CN110554380A - Target height fixing system for radar countercheck system - Google Patents
Target height fixing system for radar countercheck system Download PDFInfo
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- CN110554380A CN110554380A CN201910846225.1A CN201910846225A CN110554380A CN 110554380 A CN110554380 A CN 110554380A CN 201910846225 A CN201910846225 A CN 201910846225A CN 110554380 A CN110554380 A CN 110554380A
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- radar
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- holder
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- 238000012544 monitoring process Methods 0.000 claims abstract description 28
- 238000001514 detection method Methods 0.000 claims abstract description 3
- 238000012545 processing Methods 0.000 claims description 18
- 230000008685 targeting Effects 0.000 claims description 7
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/882—Radar or analogous systems specially adapted for specific applications for altimeters
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses a target height fixing system for a radar anti-braking system, which comprises a holder shooting subsystem and a monitoring platform, wherein the holder shooting subsystem is fixedly arranged on one side of a detection radar through a rotary table and is used for assisting the radar in identifying and positioning a target; the monitoring platform is installed on a terminal and is connected with a cloud deck shooting subsystem through a serial port, the monitoring platform is connected with an upper computer, and the upper computer is used for monitoring a target position and sending a control command; the invention adopts the principles of trigonometric function theorem, gyroscope sensing and operation control, and realizes accurate height determination by measuring the elevation angle of the holder. The target can be accurately positioned by the radar when the target of the low-slow small aircraft is detected, and the radar can be widely applied to the places where the low-slow small aircraft is countered by security protection, anti-terrorism and the like.
Description
Technical Field
The invention belongs to the technical field of elevation systems, particularly relates to a target height fixing system for a radar reverse system, and more particularly relates to a system which is suitable for reversing a low-slow small aircraft, so that a radar can assist the radar in positioning after scanning the low-slow small aircraft, and thus the low-slow small aircraft can be accurately struck.
Background
the "low-slow and small" aircraft refers to a flying apparatus with low flying height, low flying speed and small radar reflection area, wherein the unmanned aircraft is typical. In recent years, with the gradual opening of low-altitude airspace control and the rapid development of 'low-speed small' aircraft technology, the cases that the 'low-speed small' aircraft breaks the flight and is used for terrorist attack events are increased, and the normal development of national safety and national economy is seriously influenced. The radar anti-braking system is a system specially used for anti-braking the 'low-slow small' aircraft, and after the radar scans the 'low-slow small' aircraft, the anti-braking system needs to perform anti-braking according to the position of a target scanned by the radar. However, in the prior art, only the target can be oriented by using one radar, and the target cannot be positioned high. If the target is to be heightened, a radar is added and a certain angle is formed with the first radar. This method is not only difficult to erect, but also extremely costly. It can be said to be large and small for the reaction "low slow small" aircraft.
In order to overcome the defects, the invention provides a target height setting system for a radar anti-braking system, aiming at enabling the radar anti-braking system to set the height of a target, so that an anti-braking device can effectively attack an aircraft with low speed and small speed. The invention has the characteristics of accurate height determination, high device integration level, convenience in erection, low cost and the like, and can be widely applied to counter 'low-speed small' aircrafts.
Disclosure of Invention
The present invention is directed to a targeting system for a radar countering system to solve the problems set forth in the background above.
In order to achieve the purpose, the invention adopts the following technical scheme:
A target height fixing system for a radar anti-braking system comprises a holder shooting subsystem and a monitoring platform, wherein the holder shooting subsystem is fixedly arranged on one side of a detection radar through a rotary table and is used for assisting the radar in identifying and positioning a target; the monitoring platform is installed at a terminal and is connected with a cloud deck camera shooting subsystem through a serial port, the monitoring platform is connected with an upper computer, and the upper computer is used for monitoring a target position and sending a control command.
Preferably, the pan-tilt camera subsystem comprises a camera, a pan-tilt, a gyroscope sensor and an operation processing module, and all the components are integrated in one device.
Preferably, the monitoring platform is an independent terminal and is used for checking the position information of the target and sending a control instruction to the pan-tilt camera subsystem.
Preferably, the camera has a video output interface, which is connected to a monitor through a video line, and the monitor can observe the object shot by the camera; the center of the video output by the camera displays a square frame, the center of the square frame is used as a height-fixing reference point, and the height of the target currently locked by the reference point is the height of the target to be calculated.
Preferably, the tripod head is connected with a camera, and the tripod head is used for driving the camera to rotate; the gyroscope sensor is connected with the holder and used for sensing the motion angle of the holder and transmitting angle information to the operation processing module; the operation processing module is connected with the camera, the holder, the gyroscope sensor and the monitoring platform and is used for acquiring, processing and controlling data information.
Preferably, the operation processing module can acquire an elevation angle of the pan-tilt, calculate a height of the target according to the elevation angle and a distance from the radar to the target, and transmit the height back to the monitoring platform.
Preferably, the target height determining system of the radar anti-braking system transmits the height information of the target back to the monitoring platform, and the monitoring platform can obtain the three-dimensional coordinates of the target according to the acquired longitude and latitude and the height.
Compared with the prior art, the target height fixing system for the radar countercheck system has the following advantages that:
The invention adopts the method of obtaining the elevation angle when the pan-tilt camera detects the target and calculating the height of the target according to the elevation angle and the longitude and latitude of the target detected by the current radar. And finally, the accurate positioning of the target is realized, so that the target is effectively hit by the reverse controller.
Drawings
FIG. 1 is a schematic block circuit diagram of a target height determination system of the radar countering system of the present invention;
Fig. 2 is a schematic diagram of the calculation of the target altitude of the present invention.
In the figure: 1. a tripod head camera subsystem; 101. a camera; 102. a holder; 103. a gyroscope sensor; 104. an operation processing module; 2. and (5) monitoring the platform.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The specific embodiments described herein are merely illustrative of the invention and do not delimit the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides a target height fixing system for a radar anti-braking system as shown in figure 1, which comprises a holder shooting subsystem 1 and a monitoring platform 2, wherein the holder shooting subsystem 1 comprises a camera 101, a holder 102, a gyroscope sensor 103 and an operation processing module 104. Therein, the camera 101 has a video output interface connected to a monitor through a video line, through which a subject currently being photographed by the camera 101 can be observed.
The center of a video output by the camera 101 displays a square frame, the center of the square frame is used as a reference point for setting the height, and the height of a target currently locked by the reference point is the height of the target to be calculated; the pan-tilt 102 is connected with the camera 101 and is used for driving the camera 101 to rotate; the gyroscope sensor 103 is connected with the holder 102 and used for sensing the movement angle of the holder 102 and transmitting the angle information to the operation processing module 104;
The operation processing module 104 is connected with the camera 101, the pan-tilt 102, the gyroscope sensor 103 and the monitoring platform 2, and is used for acquiring, processing and controlling data information.
When the 'low-slow-small' aircraft target invades into the coverage range of the radar anti-braking system, the radar firstly detects the target and transmits the angle and distance information of the detected target back to the monitoring platform 2. After the monitoring platform 2 receives the longitude and latitude information of the target, the upper computer sends an instruction for rotating the pan-tilt 102 to the pan-tilt camera subsystem 1 through the operation control module, and the rotation angle is the angle of the target transmitted back to the monitoring platform 2 by the radar.
The pan/tilt head 102 rotates to the angle upon receiving the command, and then rotates up and down to scan the target until the center of the square frame is locked to the target center. Meanwhile, the gyroscope sensor 103 returns the elevation angle of the motion of the pan/tilt head 102 to the operation processing module 104 in real time, and the height of the target is calculated by the operation processing module 104 and displayed on the monitoring platform 2. The reverse controller is used for reversing the target according to the direction, the height and the image information of the target, and the effective striking of the low-slow small aircraft can be realized. At the same time, the image of the camera 101 is transmitted back to the monitor in real time, and the image captured by the camera 101 is monitored by the monitor.
The principle of calculating the target height is briefly described below:
As shown in fig. 2, the height h from the circle center to the ground is the height to be obtained, and angle θ is the elevation angle of the target center locked by the camera 101. The height h is h1+ h2, h2 is the height of the camera 101 relative to the ground, which can be measured when the device is initially set up. h1 is obtained by trigonometric function theorem, i.e., h1 ═ L · tan θ. The distance L in the horizontal direction of the camera 101 from the target is measured by radar.
In conclusion, the invention adopts the principles of trigonometric function theorem, gyroscope sensing and operation control, and realizes accurate height determination by measuring the elevation angle of the holder 102. The target can be accurately positioned by the radar when the target of the low-slow small aircraft is detected, and the radar can be widely applied to the places where the low-slow small aircraft is countered by security protection, anti-terrorism and the like.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.
Claims (7)
1. The utility model provides a target height system for radar countercheck system, includes that cloud platform makes a video recording subsystem (1) and monitor platform (2), its characterized in that: the cloud deck shooting subsystem (1) is fixedly arranged on one side of the detection radar through a rotary table, and the cloud deck shooting subsystem (1) is used for assisting the radar in identifying and positioning targets; the monitoring platform (2) is installed at a terminal, is connected with the cloud platform shooting subsystem (1) through a serial port, and the monitoring platform (2) is connected with an upper computer which is used for monitoring a target position and sending a control command.
2. A targeting height system for a radar countering system according to claim 1, characterized in that: the cloud platform camera shooting subsystem (1) comprises a camera (101), a cloud platform (102), a gyroscope sensor (103) and an operation processing module (104), and the cloud platform camera shooting subsystem and the operation processing module are all integrated in one device.
3. A targeting height system for a radar countering system according to claim 1, characterized in that: the monitoring platform (2) is an independent terminal and is used for checking the position information of a target and sending a control instruction to the holder shooting subsystem (1).
4. A targeting system for a radar countering system according to claim 2, characterized in that: the camera (101) is provided with a video output interface and is connected to a monitor through a video line, and the current target shot by the camera (101) can be observed through the monitor; the center of the video output by the camera (101) displays a square frame, the center of the square frame is used as a height-fixing reference point, and the height of the target currently locked by the reference point is the height of the target to be calculated.
5. A targeting system for a radar countering system according to claim 2, characterized in that: the cloud deck (102) is connected with the camera (101), and the cloud deck (102) is used for driving the camera (101) to rotate; the gyroscope sensor (103) is connected with the holder (102) and used for sensing the motion angle of the holder (102) and transmitting angle information to the operation processing module (104); the operation processing module (104) is connected with the camera (101), the holder (102), the gyroscope sensor (103) and the monitoring platform (2) and is used for acquiring, processing and controlling data information.
6. a targeting height system for a radar countering system according to claim 5, characterized in that: the operation processing module (104) can acquire the elevation angle of the holder (102), calculate the height of the target according to the elevation angle and the distance of the radar to the target, and transmit the height back to the monitoring platform (2).
7. A targeting system for a radar countering system according to claim 6, characterized in that: the target height determining system of the radar anti-braking system transmits height information of the target back to the monitoring platform (2), and the monitoring platform (2) can obtain three-dimensional coordinates of the target according to the obtained longitude and latitude and the obtained height.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910846225.1A CN110554380A (en) | 2019-09-09 | 2019-09-09 | Target height fixing system for radar countercheck system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910846225.1A CN110554380A (en) | 2019-09-09 | 2019-09-09 | Target height fixing system for radar countercheck system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110554380A true CN110554380A (en) | 2019-12-10 |
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| CN201910846225.1A Pending CN110554380A (en) | 2019-09-09 | 2019-09-09 | Target height fixing system for radar countercheck system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112882024A (en) * | 2021-03-25 | 2021-06-01 | 浙江大华技术股份有限公司 | Radar detection method and apparatus, storage medium, and electronic apparatus |
| CN114987777A (en) * | 2022-01-05 | 2022-09-02 | 复旦大学 | Low-slow small target reconnaissance and countercheck system and method based on multi-rotor unmanned aerial vehicle |
| CN117310679A (en) * | 2023-11-28 | 2023-12-29 | 中国人民解放军空军工程大学 | Gridding sensing system for detecting low-low aircraft |
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| US20070075893A1 (en) * | 2005-05-19 | 2007-04-05 | Francois Xavier Filias | System for estimating the speed of an aircraft, and an application thereof to detecting obstacles |
| US20150345907A1 (en) * | 2011-06-20 | 2015-12-03 | Real Time Companies | Anti-sniper targeting and detection system |
| CN106772338A (en) * | 2016-11-25 | 2017-05-31 | 杭州捍鹰科技有限公司 | Unmanned machine positioning device, method and system |
| CN106842185A (en) * | 2017-03-30 | 2017-06-13 | 福建无线电设备有限公司 | Low small slow target monitoring system and its method of work |
| CN108615321A (en) * | 2018-06-07 | 2018-10-02 | 湖南安隆软件有限公司 | Security pre-warning system and method based on radar detecting and video image behavioural analysis |
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2019
- 2019-09-09 CN CN201910846225.1A patent/CN110554380A/en active Pending
Patent Citations (5)
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|---|---|---|---|---|
| US20070075893A1 (en) * | 2005-05-19 | 2007-04-05 | Francois Xavier Filias | System for estimating the speed of an aircraft, and an application thereof to detecting obstacles |
| US20150345907A1 (en) * | 2011-06-20 | 2015-12-03 | Real Time Companies | Anti-sniper targeting and detection system |
| CN106772338A (en) * | 2016-11-25 | 2017-05-31 | 杭州捍鹰科技有限公司 | Unmanned machine positioning device, method and system |
| CN106842185A (en) * | 2017-03-30 | 2017-06-13 | 福建无线电设备有限公司 | Low small slow target monitoring system and its method of work |
| CN108615321A (en) * | 2018-06-07 | 2018-10-02 | 湖南安隆软件有限公司 | Security pre-warning system and method based on radar detecting and video image behavioural analysis |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112882024A (en) * | 2021-03-25 | 2021-06-01 | 浙江大华技术股份有限公司 | Radar detection method and apparatus, storage medium, and electronic apparatus |
| CN114987777A (en) * | 2022-01-05 | 2022-09-02 | 复旦大学 | Low-slow small target reconnaissance and countercheck system and method based on multi-rotor unmanned aerial vehicle |
| CN117310679A (en) * | 2023-11-28 | 2023-12-29 | 中国人民解放军空军工程大学 | Gridding sensing system for detecting low-low aircraft |
| CN117310679B (en) * | 2023-11-28 | 2024-02-20 | 中国人民解放军空军工程大学 | Gridding sensing system and method for detecting low-low aircraft |
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Application publication date: 20191210 |