CN110673136B - System and method for detecting dynamic RCS and frequency domain of unmanned aerial vehicle - Google Patents
System and method for detecting dynamic RCS and frequency domain of unmanned aerial vehicle Download PDFInfo
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- 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
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- G—PHYSICS
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- 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
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- 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
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Abstract
The invention belongs to the technical field of radio detection, and particularly relates to a system and a method for detecting dynamic RCS and frequency domain of an unmanned aerial vehicle, wherein the system for detecting the dynamic RCS and the frequency domain of the unmanned aerial vehicle comprises the following components: the vector network analyzer is at least provided with a first channel module for transmitting signals and a second channel module for receiving signals; the spectrum analysis component comprises a signal source module and a receiver module; the rotary table assembly comprises a rotary table and a rotary table controller, the rotary table is used for bearing the unmanned aerial vehicle, and the rotary table controller is used for controlling the rotary table to rotate in a stepping mode; the transmitting antenna is respectively connected with the first channel module and the signal source module; the receiving antenna is respectively connected with the second channel module and the receiver module; high speed cameras and computers. The invention solves the problems that the prior art can only detect the RCS of a static target, but does not detect the dynamic RCS and the frequency domain of a dynamic target, in particular the dynamic RCS and the frequency domain of an unmanned aerial vehicle.
Description
Technical Field
The invention belongs to the technical field of radio detection, and particularly relates to a system and a method for detecting dynamic RCS (radar cross section) and frequency domain of an unmanned aerial vehicle.
Background
At present, the rotor of a consumer-grade multi-rotor drone is considered to contribute little to the RCS (Radar Cross Section) of the drone. The radar scattering cross-sectional area RCS is a physical quantity that quantitatively characterizes the scattering intensity of a target. Based on the doubt of the above data and conclusions, the RCS and rotor contributions of the drone are to be reevaluated. In addition, the rotation of the unmanned aerial vehicle rotor can also modulate echo, and mark special rotor modulation effect in the frequency spectrum. In the prior art, the RCS of the target is measured by using the vector network is a common method, but the method is generally used for measuring the RCS of a static target, and the dynamic RCS of a dynamic target and a frequency domain are hardly measured. Especially the dynamic RCS and frequency domain of the drone.
Disclosure of Invention
The invention provides a detection system for a dynamic RCS and a frequency domain of an unmanned aerial vehicle, and aims to solve the problem that the dynamic RCS and the frequency domain of the unmanned aerial vehicle cannot be detected in the prior art.
The embodiment of the invention provides a system for detecting dynamic RCS and frequency domain of an unmanned aerial vehicle, which comprises:
the vector network analyzer is at least provided with a first channel module for transmitting signals and a second channel module for receiving signals;
the frequency spectrum analysis component comprises a signal source module and a receiver module;
the rotary table assembly comprises a rotary table and a rotary table controller, the rotary table is used for bearing the unmanned aerial vehicle, and the rotary table controller is used for controlling the rotary table to rotate in a stepping mode;
the transmitting antenna is respectively connected with the first channel module and the signal source module;
the receiving antenna is respectively connected with the second channel module and the receiver module;
the high-speed camera is in signal connection with the vector network analyzer and is used for starting photographing according to signals received by a second channel module of the vector network analyzer; and
and the computer is connected with the vector network analyzer and the rotary table controller.
The embodiment of the invention provides a method for detecting the dynamic RCS of an unmanned aerial vehicle based on the system of the embodiment, which comprises the following steps:
s101, placing the unmanned aerial vehicle in a microwave darkroom, and starting the unmanned aerial vehicle to enable a rotor wing of the unmanned aerial vehicle to rotate;
s102, transmitting a signal through a first channel module of a vector network analyzer;
s103, receiving and storing an echo signal of the unmanned aerial vehicle through a second channel module of the vector network analyzer;
s104, synchronizing a first synchronization signal to the high-speed camera according to the echo signal;
s105, photographing and storing the high-speed camera according to the first synchronous signal;
s106, converting the echo signals into dynamic RCS information of the unmanned aerial vehicle;
and S107, controlling the rotary table to rotate the position of the unmanned aerial vehicle according to a preset angle through the rotary table controller, and repeating S101-S106.
Further, the step of photographing and storing by the high-speed camera according to the first synchronization signal comprises:
and judging whether the amplitude of the first synchronization signal is higher than a preset threshold value, and if so, photographing and storing.
Further, the detection method for the dynamic RCS of the unmanned aerial vehicle further comprises the following steps:
s201, setting parameters of a vector network analyzer;
and S202, calibrating the vector network analyzer according to the parameters of the vector network analyzer.
Further, the detection method for the dynamic RCS of the unmanned aerial vehicle further includes:
s301, transmitting a signal through a first channel module of the vector network analyzer;
s302, receiving and storing an echo signal of the background of the microwave darkroom through a second channel module of the vector network analyzer;
and S303, converting the echo signal of the background of the microwave darkroom into RCS information of the background of the microwave darkroom.
Further, the detection method for the dynamic RCS of the unmanned aerial vehicle further comprises the following steps:
s401, opening a high-speed camera to record a target area at a constant speed, and sequentially placing balls with different sizes on a rotary table;
s402, transmitting a signal through a first channel module of the vector network analyzer;
s403, receiving and storing the echo signal of the sphere through a second channel module of the vector network analyzer;
s404, synchronizing a second synchronizing signal to the high-speed camera according to the echo signal of the sphere;
s405, photographing and storing a round ball photo according to the second synchronous signal through the high-speed camera;
s406, converting the echo signal of the sphere into RCS information of the sphere;
s407, controlling the rotary table to rotate the position of the ball according to a preset angle through the rotary table controller, and repeating S401-S406.
Furthermore, the detection method for the dynamic RCS of the unmanned aerial vehicle further comprises the following steps:
s501, placing a static unmanned aerial vehicle on the rotary table;
s502, transmitting a signal through a first channel of a vector network analyzer;
s502, receiving and storing an echo signal of the static unmanned aerial vehicle through a second channel of the vector network analyzer;
s504, synchronizing a third synchronization signal to the high-speed camera according to the echo signal of the static unmanned aerial vehicle;
s505, taking pictures according to the third synchronous signal through the high-speed camera, and storing static pictures of the static unmanned aerial vehicle;
s506, converting the echo signal of the static unmanned aerial vehicle into RCS information of the static unmanned aerial vehicle;
and S507, controlling the rotary table to rotate the position of the static unmanned aerial vehicle according to a preset angle through the rotary table controller, and repeating the steps S501-S506.
The embodiment of the invention also provides a method for detecting the dynamic frequency domain of the unmanned aerial vehicle based on the system of the embodiment, which comprises the following steps:
s601, placing the unmanned aerial vehicle in a microwave darkroom, and starting the unmanned aerial vehicle to enable a rotor wing of the unmanned aerial vehicle to rotate;
s602, transmitting a dot frequency signal through a signal source module;
s603, receiving and storing the echo frequency spectrum of the unmanned aerial vehicle through a receiver module;
s604, photographing and storing through the high-speed camera;
s604, controlling the rotary table to rotate the position of the unmanned aerial vehicle according to a preset angle through the rotary table controller, and repeating S601-S604.
Still further, the detection method of the dynamic frequency domain of the unmanned aerial vehicle further comprises:
setting the dot frequency signal of a signal source module on a frequency point, and transmitting the dot frequency signal of the frequency point through the signal source module;
receiving and storing an echo signal of a background of a microwave anechoic chamber through a receiver module;
and converting the echo signal of the background of the microwave anechoic chamber into an echo frequency spectrum of the background of the microwave anechoic chamber and storing the echo frequency spectrum.
Further, the detection method of the dynamic frequency domain of the unmanned aerial vehicle further comprises:
s701, placing the static unmanned aerial vehicle on a rotary table;
s702, emitting a dot frequency signal through the signal source module;
s703, receiving and storing the echo frequency spectrum of the static unmanned aerial vehicle through a receiving module;
s704, taking pictures through the high-speed camera and storing the static pictures of the static unmanned aerial vehicle;
s705, controlling the rotary table to rotate the position of the static unmanned aerial vehicle according to a preset angle through the rotary table controller, and repeating the steps S701-S704.
The invention has the following beneficial effects: in the embodiment of the invention, the dynamic RCS of the unmanned aerial vehicle can be detected by the cooperation of the vector network analyzer and the high-speed camera, and the dynamic frequency domain of the unmanned aerial vehicle can be detected by the cooperation of the signal source module, the receiver module and the high-speed camera, so that the dynamic RCS and the frequency domain detection of the unmanned aerial vehicle can be realized. The invention solves the problems that the prior art can only detect the RCS of a static target, but does not detect the dynamic RCS and the frequency domain of a dynamic target, in particular the dynamic RCS and the frequency domain of an unmanned aerial vehicle.
Drawings
Fig. 1 is a schematic structural diagram of a dynamic RCS and frequency domain detection system for an unmanned aerial vehicle according to the present invention;
fig. 2 is a diagram of the setting relationship between the dynamic RCS and frequency domain detection system of the unmanned aerial vehicle and the microwave anechoic chamber provided by the invention.
FIG. 3 is a radar equation diagram provided by the present invention;
FIG. 4 is a target RCS value formula diagram provided by the present invention;
FIG. 5 is a graphical representation of another target RCS value provided by the present invention;
FIG. 6 shows a transmission coefficient S according to the present invention 21 A graph of power versus port;
FIG. 7 is a graphical representation of the target RCS value available transmission coefficient formula provided by the present invention;
fig. 8 is a flowchart of a method for detecting dynamic RCS of an unmanned aerial vehicle based on the system according to the first embodiment of the present invention;
fig. 9 is a flowchart of another method for detecting dynamic RCS of a drone based on the system according to the first embodiment of the present invention;
fig. 10 is a flowchart of another method for detecting dynamic RCS of a drone based on the system according to the first embodiment of the present invention;
fig. 11 is a flowchart of another method for detecting dynamic RCS of a drone based on the system according to the first embodiment of the present invention;
fig. 12 is a flowchart of another method for detecting dynamic RCS of a drone based on the system according to the first embodiment of the present invention;
fig. 13 is a flowchart of a method for detecting a dynamic frequency domain of an unmanned aerial vehicle based on the system according to the first embodiment of the present invention;
fig. 14 is a flowchart of another method for detecting a dynamic frequency domain of an unmanned aerial vehicle based on the system according to the first embodiment of the present invention.
Wherein, 1, a microwave darkroom; 2. a high-speed camera; 3. a transmitting antenna; 4. a receiving antenna; 5. a spectral analysis component; 6. a computer; 7. a vector network analyzer; 8. a turntable controller; 9. a turntable; 10. a support; 11. and (4) a target.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the embodiment of the invention, the dynamic RCS of the unmanned aerial vehicle can be detected through the cooperation of the vector network analyzer 7 and the high-speed camera 2, and the dynamic frequency domain of the unmanned aerial vehicle can be detected through the cooperation of the signal source module, the receiver module and the high-speed camera 2, so that the dynamic RCS and the frequency domain detection of the unmanned aerial vehicle are realized. The invention solves the problems that the prior art can only detect the RCS of the static target 11 and does not detect the dynamic RCS and the frequency domain of the dynamic target 11, in particular the dynamic RCS and the frequency domain of the unmanned aerial vehicle.
Example one
As shown in fig. 1-2, the present embodiment provides a detection system for dynamic RCS and frequency domain of an unmanned aerial vehicle, including: the vector network analyzer 7 is provided with at least a first channel module for transmitting signals and a second channel module for receiving signals; a spectrum analysis component 5, which comprises a signal source module and a receiver module; the turntable 9 assembly comprises a turntable 9 and a turntable controller 8, the turntable 9 is used for bearing the unmanned aerial vehicle, and the turntable controller 8 is used for controlling the turntable 9 to rotate in a stepping mode; the transmitting antenna 3 is respectively connected with the first channel module and the signal source module; the receiving antenna 4 is respectively connected with the second channel module and the receiver module; the high-speed camera 2 is in signal connection with the vector network analyzer 7, so as to start photographing according to signals received by a second channel module of the vector network analyzer 7; and the computer 6 is connected with the vector network analyzer 7 and the rotary table controller 8.
The dynamic RCS of the unmanned aerial vehicle mainly means the contribution of the rotation of a rotor of the unmanned aerial vehicle to the RCS; likewise, the dynamic frequency domain also refers to the modulation effect of the unmanned aerial vehicle rotor on the frequency spectrum. Above-mentioned unmanned aerial vehicle can be two rotor unmanned aerial vehicle, and four rotor unmanned aerial vehicle, six rotor unmanned aerial vehicle etc. can also be other many rotor unmanned aerial vehicle. In this embodiment, a quad-rotor drone is taken as an example, the rotation speed of blades of the quad-rotor drone is 8000-10000 rpm, the rotation frequency is above 100Hz, and in addition, in consideration of the cost performance, a high-speed camera 2 with a frame rate of 1000fps is selected, and the high-speed camera 2 is used for recording the state of the target 11 and analyzing the rotation speed of the target 11. The target 11 in the embodiment of the present invention is a measured object, which may be an unmanned aerial vehicle, a bird, a sphere, or other object to be detected. The high-speed camera 2 includes a BNC (Bayonet Nut Connector, an image pickup device output wire, and a camera Connector) for activating the shutter of the high-speed camera 2 to take a picture. The vector network analyzer 7 is a time domain RCS test core device. The vector network analyzer 7 is further provided with a sweep source for emitting a sweep signal. The sweep frequency source is connected with the first channel module and then connected with a power amplifier, so that sweep frequency signals can be sent to the transmitting antenna 3 through the first channel module and transmitted. The vector network analyzer 7 includes: the Trigger Aux function is used for outputting two paths of square wave signals, one path of square wave signals is connected to the high-speed camera 2 through a BNC connecting line to serve as a synchronous signal, the other path of square wave signals is connected to an INPUT1 interface in a rear panel HandlerIO interface of the vector network analyzer 7, and the synchronous signal serves as an interrupt mark for judging that single scanning is finished, so that the data storage function is driven. The vector network analyzer 7 is further provided with a control interface, the Trigger Aux function is stored in the interface of the vector network analyzer 7 in the form of macro (macroinstruction) commands, one measurement is completed by clicking a preset value button of a pull-down menu of the macro, and data is automatically recorded. The receiver module comprises a receiving mode and a frequency spectrograph mode; the receiving mode is used for receiving the echo signal of the unmanned aerial vehicle transmitted back by the receiving antenna; and the spectrometer mode is used for converting the echo signal of the unmanned aerial vehicle into a corresponding echo spectrum and displaying the echo spectrum of the unmanned aerial vehicle. The signal source module is used for transmitting dot frequency signals. Still be provided with support 10 on above-mentioned revolving stage 9 for bear above-mentioned unmanned aerial vehicle. The vector network analyzer 7, the rotary table 9, the high-speed camera 2, the transmitting antenna 3, the receiving antenna 4, the signal source module and the receiver module are all arranged in the microwave darkroom 1. The turntable controller 8 may be installed in the microwave darkroom 1 or outside the microwave darkroom 1. The turntable controller 8 may be a stepping motor for controlling the turntable 9 to rotate in steps. The computer 6 may connect the vector network analyzer 7 and the signal source module and the receiving module through a LAN. The vector network analyzer 7, the signal source module and the receiving module can be remotely controlled using a computer remote interface function.
In the embodiment of the invention, the testing principle of the RCS is as follows: by measuring the power of the radar echo, as shown with reference to FIG. 3, the radar equation is
The RCS value σ of the target 11 can be solved, in which radar equation
In, pr is the radar received echo power; pt is the emission power; g is the antenna gain; λ is the radar wavelength; r is the target 11 distance. The radar equation indicates that under the same measurement environment, other parameters are unchanged, and the RCS value sigma of the target is in direct proportion to the radar received echo power Pr. Therefore, under the condition that the RCS theoretical value sigma 'of the standard sphere is known, the target RCS value can be calculated by comparing the echo powers (P and P') of the target 11 to be measured and the standard sphere, and the target RCS value formula is shown as figure 4
That is, after removing the unit in the graph equation by the dB value, the target RCS value equation of σ = σ '-P' + P as shown in fig. 5 can be obtained. When RCS is measured in the high frequency region, the target 11 can be regarded as a linear two-port network, pr is the input power of port one and Pt is the output power of port two, and referring to FIG. 6, the transmission coefficient S is 21 The relationship with port power can be expressed as
Thus, referring to fig. 7, the target RCS value may be expressed as σ = S in terms of transmission coefficient 21 -S′ 21 + σ', therefore, by measuring the transmission coefficient S 21 To measure the target RCS. In the embodiment of the invention, the transmission coefficient S can be obtained by adopting the measurement function of the vector network analyzer 7 21 . In addition, for echo data of the dynamic unmanned aerial vehicle, the relationship between the echo data of the dynamic unmanned aerial vehicle and the rotor wing can be analyzed by contrasting the photo data of the dynamic unmanned aerial vehicle.
In the embodiment of the invention, the test process of the unmanned aerial vehicle dynamic RCS and frequency domain detection system comprises the following steps:
when the developments RCS that detects dynamic unmanned aerial vehicle, set up static unmanned aerial vehicle on the support 10 of revolving stage 9 to start this unmanned aerial vehicle and make unmanned aerial vehicle's wing rotatory, at this moment, the rotatory unmanned aerial vehicle of wing can be called dynamic unmanned aerial vehicle. The method comprises the steps that a sweep frequency signal is sent out through a sweep frequency source in a vector network analyzer 7, the sweep frequency signal is further amplified through a power amplifier through a first channel module, then the sweep frequency signal is transmitted to a transmitting antenna 3 to be transmitted out, and a target echo, namely an echo signal, is returned through interaction with a dynamic unmanned aerial vehicle. The receiving antenna 4 receives the target echo and transmits the target echo to the vector network analyzer 7 through the second channel module for storage, and then the transmission coefficient S is obtained through the measurement function of the vector network analyzer 7 21 In addition, two paths of square wave signals are externally output by using the Trigger Aux function of the vector network analyzer 7, one path of square wave signals is connected to the high-speed camera 2 through a BNC connecting line to serve as a synchronous signal, and the high-speed camera 2 receives the synchronous signal to Trigger and complete one-time photographing. And the other path is connected with an INPUT1 interface in a rear panel HandlerIO interface of the vector network analyzer 7, and an interrupt mark for judging that the single scanning is finished is taken as a synchronous signal so as to drive a data storage function. Thus, according to the set number of measurements, synchronization of the measurement data of the vector network analyzer 7 and the photograph can be completed. The target echo received by the receiving antenna 4 can obtain the frequency domain characteristics of the target 11, then the frequency domain characteristics are analyzed in the time domain through inverse fourier Transform (Transform function of the vector network analyzer 7), and background clutter outside a time domain door is filtered through time domain windowing, so that the RCS information of the target 11 in the wide frequency band is obtained. And finally, analyzing a dynamic photo obtained by photographing the dynamic unmanned aerial vehicle by combining the high-speed camera 2, and further obtaining dynamic RCS information of the dynamic unmanned aerial vehicle.
When detecting the frequency domain of the dynamic unmanned aerial vehicle, the dynamic spectrum is mainly detected by using single-frequency signals, so that in the embodiment of the invention, the signal source module and the receiver module are core devices for measuring the dynamic spectrum of the unmanned aerial vehicle. Through signal source module transmission point frequency signal, send through transmitting antenna 3, the electromagnetic wave is with rotatory developments unmanned aerial vehicle interact back, return echo signal, then receiving antenna 4 receives echo signal after, through the spectrometer mode of adjusting the receiver module, convert unmanned aerial vehicle's echo signal into the echo spectrum of the developments unmanned aerial vehicle after the rotor modulation that corresponds, and observe developments unmanned aerial vehicle's rotor modulation effect, its modulation spectrum peak promptly, also dynamic unmanned aerial vehicle's dynamic frequency domain. In this in-process, the signal source module can set up the dot-frequency signal on a frequency point, for example, set up the frequency point and be 9.1GHz, then accept quick-witted module setting and accept the frequency range, for example, the bandwidth is 2MHz, and the frequency point is at 9.1GHz to conveniently fix a position the rotatory Doppler's frequency offset that leads to of dynamic unmanned aerial vehicle rotor. The above test procedures were all carried out in a microwave dark room 1.
In the embodiment of the invention, the dynamic RCS of the unmanned aerial vehicle can be detected through the cooperation of the vector network analyzer 7 and the high-speed camera 2, and the dynamic frequency domain of the unmanned aerial vehicle can be detected through the cooperation of the signal source module, the receiver module and the high-speed camera 2, so that the dynamic RCS and the frequency domain detection of the unmanned aerial vehicle are realized. The invention solves the problems that the prior art can only detect the RCS of the static target 11 and does not detect the dynamic RCS and the frequency domain of the dynamic target 11, in particular the dynamic RCS and the frequency domain of the unmanned aerial vehicle.
Example two
As shown in fig. 8, fig. 8 is a flowchart of a method for detecting dynamic RCS of an unmanned aerial vehicle based on the system of the first embodiment of the present invention. The detection method of the dynamic RCS of the unmanned aerial vehicle is carried out in a microwave darkroom. The detection method of the dynamic RCS of the unmanned aerial vehicle comprises the following steps:
s101, placing the unmanned aerial vehicle in a microwave darkroom, and starting the unmanned aerial vehicle to enable a rotor wing of the unmanned aerial vehicle to rotate.
Specifically, fix the unmanned aerial vehicle and place on the revolving stage, can also fix the support top of placing on the revolving stage. Make unmanned aerial vehicle's position and position cooperation such as transmitting antenna, receiving antenna, high-speed camera like this, can more effectively carry out the information interaction. When the rotor of the drone is not activated, this drone may be referred to as a static drone. Treat the fixed back of accomplishing of unmanned aerial vehicle, accessible control unmanned aerial vehicle remote controller or unmanned aerial vehicle action bars control unmanned aerial vehicle's rotor rotates, because unmanned aerial vehicle fixes on revolving stage or support, unmanned aerial vehicle does not remove, only the rotor is rotatory, and unmanned aerial vehicle at this moment can be called dynamic unmanned aerial vehicle. This facilitates detection of the dynamic RCS of the drone, as the rotor contributes to the RCS of the drone.
And S102, transmitting a signal through a first channel module of the vector network analyzer.
Specifically, the signal may be a frequency sweep signal. After S101 the unmanned aerial vehicle is fixed and started, a sweep frequency signal can be transmitted through a sweep frequency source of the vector network analyzer, the sweep frequency signal is transmitted through the first channel module, and the sweep frequency signal is further amplified by a power amplifier and then transmitted to a transmitting antenna. And returning a target echo, namely an echo signal of the unmanned aerial vehicle, through the interaction with the dynamic unmanned aerial vehicle.
S103, receiving and storing the echo signal of the unmanned aerial vehicle through a second channel module of the vector network analyzer.
When the target echo returns, the target echo is received by the receiving antenna and transmitted to the vector network analyzer through the second channel module for storage, so that the dynamic RCS of the unmanned aerial vehicle is analyzed conveniently.
And S104, synchronizing the first synchronization signal to the high-speed camera according to the echo signal.
The first synchronization signal is a path of pulse signal output by the vector network analyzer according to an echo signal returned by the dynamic unmanned aerial vehicle and is used as a high-speed camera starting signal, namely a synchronization signal. Specifically, after the vector network analyzer receives an echo signal of the unmanned aerial vehicle, two paths of square wave signals are output externally through the Trigger Aux function of the vector network analyzer, one path of square wave signals is connected to the high-speed camera through the BNC connecting line and serves as a synchronous signal, and the high-speed camera receives the synchronous signal and triggers to complete one-time photographing. And the other path is connected with an INPUT1 interface in a rear panel HandlerIO interface of the vector network analyzer, and the synchronous signal is used as an interrupt mark for judging the completion of single scanning, so that the data storage function is driven. Thus, according to the set measuring times, the synchronization of vector network measuring data and photos can be completed.
And S105, photographing and storing the high-speed camera according to the first synchronous signal.
Specifically, after the high-speed camera receives the first synchronization signal, a shutter of the high-speed camera can be triggered to capture the dynamic unmanned aerial vehicle, and the captured dynamic photo of the unmanned aerial vehicle is stored. This is convenient for record the state of the dynamic drone and the speed of rotation of the drone rotor.
And S106, converting the echo signal into the dynamic RCS information of the unmanned aerial vehicle.
The RCS information of the above-mentioned unmanned aerial vehicle includes the dynamic RCS value of the unmanned aerial vehicle. After the vector network analyzer receives the echo signal of the dynamic unmanned aerial vehicle, the transmission coefficient S can be obtained through the measurement function of the vector network analyzer 21 And calculating to obtain the dynamic RCS value of the unmanned aerial vehicle by combining the test principle of the RCS in the figures 3-7.
And S107, controlling the rotary table to rotate the position of the unmanned aerial vehicle according to a preset angle through the rotary table controller, and repeating S101-S106.
The preset angle is an angle corresponding to a preset interval of the turntable. Specifically, the starting position of the turntable is set to be 0 in the direction consistent with the direction of the front-side alignment transmitting antenna of the high-speed camera of the dynamic unmanned aerial vehicle. Control the revolving stage through computer control revolving stage controller and step by step according to the angle that sets for the interval correspondence, clockwise rotates, and every rotatory position of developments unmanned aerial vehicle, then detection and the storage of unmanned aerial vehicle RCS are accomplished to automatic execution S102 to S106, can detect the developments RCS in the different positions of developments unmanned aerial vehicle like this to record the data that detect at every turn, can improve the accuracy of developments unmanned aerial vehicle' S developments RCS information.
Further, the step of photographing and storing the high speed camera according to the first synchronization signal comprises: and judging whether the amplitude of the first synchronization signal is higher than a preset threshold value or not, and if so, photographing and storing.
Specifically, the preset threshold may be a trigger threshold for controlling the high-speed camera to take a photo. When the vector network analyzer measures the dynamic unmanned aerial vehicle, under the condition of a static unmanned aerial vehicle, the amplitude of an echo signal of the unmanned aerial vehicle is lower, and the amplitude of a first synchronous signal output by the vector network analyzer according to the echo signal of the unmanned aerial vehicle is also lower and lower than a preset threshold value, so that echo signal data recording and high-speed camera photographing cannot be triggered; however, when the unmanned aerial vehicle remote control switch is turned on, the unmanned aerial vehicle can rotate, the amplitude of the first synchronous signal output by the vector network analyzer is higher than a preset threshold value due to the fact that the amplitude of the echo signal can be improved due to rotation of the rotor wing, and then an echo signal data recording program is triggered, and the high-speed camera is triggered to take a picture and store the picture. Can improve unmanned aerial vehicle's developments RCS's detection accuracy like this, avoid interfering signal to influence unmanned aerial vehicle developments RCS's detection.
EXAMPLE III
As shown in fig. 9, on the basis of the second embodiment, the embodiment of the present invention further provides another flow chart of a method for detecting a dynamic RCS of an unmanned aerial vehicle based on the system of the first embodiment; the detection method of the dynamic RCS of the unmanned aerial vehicle further comprises the following steps:
s201, setting parameters of the vector network analyzer.
S202, calibrating the vector network analyzer according to the vector network analyzer parameters.
The parameter setting of the vector network analyzer must meet the microwave darkroom conditions and the target RCS test requirements. Taking Ku band testing as an example, the parameters of the vector network analyzer are set as follows: the vector network analyzer adopts a band-pass working mode, can give out time domain response after inverse Fourier transform, an analog pulse function irradiates a measured object, and the width T of a pulse is equal to the bandwidth B of the frequency sweep, namely T =1/B, so that the distance resolution force is delta R = cT/2= c/2B, and the number of sampling points required by the test of the vector network analyzer is N = L/(. DELTA.R) +1. The number of scanning points is set to 1601 and the intermediate frequency bandwidth is set to 100KHz. The vector network analyzer is calibrated through the set parameters, and the detection accuracy of the vector network analyzer is further improved.
Example four
As shown in fig. 10, on the basis of the second embodiment, the embodiment of the present invention further provides another flow chart of a method for detecting a dynamic RCS of an unmanned aerial vehicle based on the system of the first embodiment; the detection method of the dynamic RCS of the unmanned aerial vehicle further comprises the following steps:
s301, transmitting a signal through a first channel module of the vector network analyzer.
S302, receiving and storing the echo signal of the background of the microwave darkroom through a second channel module of the vector network analyzer.
And S303, converting the echo signal of the background of the microwave anechoic chamber into RCS information of the background of the microwave anechoic chamber.
Specifically, before detecting the dynamic RCS of the unmanned aerial vehicle, a background test needs to be performed on the microwave dark room through the vector network analyzer and the high-speed camera, whether the background RCS exists in the background of the microwave dark room when no target is detected, if the background RCS exists, the background RCS of the microwave dark room needs to be eliminated in a result of detecting the target RCS, and if the background RCS exists in the microwave dark room and the background RCS exceeds a preset value, it is indicated that the microwave dark room has poor energy absorption capability and poor quality. If the background RCS does not exist in the microwave anechoic chamber, the quality of the microwave anechoic chamber is good, and the background RCS does not need to be eliminated when the target RCS is detected, so that the detection precision of the target RCS is further improved.
EXAMPLE five
As shown in fig. 11, on the basis of the second embodiment, the embodiment of the present invention further provides another flow chart of a method for detecting a dynamic RCS of an unmanned aerial vehicle based on the system of the first embodiment; the detection method of the dynamic RCS of the unmanned aerial vehicle further comprises the following steps:
s401, opening a high-speed camera to record a target area at a constant speed, and placing balls with different sizes on a rotary table in sequence.
The spherical ball may be a metal ball, such as an iron ball, a steel ball, an aluminum ball, etc. The sphere can be called a standard sphere and is used as a standard detection target, namely, a reference for detecting the dynamic RCS of the unmanned aerial vehicle. Specifically, the big and small spheres are observed reversely, and a plurality of groups of reference data can be obtained. The RCS accuracy of the sphere is improved.
S402, transmitting signals through a first channel module of the vector network analyzer.
Specifically, the signal may be a frequency sweep signal. After the sphere is fixed and started in S401, a sweep frequency signal may be transmitted by a sweep frequency source of the vector network analyzer, and the sweep frequency signal may be transmitted by the first channel module, further amplified by a power amplifier, and transmitted to the transmitting antenna. And returning a target echo, namely an echo signal of the spherical ball, through the interaction with the spherical ball.
And S403, receiving and storing the echo signal of the sphere through a second channel module of the vector network analyzer.
When the target echo is returned, the target echo is received by the receiving antenna and is transmitted to the vector network analyzer through the second channel module for storage, so that the RCS of the sphere is conveniently analyzed.
S404, synchronizing a second synchronizing signal to the high-speed camera according to the echo signal of the sphere.
Specifically, the second synchronization signal is a path of pulse signal output by the vector network analyzer according to an echo signal returned by the sphere, and is used as a high-speed camera start signal, that is, a synchronization signal. Specifically, after the vector network analyzer receives an echo signal of the sphere, two paths of square wave signals are output outwards through the Trigger Aux function of the vector network analyzer, one path of square wave signals is connected to the high-speed camera through the BNC connecting line and serves as a synchronous signal, and the high-speed camera receives the synchronous signal and triggers to complete one-time photographing. And the other path is connected with an INPUT1 interface in a rear panel HandlerIO interface of the vector network analyzer, and the synchronous signal is used as an interrupt mark for judging the completion of single scanning, so that the data storage function is driven. Therefore, according to the set measuring times, the synchronization of the measuring data and the picture of the vector network analyzer can be completed.
And S405, taking pictures according to the second synchronous signal through the high-speed camera and storing the round ball pictures.
Specifically, after the high-speed camera receives the second synchronization signal, the shutter of the high-speed camera can be triggered to capture the round ball, and the captured picture of the round ball is stored. This facilitates recording of the state of the ball.
And S406, converting the echo signal of the sphere into RCS information of the sphere.
The RCS information of the round ball includes an RCS theoretical value of the round ball. When the vector network analyzer receives the echo signal of the sphere, the transmission coefficient S can be obtained through the measurement function of the vector network analyzer 21 And the RCS theoretical value of the round ball is calculated by combining the test principle of the RCS in the figures 3-7.
S407, controlling the rotary table to rotate the position of the ball according to a preset angle through the rotary table controller, and repeating S401-S406.
Specifically, before detecting the target drone, the RCS theoretical value of the standard sphere is detected through the steps from S401 to S407. Therefore, the dynamic RCS value of the target unmanned aerial vehicle can be calculated by comparing the echo power of the target unmanned aerial vehicle to be detected with the echo power of the standard sphere. Further, the accuracy and the efficiency of the dynamic RCS theoretical value of the unmanned aerial vehicle are improved.
EXAMPLE six
As shown in fig. 12, on the basis of the second embodiment, the embodiment of the present invention further provides another flow chart of a method for detecting dynamic RCS of an unmanned aerial vehicle based on the system of the first embodiment; the detection method of the dynamic RCS of the unmanned aerial vehicle further comprises the following steps:
s501, placing the static unmanned aerial vehicle on the rotary table.
Specifically, with static unmanned aerial vehicle fixed placing on the revolving stage, can also fix the support top of placing on the revolving stage. Therefore, the position of the static unmanned aerial vehicle is matched with the positions of the transmitting antenna, the receiving antenna, the high-speed camera and the like, and information interaction can be carried out more effectively.
And S502, transmitting a signal through a first channel module of the vector network analyzer.
Specifically, the signals are sweep frequency signals, and after the static unmanned aerial vehicle is fixed in S501, the sweep frequency signals can be transmitted through the sweep frequency source of the vector network analyzer, and transmitted through the first channel module, further amplified by a power amplifier, and transmitted to the transmitting antenna. And returning a target echo, namely an echo signal of the static unmanned aerial vehicle, through the interaction with the static unmanned aerial vehicle. Further, the frequency sweep signal emitted by the first channel module specifically interacts with the stationary drone.
And S503, receiving and storing the echo signal of the static unmanned aerial vehicle through a second channel module of the vector network analyzer.
Specifically, when the target echo returns, the target echo is received by the receiving antenna, and is transmitted to the vector network through the second channel module for analysis and storage, so that the static RCS of the static unmanned aerial vehicle is analyzed conveniently.
And S504, synchronizing a third synchronization signal to the high-speed camera according to the echo signal of the static unmanned aerial vehicle.
Specifically, the third synchronization signal is a path of pulse signal output by the vector network analyzer according to an echo signal returned by the static unmanned aerial vehicle, and is used as a high-speed camera start signal, that is, a synchronization signal. Specifically, after the vector network analyzer receives an echo signal of the static unmanned aerial vehicle, two paths of square wave signals are output outwards through the Trigger Aux function of the vector network analyzer, one path of square wave signals is connected to the high-speed camera through the BNC connecting line and serves as a synchronous signal, and the high-speed camera receives the synchronous signal and triggers to complete one-time photographing. And the other path is connected with an INPUT1 interface in a HandlerIO interface of a rear panel of the vector network analyzer, and an interrupt mark for judging that the single scanning is finished is taken as a synchronous signal so as to drive a data storage function. Therefore, according to the set measuring times, the synchronization of the measuring data and the photo of the vector network analyzer can be completed.
And S505, taking pictures according to the third synchronous signal through the high-speed camera, and storing the static pictures of the static unmanned aerial vehicle.
Specifically, after the high-speed camera receives the third synchronization signal, the shutter of the high-speed camera can be triggered to capture the static unmanned aerial vehicle, and the captured static photo of the static unmanned aerial vehicle is stored. This is convenient for recording the state of the static drone.
S506, the echo signal of the static unmanned aerial vehicle is converted into RCS information of the static unmanned aerial vehicle.
The RCS information of the static unmanned aerial vehicle includes a static RCS value of the static unmanned aerial vehicle. After the vector network analyzer receives the echo signal of the static unmanned aerial vehicle, the transmission coefficient S can be obtained through the measurement function of the vector network analyzer 21 And calculating to obtain a static RCS value of the static unmanned aerial vehicle by combining the test principle of RCS in figures 3-7.
And S507, controlling the rotary table to rotate the position of the static unmanned aerial vehicle according to a preset angle through the rotary table controller, and repeating S501-S506.
The preset angle is an angle corresponding to a preset interval of the turntable. Specifically, the starting position of the turntable is set to be 0 in the direction consistent with the direction of the transmitting antenna aligned with the front side of the high-speed camera of the static unmanned aerial vehicle. Control the revolving stage through computer control revolving stage controller and control the angle that the revolving stage corresponds according to setting for the interval and step by step, clockwise rotates, and every position of static unmanned aerial vehicle rotation, then the detection and the storage of the static RCS of static unmanned aerial vehicle are accomplished to automatic execution S502 to S506, can detect the dynamic RCS in the different positions of static unmanned aerial vehicle like this to record the data that detect at every turn, can improve the accuracy of static RCS information of static unmanned aerial vehicle.
The static RCS that detects static unmanned aerial vehicle goes on before the developments RCS that detects dynamic unmanned aerial vehicle, and static RCS is used for comparing detection dynamic RCS, and then can judge that the unmanned aerial vehicle rotor contributes to unmanned aerial vehicle's RCS if developments RCS.
EXAMPLE seven
As shown in fig. 13, on the basis of the first embodiment, the embodiment of the present invention further provides a flow chart of a method for detecting a dynamic frequency domain of an unmanned aerial vehicle based on the above system, where the method for detecting a dynamic frequency domain of an unmanned aerial vehicle includes the steps of:
s601, place unmanned aerial vehicle in the microwave darkroom, start unmanned aerial vehicle and make its rotor rotate.
Specifically, fix the unmanned aerial vehicle and place on the revolving stage, can also fix the support top of placing on the revolving stage. Make unmanned aerial vehicle's position and position cooperation such as transmitting antenna, receiving antenna, high-speed camera like this, can more effectively carry out the information interaction. Treat the fixed back of accomplishing of unmanned aerial vehicle, accessible control unmanned aerial vehicle remote controller or unmanned aerial vehicle action bars control unmanned aerial vehicle's rotor rotates, because unmanned aerial vehicle fixes on revolving stage or support, unmanned aerial vehicle does not remove, only the rotor is rotatory, and unmanned aerial vehicle at this moment can be called dynamic unmanned aerial vehicle. This facilitates detection of the frequency domain of the drone, since the rotor contributes to the frequency domain of the drone.
And S602, transmitting the dot frequency signal through the signal source module.
In the embodiment of the invention, the dynamic spectrum detection mainly adopts single-frequency signals, so that the signal source module and the receiver module are core devices for measuring the dynamic spectrum of the unmanned aerial vehicle. Through signal source module transmission point-frequency signal, send through transmitting antenna, the electromagnetic wave returns echo signal with rotatory developments unmanned aerial vehicle interact back, then receiving antenna receives echo signal after, through the spectrometer mode of adjusting the receiver module, also be exactly through the echo spectrum of the developments unmanned aerial vehicle after the spectrometer converts unmanned aerial vehicle's echo signal into the rotor modulation that corresponds.
And S603, receiving and storing the echo frequency spectrum of the unmanned aerial vehicle through a receiver module.
Specifically, the receiver module saves the echo spectrum of the dynamic unmanned aerial vehicle, so that the frequency domain of the dynamic unmanned aerial vehicle can be detected conveniently.
Further, a synchronization signal is output to the high-speed camera based on the echo spectrum. Specifically, after the receiver module receives the echo spectrum of the dynamic unmanned aerial vehicle, the receiver module outputs a pulse signal, namely a synchronization signal, and transmits the pulse signal to the high-speed camera.
And S604, photographing through the high-speed camera and storing.
Specifically, after the high-speed camera receives the synchronization signal transmitted by the receiver module, the shutter of the high-speed camera is triggered to capture a dynamic photo of the unmanned aerial vehicle, and the dynamic photo is obtained and stored. And then guarantee that the unmanned aerial vehicle echo frequency spectrum that signal source module and receiver module detected and high-speed camera carry out to shoot synchronous, can guarantee like this to shoot unmanned aerial vehicle's state and the rotation rate of unmanned aerial vehicle rotor when detecting the unmanned aerial vehicle frequency spectrum, further improve unmanned aerial vehicle frequency spectrum detection's accuracy and efficiency.
And S605, controlling the turntable to rotate the position of the unmanned aerial vehicle according to a preset angle through the turntable controller, and repeating the steps S601-S604.
Specifically, the rotary table is controlled by the rotary table controller to step gradually according to a preset angle, and then the echo frequency spectrums in different directions of the dynamic unmanned aerial vehicle can be detected. Further improve the detection precision of unmanned aerial vehicle frequency spectrum.
Still further, still include: and setting the dot frequency signal of the signal source module on a frequency point, and transmitting the dot frequency signal of the frequency point through the signal source module. And receiving and storing the echo signal of the background of the microwave darkroom through a receiver module. And converting the echo signal of the background of the microwave anechoic chamber into an echo frequency spectrum of the background of the microwave anechoic chamber and storing the echo frequency spectrum.
Specifically, before detecting the frequency domain of the unmanned aerial vehicle, a background test needs to be performed on the microwave anechoic chamber through the signal source module, the receiver module and the high-speed camera, whether a background frequency domain exists in the background of the microwave anechoic chamber is detected when a detection target does not exist, if the background frequency domain exists, the background frequency domain of the microwave anechoic chamber needs to be eliminated in a result of detecting the frequency domain of the unmanned aerial vehicle, and if the background frequency domain exists in the microwave anechoic chamber and the background frequency domain exceeds a preset value, it is indicated that the microwave anechoic chamber has poor wave absorption capacity and poor quality. If the microwave darkroom does not have the background frequency domain, the quality of the microwave darkroom is good, and the background frequency domain does not need to be eliminated when the target frequency domain is detected, so that the detection precision of the target frequency domain is further improved.
Example eight
As shown in fig. 14, on the basis of the seventh embodiment, the embodiment of the present invention further provides a flowchart of another method for detecting a dynamic frequency domain of an unmanned aerial vehicle based on the above system, where the method for detecting a dynamic frequency domain of an unmanned aerial vehicle further includes:
s701, placing the static unmanned aerial vehicle on a rotary table.
Specifically, with static unmanned aerial vehicle fixed placing on the revolving stage, can also fix the support top of placing on the revolving stage. Make static unmanned aerial vehicle's position and position cooperation such as transmitting antenna, receiving antenna, high-speed camera like this, can more effectively carry out the information interaction.
And S702, transmitting the dot frequency signal through the signal source module.
Specifically, after S701 is fixed to the static unmanned aerial vehicle, the dot frequency signal can be transmitted through the signal source module and transmitted through the transmitting antenna. And returning a target echo through the interaction with the static unmanned aerial vehicle, namely an echo signal of the static unmanned aerial vehicle. Then receiving antenna receives echo signal back, through the spectrometer mode of adjusting receiver module, also is the echo spectrum that static unmanned aerial vehicle after rotor modulation that is corresponding is converted into with unmanned aerial vehicle's echo signal through the spectrometer.
And S703, receiving and storing the echo frequency spectrum of the static unmanned aerial vehicle through a receiving module.
Specifically, the receiver module stores the echo frequency spectrum of the static unmanned aerial vehicle, so that the frequency domain of the static unmanned aerial vehicle can be detected conveniently.
Further, a synchronous signal is output to the high-speed camera according to the echo frequency spectrum of the static unmanned aerial vehicle. Specifically, after the receiver module receives the echo spectrum of the static unmanned aerial vehicle, the receiver module outputs a pulse signal, namely a synchronization signal, and transmits the pulse signal to the high-speed camera.
And S704, taking pictures through the high-speed camera and storing the static pictures of the static unmanned aerial vehicle.
Specifically, after the high-speed camera receives the synchronization signal transmitted by the receiver module, the shutter of the high-speed camera is triggered to capture a still photo of the static unmanned aerial vehicle, and the still photo is stored. And then guarantee that the static unmanned aerial vehicle frequency domain that signal source module and receiver module detected and high-speed camera carry out to shoot and synchronize, can guarantee like this to shoot the state of static unmanned aerial vehicle when detecting static unmanned aerial vehicle frequency domain, further improve accuracy and the efficiency that static unmanned aerial vehicle frequency domain detected.
S705, controlling the rotary table to rotate the position of the static unmanned aerial vehicle according to a preset angle through the rotary table controller, and repeating S701-S704.
Specifically, the starting position of the turntable is set to be 0 in the direction consistent with the direction of the transmitting antenna aligned with the front side of the high-speed camera of the static unmanned aerial vehicle. The rotary table is controlled by the rotary table controller to step by step according to a preset angle, and then the frequency domains of different directions of the static unmanned aerial vehicle can be detected. The detection precision of the frequency domain of the static unmanned aerial vehicle is further improved.
In the embodiment of the invention, firstly, a vector network analyzer measures the time domain echo when the rotor of the dynamic unmanned aerial vehicle rotates. Then measuring the frequency domain of the rotor wing of the dynamic unmanned aerial vehicle through a signal source module and a receiver module; in both measurement processes, a high-speed camera is used to record the rotation of the rotor for recording the experimental state and analyzing the contribution of the rotor to the time-domain echo and the echo spectrum. The rotor of the drone not only contributes RCS, but also modulates the echo spectrum of the dynamic drone and marks the obvious modulation feature, i.e. the rotor modulation effect. Because rotatory rotor, in developments unmanned aerial vehicle's echo frequency spectrum, except that the spectrum peak that shows the developments unmanned aerial vehicle body, some harmonic wave crests still can appear, this shows that in the frequency spectrum of its echo, several groups of amplitudes appear and approximately have the modulation spectrum peak of certain interval, and this spectrum peak group uses 0Hz as the symmetry. The number of the modulation spectrum peaks is related to the number of the rotors, and the interval of the modulation spectrum peaks is related to the number of the rotors and the rotating speed. This phenomenon of modulating the echo spectrum by rotor rotation is called the rotor modulation effect, i.e. the dynamic frequency domain. The dynamic RCS and the frequency domain of the dynamic unmanned aerial vehicle can be detected by using a detection system of the dynamic RCS and the frequency domain of the unmanned aerial vehicle.
The terms "including" and "having," and any variations thereof, in the description and claims of this application and the description of the above figures are intended to cover non-exclusive inclusions. The terms "first," "second," and the like in the description and claims of this application or in the foregoing drawings are used for distinguishing between different objects and not for describing a particular sequential order. Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein may be combined with other embodiments.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a detecting system of unmanned aerial vehicle developments RCS and frequency domain which characterized in that includes:
the vector network analyzer is at least provided with a first channel module for transmitting signals and a second channel module for receiving echo signals of the unmanned aerial vehicle;
the spectrum analysis assembly comprises a signal source module and a receiver module, wherein the receiver module comprises a receiving mode and a spectrometer mode; the receiving mode is used for receiving the echo signal of the unmanned aerial vehicle transmitted back by the receiving antenna; the frequency spectrograph mode is used for converting the echo signal of the unmanned aerial vehicle into a corresponding echo frequency spectrum and displaying the echo frequency spectrum of the unmanned aerial vehicle;
the rotary table assembly comprises a rotary table and a rotary table controller, the rotary table is used for bearing the unmanned aerial vehicle, and the rotary table controller is used for controlling the rotary table to rotate in a stepping mode;
the transmitting antenna is respectively connected with the first channel module and the signal source module;
the receiving antenna is respectively connected with the second channel module and the receiver module;
the high-speed camera with the frame rate of 1000fps is in signal connection with the vector network analyzer and is used for starting photographing according to a signal received by a second channel module of the vector network analyzer;
the computer is connected with the vector network analyzer and the rotary table controller;
the vector network analyzer includes: the Trigger assists the Trigger Aux function and is used for outputting two paths of square wave signals, one path of square wave signals is connected to the high-speed camera through a BNC connecting line and serves as a synchronous signal, the other path of square wave signals is connected with an INPUT1 interface in a Handler IO interface behind the vector network analyzer, the synchronous signal serves as an interrupt mark for judging that the single scanning is finished, the data storage function is further driven, and the synchronization of the measurement data and the photo of the vector network analyzer is completed according to the set measurement times;
the target echo received by the receiving antenna obtains the frequency domain characteristic of the dynamic unmanned aerial vehicle, then the frequency domain characteristic is converted to a time domain for analysis through inverse Fourier transform, background clutter outside a time domain door is filtered through time domain windowing, RCS information of the dynamic unmanned aerial vehicle in a wide frequency band is obtained, a dynamic photo obtained by photographing the dynamic unmanned aerial vehicle by combining the high-speed camera is analyzed, and then the dynamic RCS information of the dynamic unmanned aerial vehicle is obtained;
and the high-speed camera judges whether the amplitude of the synchronous signal is higher than a preset threshold value or not, and if the amplitude of the synchronous signal is higher than the preset threshold value, the high-speed camera takes pictures and stores the pictures.
2. A method for detecting dynamic RCS of a drone based on the system of claim 1, comprising the steps of:
s101, placing the unmanned aerial vehicle in a microwave darkroom, and starting the unmanned aerial vehicle to enable a rotor wing of the unmanned aerial vehicle to rotate;
s102, transmitting a signal through a first channel module of a vector network analyzer;
s103, receiving and storing an echo signal of the unmanned aerial vehicle through a second channel module of the vector network analyzer;
s104, synchronizing a first synchronization signal to the high-speed camera according to the echo signal;
s105, photographing and storing the high-speed camera according to the first synchronous signal;
s106, converting the echo signal into dynamic RCS information of the unmanned aerial vehicle;
and S107, controlling the rotary table to rotate the position of the unmanned aerial vehicle according to a preset angle through the rotary table controller, and repeating S101-S106.
3. The method for detecting dynamic RCS of unmanned aerial vehicle as claimed in claim 2, wherein the step of photographing and storing the high speed camera according to the first synchronization signal comprises:
and judging whether the amplitude of the first synchronization signal is higher than a preset threshold value or not, and if so, photographing and storing.
4. The method for detecting dynamic RCS of unmanned aerial vehicle as claimed in claim 2, further comprising the steps of:
s201, setting parameters of a vector network analyzer;
s202, calibrating the vector network analyzer according to the vector network analyzer parameters.
5. The method for detecting dynamic RCS of drone of claim 2, further comprising:
s301, transmitting a signal through a first channel module of the vector network analyzer;
s302, receiving and storing an echo signal of the background of the microwave darkroom through a second channel module of the vector network analyzer;
and S303, converting the echo signal of the background of the microwave anechoic chamber into RCS information of the background of the microwave anechoic chamber.
6. The method for detecting dynamic RCS of drone of claim 2, further comprising the steps of:
s401, opening a high-speed camera to record a target area at a constant speed, and sequentially placing balls with different sizes on a rotary table;
s402, transmitting a signal through a first channel module of the vector network analyzer;
s403, receiving and storing the echo signal of the sphere through a second channel module of the vector network analyzer;
s404, synchronizing a second synchronizing signal to the high-speed camera according to the echo signal of the sphere;
s405, photographing and storing the round ball photo through the high-speed camera according to the second synchronous signal;
s406, converting the echo signal of the sphere into RCS information of the sphere;
s407, controlling the rotary table to rotate the position of the ball according to a preset angle through the rotary table controller, and repeating S401-S406.
7. The method for detecting dynamic RCS of unmanned aerial vehicle as claimed in claim 5, further comprising steps of:
s501, placing a static unmanned aerial vehicle on the rotary table;
s502, transmitting a signal through a first channel of a vector network analyzer;
s502, receiving and storing an echo signal of the static unmanned aerial vehicle through a second channel of the vector network analyzer;
s504, synchronizing a third synchronizing signal to the high-speed camera according to the echo signal of the static unmanned aerial vehicle;
s505, taking a picture through the high-speed camera according to the third synchronous signal and storing a static picture of the static unmanned aerial vehicle;
s506, converting the echo signal of the static unmanned aerial vehicle into RCS information of the static unmanned aerial vehicle;
and S507, controlling the rotary table to rotate the position of the static unmanned aerial vehicle according to a preset angle through the rotary table controller, and repeating the steps S501-S506.
8. A method for detecting dynamic frequency domain of unmanned aerial vehicle based on the system of claim 1, comprising the steps of:
s601, placing the unmanned aerial vehicle in a microwave darkroom, and starting the unmanned aerial vehicle to enable a rotor wing of the unmanned aerial vehicle to rotate;
s602, transmitting a dot frequency signal through a signal source module;
s603, receiving and storing the echo frequency spectrum of the unmanned aerial vehicle through a receiver module;
s604, photographing and storing through the high-speed camera;
and S604, controlling the rotary table to rotate the position of the unmanned aerial vehicle according to a preset angle through the rotary table controller, and repeating the step S601-S604.
9. The dynamic frequency domain detection method for UAVs according to claim 8, further comprising:
setting the dot frequency signal of a signal source module on a frequency point, and transmitting the dot frequency signal of the frequency point through the signal source module;
receiving and storing an echo signal of a background of a microwave darkroom through a receiver module;
and converting the echo signal of the background of the microwave darkroom into an echo frequency spectrum of the background of the microwave darkroom and storing the echo frequency spectrum.
10. The dynamic frequency domain detection method for drones according to claim 8, further comprising:
s701, placing a static unmanned aerial vehicle on a rotary table;
s702, transmitting a dot frequency signal through the signal source module;
s703, receiving and storing the echo frequency spectrum of the static unmanned aerial vehicle through a receiving module;
s704, taking pictures through the high-speed camera and storing the static pictures of the static unmanned aerial vehicle;
s705, controlling the rotary table to rotate the position of the static unmanned aerial vehicle according to a preset angle through the rotary table controller, and repeating S701-S704.
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| TWI727694B (en) * | 2020-03-05 | 2021-05-11 | 國家中山科學研究院 | Radar echo feature extraction system and method |
| CN113156388A (en) * | 2021-04-30 | 2021-07-23 | 佛山蓝谱达科技有限公司 | RCS (remote control system) measuring system and method |
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