CN110068803A - A kind of aerial bracketing device and method of radar equipment - Google Patents

Abstract

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

A kind of radar equipment aerial calibration test device and method

technical field

The invention relates to an air calibration test device and method for radar equipment.

Background technique

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.

SUMMARY OF THE INVENTION

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.

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;

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.

Another object of the present invention is to provide an aerial calibration test method for radar equipment, characterized in that it includes:

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;

Install the radar equipment on the turntable and level it, and record the GPS information of the location of the radar equipment;

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;

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.

Further, it also includes: the rotor drone takes off right in front of the radar equipment.

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.

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.

Further, the metal spheres are hollow metal spheres with the same isotropic consistency.

Further, the rotor UAV is outside the coverage of the radar equipment antenna beam.

Further, it also includes: the background of the orientation pointed by the radar device is open and unobstructed.

Further, it also includes: the step of judging the validity of the calibration data.

Further, it also includes: the step of judging the validity of the calibration data includes:

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:

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;

When the measurement error ΔP is less than 1 dB, it can be determined that the calibration data at this time is valid.

The present invention has achieved the following remarkable beneficial effects:

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.

Description of drawings

Figure 1 is a schematic structural diagram of a radar equipment aerial calibration test device;

Figure 2 is a schematic diagram of a test scene of a radar equipment aerial calibration test device.

1. GPS receiver 2. Digital radio transmitter module 3. Digital radio receiver module

4. Guidance computer 5. Radar equipment 6. Data acquisition storage module

Detailed ways

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.

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.

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.

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;

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 .

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;

Install the radar equipment 5 on the turntable and level it, and record the GPS information of the location of the radar equipment 5;

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 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.

Preferably, it also includes: the rotor drone takes off right in front of the radar device 5 .

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.

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 .

Preferably, the metal spheres are hollow metal spheres with the same isotropic consistency.

Preferably, the rotor UAV is outside the coverage of the radar device 5 antenna beam.

Preferably, it also includes: the background of the orientation pointed by the radar device 5 is open and unobstructed.

Preferably, the method further includes: a step of determining the validity of the calibration data.

Preferably, it also includes: the step of judging the validity of the calibration data includes:

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:

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;

When the measurement error ΔP is less than 1 dB, it can be determined that the calibration data at this time is valid.

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.

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 .

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.

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.

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.

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.

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.

The present invention has achieved the following remarkable beneficial effects:

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.

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 power_rError delta P between measured value P determines, i.e. Δ P=| P_r-P|；Wherein, echo power theoretical value uses algorithm:

In formula, P_tFor 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, L_sFor atmospheric loss, G_AGCFor automatic growth control；

When measurement error Δ P is less than 1dB, determine that calibration data at this time are effective.