPS information of the rotor UAV, the length of the suspension line L and other parameter information , calculate the guidance information such as the distance R, pitch angle α, azimuth angle β of the calibration metal ball relative to the radar device 5 in real time, send the guidance information to the radar device 5 through the serial port, and control the servo to continuously track the air metal ball. When the guidance computer 4. When the calculated distance R>CΔτ/2, pitch angle α>θ/2, and azimuth angle β are near 0 degrees, it meets the design requirements of the test scene, and the drone hovers to complete the construction of the calibration test scene. At this point, calibration data collection can be performed. The radar equipment 5 transmits a signal, and receives the echo data of the calibration metal ball, and sends it to the data acquisition and storage module 6 to complete the acquisition and storage of the calibration test data.

本装置进行定标数据有效性判定的工作过程为:定标数据的有效性可以通过计算定标金属球回波功率的理论值Pr与测量值P之间的误差ΔP来判定,即ΔP=|Pr-P|。其中,回波功率理论值的计算公式为式中,Pt为发射功率,G为天线增益,λ为信号波长,σ为定标金属球RCS,R为雷达设备5与定标金属球距离,Ls为大气损耗,GAGC为自动增益控制。The working process of the device to determine the validity of the calibration data is as follows: the validity of the calibration data can be determined by calculating the error ΔP between the theoretical value Pr of the echo power of the calibration metal ball and the measured value P, that is, ΔP = |P r -P|. Among them, the calculation formula of the theoretical value of echo power is: In the formula, P t is the transmit power, G is the antenna gain, λ is the signal wavelength, σ is the calibration metal ball RCS, R is the distance between the radar equipment 5 and the calibration metal ball, L s is the atmospheric loss, and G AGC is the automatic gain control.

由于空中定标不会受到地杂波等背景环境的影响,理论值和测量值的误差较小,一般情况下,在1dB以内。因此,可以根据测量误差ΔP的计算结果,对定标数据的有效性进行判定。当测量误差ΔP小于1dB时,可以判定此时的定标数据是有效的。Since the air calibration is not affected by the background environment such as ground clutter, the error between the theoretical value and the measured value is small, generally within 1dB. Therefore, the validity of the calibration data can be judged according to the calculation result of the measurement error ΔP. When the measurement error ΔP is less than 1 dB, it can be determined that the calibration data at this time is valid.

本发明实现了以下显著的有益效果:The present invention has achieved the following remarkable beneficial effects:

实现简单,包括:GPS接收机、数传电台发射模块、数传电台接收模块、引导计算机、雷达设备和数据采集存储模块;所述GPS接收机的输出端与数传电台发射模块的输入端连接;数传电台接收模块的输出端与引导计算机输入端连接;引导计算机的输出端与雷达设备的输入端连接;雷达设备的输出端与数据采集存储模块的输入端连接。本发明利用旋翼无人机悬吊金属球实现空中定标试验与定标数据采集,解决地面定标试验受到地杂波的影响,定标精度较差的问题,能够将定标精度提高到1dB以内,实现对雷达设备系统的精确标定。Simple to implement, including: GPS receiver, digital radio transmitter module, digital radio receiver module, guidance computer, radar equipment and data acquisition and storage module; the output end of the GPS receiver is connected to the input end of the digital radio transmitter module The output end of the data transmission radio receiving module is connected with the input end of the guide computer; the output end of the guide computer is connected with the input end of the radar equipment; the output end of the radar equipment is connected with the input end of the data acquisition and storage module. The invention utilizes the rotor unmanned aerial vehicle to suspend the metal ball to realize the aerial calibration test and calibration data acquisition, solves the problem that the ground calibration test is affected by the ground clutter and the calibration accuracy is poor, and can improve the calibration accuracy to 1dB To achieve accurate calibration of the radar equipment system.

根据本发明技术方案和构思,还可以有其他任何合适的改动。对于本领域普通技术人员来说,所有这些替换、调整和改进都应属于本发明所附权利要求的保护范围。According to the technical solution and concept of the present invention, any other suitable modifications can also be made. For those of ordinary skill in the art, all these replacements, adjustments and improvements should fall within the protection scope of the 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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Application publication date: 20190730