CN110618403A - Landing aircraft parameter measuring method based on dual-beam radar - Google Patents
Landing aircraft parameter measuring method based on dual-beam radar Download PDFInfo
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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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
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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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/581—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of interrupted pulse modulated waves and based upon the Doppler effect resulting from movement of targets
- G01S13/582—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of interrupted pulse modulated waves and based upon the Doppler effect resulting from movement of targets adapted for simultaneous range and velocity measurements
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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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/91—Radar or analogous systems specially adapted for specific applications for traffic control
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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
- G01S7/28—Details of pulse systems
- G01S7/285—Receivers
- G01S7/292—Extracting wanted echo-signals
- G01S7/2923—Extracting wanted echo-signals based on data belonging to a number of consecutive radar periods
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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
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/415—Identification of targets based on measurements of movement associated with the target
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- Computer Networks & Wireless Communication (AREA)
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- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
A landing aircraft parameter measurement method based on dual-beam radar comprises the following steps: (1) processing radar echo data which are arranged on an aircraft and have two mutually vertical wave beams and point to the ground to construct a received data matrix X1And X2(ii) a (2) To the received data matrix X1And X2Performing pulse compression, FFT and detection processing to obtain distance-Doppler information of two radar echo data; (3) transforming the distance-Doppler information of the two radar echo data to construct a corresponding data matrix; (4) inversely calculating the three-dimensional speed and the height of the landing aircraft according to the data matrix constructed in the step (3); (5) repeating the above steps, and processing the next group of correlationAnd processing the radar echo data in the room to obtain the real-time flight parameters of the aircraft. The invention obviously reduces the system complexity of the prior landing radar for measuring the flight parameters of the lander by adopting four beams, can realize the measurement of the flight parameters of the aircraft by only adopting two beams, and has high measurement precision of the aircraft parameters.
Description
Technical Field
The invention relates to a method for measuring parameters of a landing aircraft based on a dual-beam radar, which can be directly applied to flight parameter estimation of various deep space exploration landing platforms and belongs to the field of aircraft parameter measurement.
Background
The conventional landing radar flight parameter measurement mainly depends on single beam speed measurement and distance measurement, and then flight parameter data of a lander are jointly estimated by using respective measurement results according to the relative geometric relationship of a plurality of different directional beams. The accuracy of the flight parameter measurement radar of the system depends on two factors: beam center estimation accuracy, and beam center doppler velocity estimation accuracy. Currently, a gravity center method is mainly adopted for estimating the beam center, the beam center estimation accuracy is obviously reduced under a large incident angle, and in addition, Doppler expansion also influences the beam center estimation accuracy of the system, and the Doppler estimation accuracy at the beam center is also greatly influenced.
Disclosure of Invention
The invention content of the invention is as follows: the method overcomes the defects of the prior art, provides the method for measuring the parameters of the landing aircraft based on the dual-beam radar, can estimate the flight parameters of the aircraft by only adopting two beams, and has high estimation precision.
The technical solution of the invention is as follows:
a landing aircraft parameter measurement method based on dual-beam radar comprises the following steps:
(1) processing radar echo data which are arranged on an aircraft and have two mutually vertical wave beams and point to the ground to construct a received data matrix X of two radars1And X2；
(2) To the received data matrix X1And X2Performing pulse compression, FFT and detection processing to obtain distance-Doppler information of two radar echo data;
(3) transforming the distance-Doppler information of the two radar echo data to construct a corresponding data matrix;
(4) inversely calculating the three-dimensional speed and the height of the landing aircraft according to the data matrix constructed in the step (3);
(5) and (5) repeating the steps (1) to (4), and processing the radar echo data in the next group of related processing time to obtain the real-time flight parameters of the aircraft.
In the step (1), the step (c), for a complex matrix of L rows and M columns, a received data matrix X1Row i and column m element x in (1)1(l, m) is the data sampled from the l base band signal of the m pulse of the first radar, and the data matrix X is received2Row i and column m element x in (1)2(l, m) is the l baseband signal sample data for the m pulse of the second radar.
In the step (2), the received data matrix X is processed1And X2Pulse compression is carried out according to columns to obtain range direction high-resolution echo dataAndthe obtaining process is as follows:
wherein X1(m) denotes a received data matrix X1Column m of (1), X2(m) denotes a received data matrix X2The (c) th column (c) of (c),representation matrixThe (c) th column (c) of (c),representation matrixM column of (2), symbolWhich represents a convolution operation, the operation of the convolution,for the corresponding digital matching signal of the radar transmission signal s (t),is a complex matrix of 1 row and P columns,
in the step (2), the pulse is compressedAndFFT processing is carried out according to rows to obtain the echo data range Doppler spectrums of two radarsAndthe acquisition process is as follows：
Wherein the content of the first and second substances,
in the step (2), the range-Doppler spectra of the echo data of the two radarsAndand detecting to obtain the range-Doppler information of two radar echo data, wherein the process is as follows:
let the system detection threshold be rhoTHTo matrixAnddetecting to obtain a value greater than rhoTHThe echo time and Doppler value corresponding to the element of (1) are recorded and recorded
Wherein t is1Is a matrixMedian value greater than rhoTHThe echo time vector corresponding to the element of (f)d,1Is a matrixMedian value greater thanρTHThe element of (a) corresponds to the Doppler value vector, t2Is a matrixMedian value greater than rhoTHThe echo time vector corresponding to the element of (f)d,2Is a matrixMedian value greater than rhoTHThe corresponding doppler value vector of the element of (a); j and K are respectively a matrixMedian value greater than rhoTHNumber of elements and matrixMedian value greater than rhoTHThe number of elements (c);is a real matrix of J rows and 1 columns,a real matrix of K rows and 1 column;
the range-doppler information of two radar echo data is detected as follows:
whereint1jIs t1The jth element of (1), t2kIs t2J is 1,2, …, J, K is 1,2, …, K, c is the speed of light.
The step (3) is realized as follows:
according to the range-Doppler information of two radar echo data, the following data matrix is constructed:
a＝[a1 a2 … aJ]
b＝[b1 b2 … bJ]
c＝[c1 c2 … cJ]
d＝[d1 d2 … dK]
e＝[e1 e2 … eK]
f＝[f1 f2 … fK]
wherein
Setting intermediate variables
x2＝vzH
Wherein v isx、vy、vzThe speed in the x direction, the speed in the y direction and the speed in the z direction of the landing aircraft are respectively, and H is the height of the landing aircraft;
from the two radar beam Doppler and range-Doppler information, the following matrix is constructed:
x＝[x1 x2 x3 x4 x5]T
Γ1 Tx+a＝0
Γ2 Tx+d＝0
wherein
The step (4) is realized as follows:
(S1) solving an intermediate variable x according to the data matrix constructed in the step (3):
the data matrix constructed in the step (3) can be written
ΓTx+g＝0
Wherein
Solved to obtain
WhereinRepresenting a pseudo-inverse of the matrix;
(S2) according to x, the inverse calculation is obtainedAnd
(S3) solving for a geometric coupling relationship between two radar beams
The step (S2) is implemented as follows:
represents the estimated velocity of the aircraft in the x-direction,represents the estimated velocity of the aircraft in the y-direction,representing the estimated altitude of the aircraft.
The step (S3) is implemented as follows:
where mean (-) represents the mean value of the vector, α, β is
α＝[α1 α2 … αJ]
β＝[β1 β2 … βK]
Wherein
Compared with the prior art, the invention has the advantages that:
(1) the invention can estimate the flight parameters of the platform by only adopting two beams, and adopts a dual-beam combined processing mode, thereby having high processing precision.
(2) The dual-beam radar adopts the two strip-shaped planar antennas, so that the antenna is ensured to be narrower in azimuth beam and wider in range beam, the Doppler resolution of a single range ring is improved, the number of the range rings is increased, accurate estimation of platform parameters is finally realized, the installation is simple, and the weight is reduced.
(3) The invention utilizes the distance-Doppler dependence characteristic of ground echo caused by platform motion to back calculate the motion parameter of the platform, and has high estimation precision.
Drawings
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a schematic diagram of the range-Doppler coupling of aircraft flight parameters to echoes;
FIG. 3 is an isometric ring and iso-Doppler plot at different velocities;
FIG. 4 is a graph of velocity estimation error under different beam Doppler estimation biases;
fig. 5 shows the height estimation error under the Doppler estimation bias of different beams.
Detailed Description
The basic principle of the invention is as follows: 1) the motion parameters of the platform are inversely calculated by using the distance-Doppler dependence characteristic of the ground echo caused by the platform motion; 2) the dual-beam radar adopts two strip-shaped planar antennas, so that the antenna is ensured to be narrower in azimuth beam and wider in range beam, the Doppler resolution of a single range ring is improved, the number of the range rings is increased, and accurate estimation of platform parameters is finally realized.
As shown in fig. 1, the present invention comprises the steps of:
(1) processing radar echo data which are arranged on an aircraft and have two mutually vertical wave beams and point to the ground to construct a received data matrix X of two radars1And X2。
For a complex matrix of L rows and M columns, a received data matrix X1Row i and column m element x in (1)1(l, m) is the data sampled from the l base band signal of the m pulse of the first radar, and the data matrix X is received2Row i and column m element x in (1)2(l, m) is the l baseband signal sample data for the m pulse of the second radar.
(2) And performing pulse compression, FFT (fast Fourier transform) and detection processing on the received data matrix to acquire the range-Doppler information of the two radar echo data.
To the received data matrix X1And X2Pulse compression is carried out according to columns to obtain range direction high-resolution echo dataAndthe obtaining process is as follows:
wherein X1(m) denotes a received data matrix X1Column m of (1), X2(m) denotes a received data matrix X2The (c) th column (c) of (c),representation matrixThe (c) th column (c) of (c),representation matrixM column of (2), symbolWhich represents a convolution operation, the operation of the convolution,for the corresponding digital matching signal of the radar transmission signal s (t),is a complex matrix of 1 row and P columns,
for after pulse compressionAndFFT processing is carried out according to rows to obtain the echo data range Doppler spectrums of two radarsAndthe acquisition process is as follows:
wherein the content of the first and second substances,
range-doppler spectra of echo data for two radarsAndand detecting to obtain the range-Doppler information of two radar echo data, wherein the process is as follows:
let the system detection threshold be rhoTHTo matrixAnddetecting to obtain a value greater than rhoTHThe echo time and Doppler value corresponding to the element of (1) are recorded and recorded
Wherein t is1Is a matrixMedian value greater than rhoTHThe echo time vector corresponding to the element of (f)d,1Is a matrixMedian value greater than rhoTHThe element of (a) corresponds to the Doppler value vector, t2Is a matrixMedian value greater than rhoTHThe echo time vector corresponding to the element of (f)d,2Is a matrixMedian value greater than rhoTHThe corresponding doppler value vector of the element of (a); j and K are respectively a matrixMedian value greater than rhoTHNumber of elements and matrixMedian value greater than rhoTHThe number of elements (c);a real matrix representing J rows and 1 columns,a real matrix representing K rows and 1 columns;
the range-doppler information of two radar echo data is detected as follows:
whereint1jIs t1The jth element of (1), t2kIs t2J is 1,2, …, J, K is 1,2, …, K, c is the speed of light.
(3) And transforming the distance-Doppler information of the two radar echo data to construct a corresponding data matrix.
According to the range-Doppler information of two radar echo data, the following data matrix is constructed:
a＝[a1 a2 … aJ]
b＝[b1 b2 … bJ]
c＝[c1 c2 … cJ]
d＝[d1 d2 … dK]
e＝[e1 e2 … eK]
f＝[f1 f2 … fK] (5)
wherein
And intermediate variables
Wherein v isx、vy、vzThe speed in the x direction, the speed in the y direction and the speed in the z direction of the landing aircraft are respectively, and H is the height of the landing aircraft;
the following matrix is constructed by the above formula:
x＝[x1 x2 x3 x4 x5]T (8)
assuming that the beam pointing plane is the XZ plane, it can be seen from FIG. 2 that the distance-Doppler coupling relationship is only with vxH, related, the relationship is as follows:
fd,Rsindicating the Doppler frequency, R, at a distance RssRepresents the skew distance; fig. 3 shows a doppler distribution diagram of bottom radar echoes at different flight speeds, and it can be seen from the above formula and fig. 3 that there is a one-to-one correspondence relationship between the flight speed altitude and the doppler distribution of ground radar echoes, and the range doppler information of the radar echoes is used to effectively estimate the flight parameters of the aircraft.
Obviously, a single beam can only measure two-dimensional velocity and platform height, and introducing a beam perpendicular to it can solve vyIs estimated. To distinguish the two beams, let XZ plane beam be 1, YZ plane beam be 2, and their corresponding Doppler and distance be f respectivelyd1、fd2And RS1、RS2Then for beam 1 the distance of the jth range ringAnd corresponding theretoThere are the following coupling relationships
Distance of kth range ring of beam 2And corresponding theretoThere are the following coupling relationships
Considering beam 1, varying the above equation yields:
taking the square of two sides respectively to obtain
For beam 2, the same holds
The two formulas are simplified into
aj+x1+b x2+cjx3＝0
dk+x4+ekx2+fkx5＝0 (15)
Wherein
And intermediate variables
From this, the following relation matrix is constructed
Γ1,j Tx+aj＝0
Γ2,k Tx+dk＝0 (18)
Wherein
Beam 1 gets J range-Doppler data, beam 2 gets K range-Doppler data for simultaneous x-ray yielding:
Γ1 Tx+a＝0
Γ2 Tx+d＝0 (20)
wherein
The above union can write
ΓTx+g＝0 (22)
Wherein
Solved to obtain
WhereinRepresenting the pseudo-inverse of the matrix. The explicit solution of the system parameter estimation can be given by the formula, and the calculation amount of the system can be reduced.
(4) And calculating the intermediate variable value according to the constructed data matrix, and then calculating the three-dimensional speed and height of the platform in a reverse mode.
Obtaining x by solving in the last step and obtaining by inverse calculation
But vzAnd x3 x3 x3All have coupling relation, and accurately solve vzThe geometric coupling relationship between beams 1 and 2 needs to be exploited. v. ofx、vy、vzThe speed in the x direction, the speed in the y direction and the speed in the z direction of the landing aircraft are respectively, and H is the height of the landing aircraft.
Substituting the estimation result of equation (25) into (10) and (11) yields a result regarding v onlyzSystem of equations (1)
Wherein
ThenIs estimated as
Where mean (-) represents the mean value of the vector, α, β is
α＝[α1 α2 … αJ]
β＝[β1 β2 … βK] (30)
(5) And repeating the steps to process the next group of radar echo data to obtain the real-time flight parameters of the aircraft.
Simulation experiment results:
platform parameters: the flying height H is 200 m; speed in the X direction: v. ofx600 m/s; velocity v in Y directiony＝-400m/s；vz＝10m/s。
Fig. 4 and 5 show the analysis of the influence of the doppler estimation deviation on the system measurement accuracy, which shows that the method of the present invention has a better suppression degree on the doppler estimation accuracy, and can obtain better speed and altitude estimation accuracy.
The invention provides a method for measuring the flight parameters (height and three-dimensional speed) of a lander based on a dual-beam radar, which aims to solve the problem of measurement of the flight parameters of the existing landing radar, remarkably reduces the system complexity of the existing landing radar for measuring the flight parameters of the lander by adopting four beams, and can realize measurement of the flight parameters of an aircraft by only adopting the dual beams.
Those skilled in the art will appreciate that the invention may be practiced without these specific details.
Claims (9)
1. A landing aircraft parameter measurement method based on dual-beam radar is characterized by comprising the following steps:
(1) processing radar echo data which are arranged on an aircraft and have two mutually vertical wave beams and point to the ground to construct a received data matrix X of two radars1And X2；
(2) To the received data matrix X1And X2Performing pulse compression, FFT and detection processing,obtaining range-Doppler information of two radar echo data;
(3) transforming the distance-Doppler information of the two radar echo data to construct a corresponding data matrix;
(4) inversely calculating the three-dimensional speed and the height of the landing aircraft according to the data matrix constructed in the step (3);
(5) and (5) repeating the steps (1) to (4), and processing the radar echo data in the next group of related processing time to obtain the real-time flight parameters of the aircraft.
2. The method of claim 1, wherein in step (1), for a complex matrix of L rows and M columns, a received data matrix X1Row i and column m element x in (1)1(l, m) is the data sampled from the l base band signal of the m pulse of the first radar, and the data matrix X is received2Row i and column m element x in (1)2(l, m) is the l baseband signal sample data for the m pulse of the second radar.
3. The method of claim 1, wherein in step (2), the received data matrix X is a matrix of X1And X2Pulse compression is carried out according to columns to obtain range direction high-resolution echo dataAndthe obtaining process is as follows:
wherein X1(m) denotes a received data matrix X1Column m of (1), X2(m) denotes a received data matrix X2The (c) th column (c) of (c),representation matrixThe (c) th column (c) of (c),representation matrixM column of (2), symbolWhich represents a convolution operation, the operation of the convolution,for the corresponding digital matching signal of the radar transmission signal s (t),is a complex matrix of 1 row and P columns,
4. the method of claim 3, wherein in step (2), the compressed pulses are measuredAndFFT processing is carried out according to rows to obtain the echo data range Doppler spectrums of two radarsAndthe acquisition process is as follows:
wherein the content of the first and second substances,
5. the method of claim 4, wherein in step (2), the range-Doppler spectra of the echo data of two radars are measuredAndand detecting to obtain the range-Doppler information of two radar echo data, wherein the process is as follows:
let the system detection threshold be rhoTHTo matrixAnddetecting to obtain a value greater than rhoTHThe echo time and Doppler value corresponding to the element of (1) are recorded and recorded
Wherein t is1Is a matrixMedian value greater than rhoTHThe echo time vector corresponding to the element of (f)d,1Is a matrixMedian value greater than rhoTHThe element of (a) corresponds to the Doppler value vector, t2Is a matrixMedian value greater than rhoTHThe echo time vector corresponding to the element of (f)d,2Is a matrixMedian value greater than rhoTHThe corresponding doppler value vector of the element of (a); j and K are respectively a matrixMedian value greater than rhoTHNumber of elements and matrixMedian value greater than rhoTHThe number of elements (c);is a real matrix of J rows and 1 columns,a real matrix of K rows and 1 column;
the range-doppler information of two radar echo data is detected as follows:
whereint1jIs t1The jth element of (1), t2kIs t2J is 1,2, …, J, K is 1,2, …, K, c is the speed of light.
6. A method for measuring landing aircraft parameters based on dual beam radar as claimed in claim 5, characterized in that said step (3) is implemented as follows:
according to the range-Doppler information of two radar echo data, the following data matrix is constructed:
a＝[a1 a2 … aJ]
b＝[b1 b2 … bJ]
c＝[c1 c2 … cJ]
d＝[d1 d2 … dK]
e＝[e1 e2 … eK]
f＝[f1 f2 … fK]
wherein
Setting intermediate variables
x2＝vzH
Wherein v isx、vy、vzThe speed in the x direction, the speed in the y direction and the speed in the z direction of the landing aircraft are respectively, and H is the height of the landing aircraft;
from the two radar beam Doppler and range-Doppler information, the following matrix is constructed:
x＝[x1 x2 x3 x4 x5]T
Γ1 Tx+a＝0
Γ2 Tx+d＝0
wherein
7. A method for measuring landing aircraft parameters based on dual beam radar as claimed in claim 6, characterized in that said step (4) is implemented as follows:
(S1) solving an intermediate variable x according to the data matrix constructed in the step (3):
the data matrix constructed in the step (3) can be written
ΓTx+g＝0
Wherein
Solved to obtain
WhereinRepresenting a pseudo-inverse of the matrix;
(S2) according to x, the inverse calculation is obtainedAnd
(S3) solving for a geometric coupling relationship between two radar beams
8. A method for measuring landing aircraft parameters based on dual beam radar as claimed in claim 7, characterized in that said step (S2) is implemented as follows:
represents the estimated velocity of the aircraft in the x-direction,represents the estimated velocity of the aircraft in the y-direction,representing the estimated altitude of the aircraft.
9. A method for measuring landing aircraft parameters based on dual beam radar as claimed in claim 7, characterized in that said step (S3) is implemented as follows:
where mean (-) represents the mean value of the vector, α, β is
α＝[α1 α2 … αJ]
β＝[β1 β2 … βK]
Wherein
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