CN111537965B - Weather radar calibration method and system based on unmanned aerial vehicle - Google Patents
Weather radar calibration method and system based on unmanned aerial vehicle Download PDFInfo
- Publication number
- CN111537965B CN111537965B CN202010349440.3A CN202010349440A CN111537965B CN 111537965 B CN111537965 B CN 111537965B CN 202010349440 A CN202010349440 A CN 202010349440A CN 111537965 B CN111537965 B CN 111537965B
- Authority
- CN
- China
- Prior art keywords
- calibration
- weather radar
- aerial vehicle
- unmanned aerial
- signal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
- G01S7/40—Means for monitoring or calibrating
- G01S7/4052—Means for monitoring or calibrating by simulation of echoes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- 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
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/35—UAVs specially adapted for particular uses or applications for science, e.g. meteorology
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
-
- 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
- G01S7/40—Means for monitoring or calibrating
- G01S7/4052—Means for monitoring or calibrating by simulation of echoes
- G01S7/4082—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder
Abstract
The embodiment of the invention provides a weather radar calibration method and a system based on an unmanned aerial vehicle, which are characterized in that the method comprises the steps of controlling the unmanned aerial vehicle provided with an airborne calibration device to fly to a preset spatial position in a wireless communication mode through a ground control console; and controlling the airborne calibration device to calibrate the weather radar at the preset spatial position in a wireless communication mode through a ground control console. The method can solve the problems of high erection cost and incapability of working under the condition of special terrain in the conventional signal source method, and simultaneously solves the problem of inaccurate calibration result in the conventional metal ball calibration method.
Description
Technical Field
The invention relates to the technical field of weather radar calibration, in particular to a weather radar calibration method and system based on an unmanned aerial vehicle.
Background
At present, when weather radar calibration is carried out, two methods, namely a signal source method and a metal ball method, are mainly adopted.
1. The signal source method is that a signal source is arranged in a far field to serve as a target, a standard gain horn, a frequency spectrograph, a vector network analyzer and other instruments are used in a matched mode, and the RCS value and the like of a target to be detected are obtained by utilizing the substitution relation between the power of a radar transmitting signal received by the signal source target and the standard power transmitted by a radar receiving signal source.
2. The metal ball method is a method for calibrating the reflectivity of a radar by using a metal ball, and generally, a balloon or an unmanned aerial vehicle or other carriers are used for carrying the metal ball and releasing the metal ball to a specified position in the air for working.
In the process of implementing the invention, the inventor finds that at least the following problems exist in the prior art:
1. when a signal source method is adopted for weather radar calibration, the signal source needs to be erected on a measuring tower or a high-rise building, but the erection requirement is high, the workload is large, the cost is high, and erection conditions are not provided in partial terrain complex areas (such as mountainous areas) so that the work is difficult to be carried out;
2. although the metal ball method is simple and easy to implement and is not limited by the terrain, the metal ball is suspended below the carrier in a flexible connection mode and can move under the influence of external factors such as wind power and the like, so that the positioning precision is poor, and the accuracy of a calibration result is influenced; meanwhile, the metal ball is a passive component, the unmanned aerial vehicle is made of metal and can backscatter electromagnetic waves emitted by the radar to the radar receiving channel, and the unmanned aerial vehicle and the metal ball are beyond kilometers, so that the unmanned aerial vehicle and the metal ball can be regarded as a point by radar detection due to the radar detection precision problem, and therefore a radar sectional area calibration error is introduced in the calibration process, and the accuracy of a calibration result is influenced; moreover, automatic calibration cannot be realized by using a metal ball method.
Therefore, when the weather radar calibration is performed, how to perform work quickly and conveniently at low cost without being limited by the terrain and effectively ensure the accuracy of the calibration result is a problem to be solved.
Disclosure of Invention
The embodiment of the invention provides a weather radar calibration method and system based on an unmanned aerial vehicle, solves the problems that the existing signal source method is high in erection cost and cannot work under the condition of special terrain, and simultaneously solves the problem that the existing metal ball calibration method is inaccurate in aerial calibration result.
In order to achieve the above object, in one aspect, an embodiment of the present invention provides a weather radar calibration method based on an unmanned aerial vehicle, including:
controlling an unmanned aerial vehicle provided with an airborne calibration device to fly to a preset spatial position in a wireless communication mode through a ground control console;
and controlling the airborne calibration device to calibrate the weather radar at the preset spatial position in a wireless communication mode through the ground control console.
On the other hand, the embodiment of the invention provides a weather radar calibration system based on an unmanned aerial vehicle, which comprises the following components: ground control platform, machine carry calibration device, unmanned aerial vehicle, wherein:
the ground control console is used for controlling the unmanned aerial vehicle provided with the airborne calibration device to fly to a preset spatial position in a wireless communication mode; controlling the airborne calibration device to calibrate the weather radar at the preset spatial position in a wireless communication mode;
and the airborne calibration device is arranged on the unmanned aerial vehicle and used for calibrating the weather radar at the preset spatial position according to the instruction of the ground control console.
The technical scheme has the following beneficial effects:
because the technical means of integrated combination of the unmanned aerial vehicle and the airborne calibration device is adopted, the technical effects that the calibration work is not limited by the terrain and the calibration result is high in accuracy are achieved.
1. The method has strong adaptability, is not limited by terrain, can conveniently control the unmanned aerial vehicle to accurately stay at a preset aerial position for calibration, and is convenient for weather radar calibration under complex terrain where the traditional signal source calibration method cannot be used for working;
2. the airborne calibration device is fixed on the unmanned aerial vehicle and is integrated with the unmanned aerial vehicle, so that calibration errors caused by shaking of the metal ball in the metal ball calibration method are eliminated, meanwhile, because the strength of a signal transmitted by the airborne calibration device is far greater than the strength of a signal backscattered by the unmanned aerial vehicle, radar sectional area calibration errors generated in the metal ball calibration method are eliminated, and therefore calibration results are accurate and high in reliability.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flow chart of a weather radar calibration method based on an unmanned aerial vehicle of the invention;
FIG. 2 is a block diagram of a weather radar calibration system based on an unmanned aerial vehicle according to the present invention;
fig. 3 is a structural block diagram of an unmanned aerial vehicle provided with an onboard calibration device in an embodiment of the present invention;
FIG. 4 is a schematic diagram of a master flight control communication process in an embodiment of the present invention
FIG. 5 is a diagram of an auxiliary flight control UORB bus structure in an embodiment of the present invention;
FIG. 6 is a block diagram of an onboard calibration apparatus according to an embodiment of the present invention;
reference numerals: 101. an unmanned aerial vehicle provided with an onboard calibration device; 1011. an unmanned aerial vehicle; 1012. an airborne calibration device; 201. a ground console; 301. weather radar.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the invention provides a weather radar calibration method based on an unmanned aerial vehicle, which comprises the following steps:
s101, controlling an unmanned aerial vehicle provided with an airborne calibration device to fly to a preset spatial position in a wireless communication mode through a ground control console.
If the dependence of a traditional signal source calibration method on a measuring tower, a high-rise building and the like is to be eliminated, weather radar calibration work can be carried out under various terrain conditions, and an aviation carrier is adopted to carry a radar calibration instrument to ascend to an appointed position in the air for calibration, so that the method is an ideal solution. Because the unmanned aerial vehicle can fly to a preset position according to a track set by the ground console or according to an instruction, the unmanned aerial vehicle has flexible operation, controllable flight track, stable flight attitude, long-time hovering and high position precision during hovering, the unmanned aerial vehicle is obviously superior to other common aviation vehicles such as balloons and the like for solving the technical problems.
Meanwhile, the existing metal ball calibration method can also adopt an unmanned aerial vehicle as a carrier, but the unmanned aerial vehicle is usually suspended on the carrier, so that the position error caused by shaking is brought, and the metal ball is a passive device, so that the calibration error of the cross section area of a radar is inevitably generated, and the measurement result is influenced. For avoiding the production of this kind of error, should adopt active weather radar calibration device in order to eliminate radar sectional area and mark the school error to should set up calibration device integration on unmanned aerial vehicle, make it reliably fixed.
S102, controlling the airborne calibration device to calibrate the weather radar at the preset spatial position in a wireless communication mode through the ground control console.
Further, the control of the unmanned aerial vehicle and the airborne calibration device by the ground console is realized by the following method:
receiving and forwarding wireless communication information of a ground control console through a sky terminal network transmission module arranged on the unmanned aerial vehicle, wherein the wireless communication information comprises an unmanned aerial vehicle flight instruction and a calibration control instruction;
setting a flight control module for an unmanned aerial vehicle, and receiving an unmanned aerial vehicle flight instruction forwarded by the sky-end network transmission module through the flight control module, wherein the flight control module is connected with the sky-end network transmission module through a wired Ethernet;
the airborne calibration device receives the calibration control instruction forwarded by the sky-side network transmission module by arranging a wired connection between the airborne calibration device and the sky-side network transmission module;
the sky end network transmission module is respectively for the flight control module with the airborne calibration device distributes IP addresses, the flight control module with the airborne calibration device communicates with each other through the sky end network transmission module according to a network transmission protocol mode.
In order to develop the weather radar calibration work, the airborne calibration device can carry out wireless communication with a ground console through the unmanned aerial vehicle and can receive relevant parameter information such as GPS information transmitted by the unmanned aerial vehicle, so the airborne calibration device is integrated with the unmanned aerial vehicle in an integrated manner and establishes communication connection.
Further, the step of controlling the airborne calibration device to calibrate the weather radar at the predetermined spatial position in a wireless communication manner through the ground console includes:
and completing the calibration of a transmitting channel of the weather radar and an antenna of the weather radar, the calibration of a receiving channel of the weather radar, and the calibration of the monitoring and judging capability of the weather radar on the specific weather echo through the airborne calibration device according to the calibration control instruction.
Further, the onboard calibration device can complete calibration according to the calibration control command by the following method:
a signal conditioning unit, a baseband signal processing unit and a calibration antenna are arranged in the airborne calibration device; and the number of the first and second groups,
the calibration of the receiving channel of the weather radar comprises the following steps:
controlling the baseband signal processing unit to generate an outgoing radio frequency signal, transmitting the outgoing radio frequency signal to a signal conditioning unit, improving the power and frequency of the outgoing radio frequency signal by the signal conditioning unit to form an output signal, then transmitting the output signal to the calibration antenna, and radiating the output signal to a receiving channel of a weather radar through the calibration antenna; receiving and analyzing the output signal through a weather radar, and generating first calibration data to calibrate a receiving channel of the weather radar;
the calibration of the transmitting channel of the weather radar and the antenna of the weather radar comprises the following steps:
the calibration antenna is controlled to receive an input signal from a weather radar and then transmit the input signal to the signal conditioning unit, the signal conditioning unit reduces the power and frequency of the input signal to form a received radio frequency signal, the received radio frequency signal is transmitted to the baseband signal processing unit, the baseband signal processing unit analyzes the received radio frequency signal and obtains radar characteristic parameters, and then the radar characteristic parameters are transmitted to the ground control console; analyzing according to the radar characteristic parameters through the ground control console to generate second calibration data so as to calibrate a transmitting channel of the weather radar and an antenna of the weather radar;
the calibration of the monitoring and judging capability of the weather radar to the specific weather echo comprises the following steps:
the baseband signal processing unit delays and Doppler modulates the received radio frequency signal to generate a simulated echo signal, the simulated echo signal is transmitted to the signal conditioning unit, the signal conditioning unit improves the power and the frequency of the simulated echo signal to form a simulated echo output signal, and the simulated echo output signal is radiated to a receiving channel of a weather radar through the calibration antenna; and receiving and analyzing the analog echo output signal through a weather radar, and generating third calibration data to calibrate the monitoring and judging capability of the weather radar on the specific weather echo.
The calibration data obtained by calculation represents the error of each index between the theoretical value and the measured value. This error can be eliminated by substituting calibration data into the radar control terminal after the calibration work is completed.
Further, an airborne calibration device is arranged on the unmanned aerial vehicle by the following method:
arranging a load cabin on the unmanned aerial vehicle, embedding the signal conditioning unit and the baseband signal processing unit into the load cabin, and electromagnetically shielding the signal conditioning unit and the baseband signal processing unit;
providing a direct-current power supply for the airborne calibration device through the unmanned aerial vehicle;
the unmanned aerial vehicle is provided with a cloud deck, and the calibration antenna is fixed on the cloud deck.
Set up special load cabin on unmanned aerial vehicle, at the special quick-witted case of load cabin inside embedding, again with signal conditioning unit and baseband processing unit integration in special quick-witted case, can improve signal conditioning unit and baseband processing unit's electromagnetic compatibility characteristic and environmental suitability like this to when operations such as maintenance need be changed, open the quick-witted chamber door alright in order to operate, improved maintainability. Meanwhile, the calibration antenna is fixed by the aid of the extension mounting platform on the unmanned aerial vehicle and the cloud platform, attitude jitter in flight can be effectively counteracted by the cloud platform, stability of the position of the antenna is improved, and the direction of the calibration antenna can be adjusted according to needs in a calibration process.
As shown in fig. 2, the present invention provides a weather radar calibration system based on an unmanned aerial vehicle, which includes:
the ground control console 201 is used for controlling the unmanned aerial vehicle 101 provided with the airborne calibration device to fly to a predetermined spatial position in a wireless communication mode; and controlling the onboard calibration device 1012 to calibrate the weather radar 301 at the preset spatial position in a wireless communication manner;
the airborne calibration device 1012 is arranged on the unmanned aerial vehicle 1011 and used for calibrating the weather radar 301 at the preset spatial position according to the instruction of the ground console 201.
Further, the unmanned aerial vehicle is also provided with a sky-end network transmission module and a flight control module, the sky-end network transmission module receives and forwards wireless communication information of the ground control station 201, and the wireless communication information comprises an unmanned aerial vehicle flight instruction and a calibration control instruction; receiving, by the flight control module, a flight instruction of the unmanned aerial vehicle forwarded by the sky-side network transmission module, where the flight control module is connected to the sky-side network transmission module by a wired ethernet;
a wired connection is arranged between the airborne calibration device 1012 and the sky-end network transmission module, and the airborne calibration device 1012 receives the calibration control command forwarded by the sky-end network transmission module through the wired connection;
the sky end network transmission module is respectively for the flight control module with the airborne calibration device distributes IP addresses, the flight control module with the airborne calibration device communicates with each other through the sky end network transmission module according to a network transmission protocol mode.
Further, the onboard calibration apparatus 1012 is specifically configured to: according to the calibration control instruction, the calibration of the transmitting channel of the weather radar 301 and the antenna of the weather radar 301, the calibration of the receiving channel of the weather radar 301, and the calibration of the monitoring and judging capability of the weather radar 301 on the specific weather echo are completed.
Further, the onboard calibration device 1012 includes a signal conditioning unit, a baseband signal processing unit, and a calibration antenna; and the number of the first and second groups,
the calibration of the receiving channel of the weather radar 301 includes:
controlling the baseband signal processing unit to generate an outgoing radio frequency signal, transmitting the outgoing radio frequency signal to a signal conditioning unit, improving the power and frequency of the outgoing radio frequency signal by the signal conditioning unit to form an output signal, then transmitting the output signal to the calibration antenna, and radiating the output signal to a receiving channel of the weather radar 301 through the calibration antenna; receiving and analyzing the output signal through the weather radar 301, and generating first calibration data to calibrate a receiving channel of the weather radar 301;
the calibration of the transmitting channel of the weather radar 301 and the antenna of the weather radar 301 includes:
after controlling the calibration antenna to receive an input signal from a weather radar 301, transmitting the input signal to the signal conditioning unit, reducing the power and frequency of the input signal by the signal conditioning unit to form a received radio frequency signal, transmitting the received radio frequency signal to the baseband signal processing unit, analyzing the received radio frequency signal by the baseband signal processing unit to obtain radar characteristic parameters, and then transmitting the radar characteristic parameters to the ground console 201; analyzing according to the radar characteristic parameters through the ground console 201 to generate second calibration data so as to calibrate a transmitting channel of the weather radar 301 and an antenna of the weather radar 301;
the calibration of the monitoring and judging capability of the weather radar 301 on the specific weather echo includes:
the baseband signal processing unit delays and Doppler-modulates the received radio frequency signal to generate a simulated echo signal, and transmits the simulated echo signal to the signal conditioning unit, the signal conditioning unit improves the power and frequency of the simulated echo signal to form a simulated echo output signal, and the simulated echo output signal is radiated to a receiving channel of the weather radar 301 through the calibration antenna; the simulated echo output signal is received and analyzed by the weather radar 301, and third calibration data is generated to calibrate the monitoring and judging capability of the weather radar 301 for a specific weather echo.
Further, a load cabin is arranged on the unmanned aerial vehicle 1011 and is used for embedding the signal conditioning unit and the baseband signal processing unit;
a chassis is arranged between the load cabin and the signal conditioning unit and between the load cabin and the baseband signal processing unit and is used for carrying out electromagnetic shielding on the signal conditioning unit and the baseband signal processing unit;
the unmanned aerial vehicle 1011 further comprises a load power supply module, which is used for providing a direct current power supply for the onboard calibration device 1012;
the unmanned aerial vehicle 1011 is further provided with a holder for fixing the calibration antenna.
According to the technical scheme of the present invention, a specific embodiment is illustrated, and as shown in fig. 3, a structural block diagram of an unmanned aerial vehicle provided with an airborne calibration device in the specific embodiment is shown:
be provided with sky end network transmission module and flight control module on the unmanned aerial vehicle, fly control module and sky end network transmission module and be connected with wired ethernet, set up wired connection between airborne calibration device and the sky end network transmission module. Sky end network transmission module is used for carrying out radio communication with ground control platform's ground end network transmission module each other to this link realizes ground control platform to unmanned aerial vehicle's measurement and control, including information such as the state that acquires unmanned aerial vehicle, posture position, and the control of taking off, descending, flight, task execution to unmanned aerial vehicle is implemented, simultaneously, realizes ground control platform to airborne calibration device's control. And in the process of calibrating the transmitting channel of the weather radar and the antenna of the weather radar, the airborne calibration device transmits the obtained radar characteristic parameters to the ground control console through the communication link so as to generate calibration data aiming at the radar transmitting channel and the radar antenna. The sky-end network transmission module also has a routing function, IP addresses are respectively distributed for the flight control module and the airborne calibration device, and the flight control module and the airborne calibration device are communicated with each other in a network transmission protocol mode through the routing function of the sky-end network transmission module.
The unmanned aerial vehicle is further integrated with a remote controller receiving module for receiving control information sent by the remote controller and controlling the flight of the airplane remotely by using the remote controller from the ground under special conditions.
The unmanned aerial vehicle is provided with a load power supply module and is used for providing a 12V direct-current power supply for the airborne calibration device.
Except load power module, unmanned aerial vehicle's power supply unit still can be respectively for unmanned aerial vehicle's power module and the independent power supply of flight control module to can effectively monitor power and the battery power of flight control electricity, in time discover the circumstances such as battery excess loss, virtual electricity, make unmanned aerial vehicle function can make the judgement response.
Unmanned aerial vehicle adopts the design of eight rotor organisms of four-axis and electric system to guarantee that equipment is miniaturized and the requirement of task length when navigating.
The unmanned aerial vehicle adopts a navigation mode combining Beidou, GPS and inertial navigation, has high horizontal and vertical hovering positioning precision and has a real-time dynamic calibration function.
The unmanned aerial vehicle rotor of this embodiment adopts the carbon fiber paddle, has characteristics such as intensity is big, light in weight, resistance to deformation, power efficiency is high, rotor load capacity is strong, the high-efficient disc motor combination of collocation, and the time of endurance is long, the altitude is high, hover in the air is long, adapts to various environment flight needs.
In addition, 3UVPX quick-witted casees of 1 6 trench that are provided with in unmanned aerial vehicle load cabin for improve signal conditioning unit and baseband processing unit's electromagnetic compatibility characteristic and environmental suitability.
In this embodiment, the unmanned aerial vehicle is further integrated with an airborne data transmission station, and is used as a standby communication link to wirelessly communicate with the ground data transmission station on the ground console in case of emergency and when the network transmission link is interrupted, so as to ensure the safe return of the unmanned aerial vehicle. The airborne data radio station is integrated on the flight control module.
The flight control module is the core of unmanned aerial vehicle task and equipment management, flight attitude control and emergency control, is used for guaranteeing that unmanned aerial vehicle flight path is controllable, is used for communicating with the airborne calibration device simultaneously, and can provide required information such as GPS information to the airborne calibration device.
In this embodiment, the hardware of the flight control module adopts a dual-processor architecture; the system sensor forms a combined navigation system by three-mode receiving of a Beidou positioning system, an IMU (inertial measurement unit) and a GPS (global positioning system), wherein the IMU adopts a triple redundancy design and provides high-precision navigation positioning information for flight control. In order to guarantee flight safety, a safety monitoring module in the flight control module can carry out system safety check on modules necessary for flight before unlocking a motor every time, wherein the system safety check comprises barometer data, remote control calibration detection, compass detection, electronic fence detection, onboard voltage detection, INS data detection, GPS data detection, parameter detection, motor detection and overweight detection. After the above-mentioned detection is all passed through, unmanned aerial vehicle just can carry out the unblock motor command, otherwise the motor can not unblock. The unmanned aerial vehicle system has designed abundant power redundancy, still can steadily fly when two rotors are inefficacy. Meanwhile, the unmanned aerial vehicle system designs a network communication link and an emergency communication link, and different frequency bands are used. When the network communication link is interfered, the emergency communication link can be automatically switched to, and the communication between the ground station and the unmanned aerial vehicle is ensured. The network communication link and the emergency communication link used by the unmanned aerial vehicle system are encrypted by AES128, so that the communication safety is ensured. The unmanned aerial vehicle system is provided with a nonvolatile memory, and can record a communication instruction (from a ground console), sensor information (height, attitude, temperature and coordinate) and a self-checking state (working state of each module) received in the flight process in real time. After the unmanned aerial vehicle system loses the communication connection with the ground station (both a network communication link and an emergency communication link are interrupted), the unmanned aerial vehicle system automatically keeps a hovering state, and automatically returns to a flying point of the task and lands after the unmanned aerial vehicle system is out of control and overtime. After the ground remote control is closed, the process is automatically executed. After the navigation signal loses, unmanned aerial vehicle can carry out safe landing on the spot, combines auxiliary assembly such as forward-looking camera, can realize safe landing on the spot under relatively complicated ground environment, improves unmanned aerial vehicle security and viability.
The software of the flight control module is a NUTTX operating system, and functions of a bottom layer driver, a middle layer module and an upper layer application are divided, so that the functions of collecting and fusing sensor data are realized, and further, the flight power equipment is controlled. The flight control software system of the embodiment of the invention has clear structure and easy expansion, and by taking the addition of the load function as an example, the load control related function codes are added in the middle layer, and the call is added in the upper application layer. The flight control software realizes the following functions: a. the navigation resolving and flight control are completed, and the method mainly comprises the following steps: performing INS/GPS (inertial navigation system/global positioning system) integrated navigation, setting a subprogram module, and controlling different hung task equipment (such as a holder and the like) according to a ground operating system instruction; switching control modes, distributing motor efficiency, resolving a control law and completing a flight task; receiving online track adjustment and parameter adjustment; and (5) fault processing. b. And the system interacts with a ground operating system to realize the receiving of control instructions and the downloading of flight state information. The control command mainly comprises: a route setting instruction, a controller parameter modification instruction, various control instructions and the like.
Unmanned aerial vehicle's flight control module software has the characteristics: a drive module of the airborne equipment is added in a user-defined mode, and data communication between the flight control module and the airborne equipment is achieved; the new protocol content is realized by expanding the type of the MAVLink message according to the MAVLink protocol (a communication protocol for small unmanned vehicles); and an RTK equipment driving module is added, so that the positioning precision of the unmanned aerial vehicle is higher.
The hierarchical design of the flight control software is totally divided into four layers, namely an application layer, a function module layer, a drive layer and a system layer. The application layer code mainly realizes specific functions of the unmanned aerial vehicle, such as take-off and landing, air route planning, runaway protection and the like. The function module layer provides basic modules required by the application layer, such as attitude calculation, height control, multi-sensor fusion and the like required in the takeoff process. And the upper application only acquires the fused outputs, then issues execution tasks such as position control and the like according to the outputs, and finally, the power control module in the functional module layer analyzes the execution tasks into the voltage control quantity of the motor so as to complete the tasks. The driver layer provides the support for the sensor interface or bus communication for the functional module layer, which is directly dependent on the operating system, and some even direct encapsulation of operating system interface functions. The system layer is a basic framework for the operation of flight control software and comprises various bottom-layer drivers, multi-thread support and the like.
As shown in fig. 4, a structure diagram of the communication process of the unmanned aerial vehicle main flight control is shown for this embodiment. The flight control communication process acquires the MAVLink message from the message bus, analyzes the message, converts the message into a control instruction type corresponding to the OSDK, and calls an OSDKAPI to send a control instruction to the main flight control; and calling the OSDKAPI to acquire the asynchronous message from the main flight control, and issuing the main flight control asynchronous message to the bus. The programming model of the OSDKAPI is in a command/response mode, and sends a command to the master flight control through API call, sets command parameters with entry parameters, and expresses an execution state with a call result. This is quite different from the MAVLink protocol flow, so in addition to maintaining communication with the primary flight control, an important task of the firmware is to adapt this difference between the OSDK and the MAVLink to ensure external consistency of the system.
FIG. 5 is a diagram of the secondary flight control UORB bus structure of the flight control module in this embodiment. The auxiliary flight control software is respectively communicated with the main flight control process and the airborne calibration device in a process mode, and the main flight control process and the airborne calibration device are communicated with each other through a micro-object request agent uORB bus. When a wireless network transmission link is interrupted, the airborne calibration device acquires the attitude, the GPS information and the load control instruction issued by the main flight control through the auxiliary flight control uORB bus. uORB (micro object request broker) is an asynchronous message mechanism API for interprocess communication. In the auxiliary flight control, all software function modules (such as a sensor sampling module, an attitude estimation module and the like) independently run in the form of processes, and the processes are communicated with each other through a uORB bus. The process can register named messages on the bus, called 'theme', and then issue theme messages on the bus, and the process is called 'issue'; on the other hand, a process may also obtain a message for a particular topic through the bus, which process is called "subscription". There is a many-to-many relationship between publications and subscriptions. Two processes are included in the secondary flight control software architecture, one for communicating with the primary flight control and one for communicating with the onboard device.
In this embodiment, the structure of the onboard calibration device is shown in fig. 6, and the onboard calibration device is composed of a signal conditioning unit, a baseband processing unit, and a calibration antenna.
The signal conditioning unit comprises: mechanical switch, up-conversion module, down-conversion module and frequency synthesis module are 1 respectively. The mechanical switch is used for controlling the airborne calibration device to receive meteorological radar signals or output modulated meteorological radar echo signals. The up-conversion module and the down-conversion module can realize up-conversion and down-conversion of a frequency band of 0.1 GHz-18 GHz (covering 3 frequency bands of 2.7 GHz-3.0 GHz, 5.3 GHz-5.7 GHz, 9.3 GHz-9.5 GHz and the like commonly used by weather radar). The frequency synthesizing module provides frequency conversion local oscillation signals for the up-conversion module and the down-conversion module, and provides clock signals for an ADC and a DAC in the baseband processing unit. The signal conditioning unit is mainly used for receiving weather radar signals, converting the signals into a frequency range which can be processed by the baseband processing unit, and converting the signals generated by the baseband processing unit into a frequency range which can be accepted by a weather radar.
The baseband signal processing unit has the main functions of collecting and generating baseband signals so as to obtain characteristic indexes such as bandwidth and power of a weather radar transmitting signal and the like and generate a simulation echo signal. The unit consists of 1 signal processing carrier plate and 1 ADC/DAC daughter board. The signal processing carrier plate takes a high-performance FPGA as a core and takes a replaceable I/O interface module as a main peripheral module. And the ADC/DAC daughter board is fixedly connected to the carrier plate through the YFS interface. ADC receives weather radar simulation intermediate frequency signal in the signal conditioning unit, digitizes the intermediate frequency signal, baseband signal processing unit FPGA carries out time delay and Doppler modulation with the intermediate frequency signal after the digitization in order to simulate weather echo signal, guarantees simultaneously through GPS time service with the weather radar be in time synchronization state. And the DAC converts the processed digital intermediate frequency echo signal into an analog intermediate frequency echo signal. The FPGA calculates speed information according to the frequency test result of the signal and the motion model to obtain the Doppler frequency of the target, and then obtains the position information of the simulated echo signal according to the input gate signal and the delay of the target. Both frequency measurement and signal detection need to be input as complex signals, so that signals before and after the ADC need to be subjected to orthogonal transformation and FIR filtering to obtain complex signals. And obtaining a zero intermediate frequency signal through ADC sampling, frequency conversion and secondary frequency conversion. And after delay, amplitude and Doppler modulation, data are superposed and output to a DA interface.
The calibration antenna adopts a dual-polarized antenna or a circularly polarized antenna and is used for receiving and radiating radio frequency signals.
Calibration items which can be realized by the onboard calibration device in the specific embodiment comprise: calibrating weather radar system indexes such as distance precision and speed precision; calibrating a weather radar transmitting channel, such as transmitting signal pulse width and bandwidth; calibrating a weather radar receiving channel, such as echo intensity and double-channel consistency; and calibrating the weather radar antenna, such as beam width and first side lobe of the antenna.
The working process of the specific embodiment of the invention comprises a preparation stage before takeoff, a flight stage and a final working stage:
1. in the preparation stage before takeoff, the following work tasks are mainly required to be executed: completing the installation and erection of the system; powering up the system, and carrying out preparation work such as ground detection before flight; generating a task planning program according to the test requirements; loading a mission planning program to the unmanned aerial vehicle; charging a backup battery, etc.
The ground control platform has two kinds to unmanned aerial vehicle's the mode of controlling: the system comprises an autonomous program control mode and a remote control mode, wherein the two control modes can be used simultaneously and can be switched seamlessly at any time. In the autonomous program control mode, the unmanned aerial vehicle completes flight tasks according to a preset air route of a ground station without manual intervention, and the aircraft can autonomously monitor, judge and dispose abnormal states possibly encountered in the whole flight process; under the remote control mode, the unmanned aerial vehicle adopts the closed-loop control of the stability augmentation position, namely two shift levers of the remote controller respectively represent the operation amount of four actions of forward and backward, left and right, up and down and forward/counterclockwise rotation of the aircraft head in the direction of the aircraft head, and when all the lever positions are returned without any operation, the aircraft is in the fixed-point hovering state. The unmanned aerial vehicle control method is simple and convenient, can be used as a supplement of a program control mode, and is used for realizing complex flight actions in a sight distance.
2. And in the flight phase, the following work tasks are mainly executed: taking off the unmanned aerial vehicle; flying the unmanned aerial vehicle according to the flight path parameters planned by the mission after the unmanned aerial vehicle is lifted off, and simultaneously returning measurement and control data of the unmanned aerial vehicle in real time until the unmanned aerial vehicle enters a preset position; after flying to a preset position, the unmanned aerial vehicle powers on and self-checks the load according to the task instruction, and returns a self-checking result, a working state and a command response condition; fourthly, according to the unmanned aerial vehicle information sent by the flight control module, the control instruction of the ground console and the like, a radar calibration task is developed:
when the system works in a transmitting mode, a signal conditioning unit on the airborne calibration device up-converts the analog intermediate-frequency signal to a radio frequency band, simultaneously adjusts the signal power, and the calibrated antenna radiates the conditioned signal to a weather radar receiving channel. At the moment, the detection condition is observed at the remote control end of the weather radar by adjusting the power of the radio frequency signal, and calibration data is generated by calculation, so that the sensitivity of the receiving channel of the weather radar can be calibrated. When the calibration antenna uses a circularly polarized antenna and the weather radar is a dual-polarization weather radar, the airborne calibration device can calibrate the differential reflectivity error of the dual-polarization weather radar; when the energy of the transmitting signal is consistent on horizontal polarization and vertical polarization, the difference reflectivity value measured by the dual-polarization weather radar is the receiving channel error, and then the dual-channel consistency of the target dual-polarization weather radar can be calibrated by adjusting the target dual-polarization weather radar.
When the system works in a receiving mode, the unmanned aerial vehicle holder can be controlled to rotate, so that the direction of the rotary calibration antenna is selected to receive a vertical or horizontal polarized signal transmitted by a weather radar, the signal conditioning module down-converts a radar radio frequency transmitting signal into an intermediate frequency signal, the baseband signal processing unit ADC chip digitizes the intermediate frequency signal, the baseband signal processing unit FPGA carries out FFT (fast Fourier transform algorithm) and other processing on the digitized intermediate frequency signal to obtain radar signal characteristic indexes such as signal bandwidth and power, and then the airborne calibration device transmits the data such as the characteristic indexes to the ground control console, calibration data is generated by the ground control console, and a weather radar transmitting channel and a weather radar antenna can be calibrated.
When the system works in an echo simulation test mode, a dual-polarized antenna is adopted to receive a weather radar transmitting signal, an airborne calibration device generates a simulation echo signal by delaying the transmitting signal and modulating Doppler and radiates different weather conditions such as rainstorm, hail and the like to the weather radar, and the detection condition is observed at a remote control end of the weather radar so as to test the monitoring and judgment capacity of the weather radar on a specific weather echo.
3. And (3) ending the working stage: landing the unmanned aerial vehicle; unloading data or replacing storage media; the battery is removed or replaced.
It should be understood that the specific order or hierarchy of steps in the processes disclosed is an example of exemplary approaches. Based upon design preferences, it is understood that the specific order or hierarchy of steps in the processes may be rearranged without departing from the scope of the present disclosure. The accompanying method claims present elements of the various steps in a sample order, and are not intended to be limited to the specific order or hierarchy presented.
In the foregoing detailed description, various features are grouped together in a single embodiment for the purpose of streamlining the disclosure. This method of disclosure is not to be interpreted as reflecting an intention that the claimed embodiments of the subject matter require more features than are expressly recited in each claim. Rather, as the following claims reflect, invention lies in less than all features of a single disclosed embodiment. Thus, the following claims are hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate preferred embodiment of the invention.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. To those skilled in the art; various modifications to these embodiments will be readily apparent, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
What has been described above includes examples of one or more embodiments. It is, of course, not possible to describe every conceivable combination of components or methodologies for purposes of describing the aforementioned embodiments, but one of ordinary skill in the art may recognize that many further combinations and permutations of various embodiments are possible. Accordingly, the embodiments described herein are intended to embrace all such alterations, modifications and variations that fall within the scope of the appended claims. Furthermore, to the extent that the term "includes" is used in either the detailed description or the claims, such term is intended to be inclusive in a manner similar to the term "comprising" as "comprising" is interpreted when employed as a transitional word in a claim. Furthermore, any use of the term "or" in the specification of the claims is intended to mean a "non-exclusive or".
Those of skill in the art will further appreciate that the various illustrative logical blocks, elements, and steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate the interchangeability of hardware and software, various illustrative components, elements, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design requirements of the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present embodiments.
The various illustrative logical blocks, or elements, described in connection with the embodiments disclosed herein may be implemented or performed with a general purpose processor, a digital signal processor, an Application Specific Integrated Circuit (ASIC), a field programmable gate array or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general-purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, e.g., a digital signal processor and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a digital signal processor core, or any other similar configuration.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may be stored in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. For example, a storage medium may be coupled to the processor such the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC, which may be located in a user terminal. In the alternative, the processor and the storage medium may reside in different components in a user terminal.
In one or more exemplary designs, the functions described above in connection with the embodiments of the invention may be implemented in hardware, software, firmware, or any combination of the three. If implemented in software, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer storage media and communication media that facilitate transfer of a computer program from one place to another. Storage media may be any available media that can be accessed by a general purpose or special purpose computer. For example, such computer-readable media can include, but is not limited to, RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to carry or store program code in the form of instructions or data structures and which can be read by a general-purpose or special-purpose computer, or a general-purpose or special-purpose processor. Additionally, any connection is properly termed a computer-readable medium, and, thus, is included if the software is transmitted from a website, server, or other remote source via a coaxial cable, fiber optic cable, twisted pair, Digital Subscriber Line (DSL), or wirelessly, e.g., infrared, radio, and microwave. Such discs (disk) and disks (disc) include compact disks, laser disks, optical disks, DVDs, floppy disks and blu-ray disks where disks usually reproduce data magnetically, while disks usually reproduce data optically with lasers. Combinations of the above may also be included in the computer-readable medium.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (8)
1. A weather radar calibration method based on an unmanned aerial vehicle is characterized by comprising the following steps:
controlling an unmanned aerial vehicle provided with an airborne calibration device to fly to a preset spatial position in a wireless communication mode through a ground control console;
controlling the airborne calibration device to calibrate the weather radar at the preset spatial position in a wireless communication mode through the ground control console;
the ground control console is used for controlling the unmanned aerial vehicle and the airborne calibration device, and the ground control console is used for controlling the unmanned aerial vehicle and the airborne calibration device:
receiving and forwarding wireless communication information of a ground control console through a sky terminal network transmission module arranged on the unmanned aerial vehicle, wherein the wireless communication information comprises an unmanned aerial vehicle flight instruction and a calibration control instruction;
setting a flight control module for an unmanned aerial vehicle, and receiving an unmanned aerial vehicle flight instruction forwarded by the sky-end network transmission module through the flight control module, wherein the flight control module is connected with the sky-end network transmission module through a wired Ethernet;
the airborne calibration device receives the calibration control instruction forwarded by the sky-side network transmission module by arranging a wired connection between the airborne calibration device and the sky-side network transmission module;
the sky end network transmission module is respectively for the flight control module with the airborne calibration device distributes IP addresses, the flight control module with the airborne calibration device communicates with each other through the sky end network transmission module according to a network transmission protocol mode.
2. The unmanned aerial vehicle-based weather radar calibration method as claimed in claim 1, wherein the step of controlling the airborne calibration device to calibrate the weather radar at the predetermined spatial position in a wireless communication manner through a ground console comprises:
and completing the calibration of a transmitting channel of the weather radar and an antenna of the weather radar, the calibration of a receiving channel of the weather radar, and the calibration of the monitoring and judging capability of the weather radar on the specific weather echo through the airborne calibration device according to the calibration control instruction.
3. The unmanned aerial vehicle-based weather radar calibration method of claim 2, wherein the onboard calibration device is enabled to complete calibration according to the calibration control command by:
a signal conditioning unit, a baseband signal processing unit and a calibration antenna are arranged in the airborne calibration device; and the number of the first and second groups,
the calibration of the receiving channel of the weather radar comprises the following steps:
controlling the baseband signal processing unit to generate an outgoing radio frequency signal, transmitting the outgoing radio frequency signal to the signal conditioning unit, improving the power and frequency of the outgoing radio frequency signal by the signal conditioning unit to form an output signal, then transmitting the output signal to the calibration antenna, and radiating the output signal to a receiving channel of a weather radar through the calibration antenna; receiving and analyzing the output signal through a weather radar, and generating first calibration data to calibrate a receiving channel of the weather radar;
the calibration of the transmitting channel of the weather radar and the antenna of the weather radar comprises the following steps:
the calibration antenna is controlled to receive an input signal from a weather radar and then transmit the input signal to the signal conditioning unit, the signal conditioning unit reduces the power and frequency of the input signal to form a received radio frequency signal, the received radio frequency signal is transmitted to the baseband signal processing unit, the baseband signal processing unit analyzes the received radio frequency signal and obtains radar characteristic parameters, and then the radar characteristic parameters are transmitted to the ground control console; analyzing according to the radar characteristic parameters through the ground control console to generate second calibration data so as to calibrate a transmitting channel of the weather radar and an antenna of the weather radar;
the calibration of the monitoring and judging capability of the weather radar to the specific weather echo comprises the following steps:
the baseband signal processing unit delays and Doppler modulates the received radio frequency signal to generate a simulated echo signal, the simulated echo signal is transmitted to the signal conditioning unit, the signal conditioning unit improves the power and the frequency of the simulated echo signal to form a simulated echo output signal, and the simulated echo output signal is radiated to a receiving channel of a weather radar through the calibration antenna; and receiving and analyzing the analog echo output signal through a weather radar, and generating third calibration data to calibrate the monitoring and judging capability of the weather radar on the specific weather echo.
4. The drone-based weather radar calibration method of claim 3, wherein an onboard calibration device is provided on the drone by:
arranging a load cabin on the unmanned aerial vehicle, embedding the signal conditioning unit and the baseband signal processing unit into the load cabin, and electromagnetically shielding the signal conditioning unit and the baseband signal processing unit;
providing a direct-current power supply for the airborne calibration device through the unmanned aerial vehicle;
and the unmanned aerial vehicle is provided with a cloud deck, and the calibration antenna is fixed on the cloud deck.
5. The utility model provides a weather radar calibration system based on unmanned aerial vehicle which characterized in that includes: ground control platform, machine carry calibration device, unmanned aerial vehicle, wherein:
the ground control console is used for controlling the unmanned aerial vehicle provided with the airborne calibration device to fly to a preset spatial position in a wireless communication mode; controlling the airborne calibration device to calibrate the weather radar at the preset spatial position in a wireless communication mode;
the airborne calibration device is arranged on the unmanned aerial vehicle and used for calibrating the weather radar at the preset spatial position according to the instruction of the ground control console;
the unmanned aerial vehicle is also provided with a sky end network transmission module and a flight control module, the sky end network transmission module receives and forwards wireless communication information of a ground control station, and the wireless communication information comprises an unmanned aerial vehicle flight instruction and a calibration control instruction; receiving, by the flight control module, a flight instruction of the unmanned aerial vehicle forwarded by the sky-side network transmission module, where the flight control module is connected to the sky-side network transmission module by a wired ethernet;
the airborne calibration device is connected with the sky-side network transmission module in a wired mode, and receives the calibration control instruction forwarded by the sky-side network transmission module through the wired connection;
the sky end network transmission module is respectively for the flight control module with the airborne calibration device distributes the IP address, the flight control module with the airborne calibration device carries out intercommunication according to the network transmission protocol mode through the sky end network transmission module.
6. The drone-based weather radar calibration system of claim 5,
the airborne calibration device is specifically used for: and completing the calibration of a transmitting channel of the weather radar and an antenna of the weather radar, the calibration of a receiving channel of the weather radar, and the calibration of the monitoring and judging capability of the weather radar on the specific weather echo according to the calibration control instruction.
7. The drone-based weather radar calibration system of claim 6,
the airborne calibration device comprises a signal conditioning unit, a baseband signal processing unit and a calibration antenna; and the number of the first and second groups,
the calibration of the receiving channel of the weather radar comprises the following steps:
controlling the baseband signal processing unit to generate an outgoing radio frequency signal, transmitting the outgoing radio frequency signal to a signal conditioning unit, improving the power and frequency of the outgoing radio frequency signal by the signal conditioning unit to form an output signal, then transmitting the output signal to the calibration antenna, and radiating the output signal to a receiving channel of a weather radar through the calibration antenna; receiving and analyzing the output signal through a weather radar, and generating first calibration data to calibrate a receiving channel of the weather radar;
the calibration of the transmitting channel of the weather radar and the antenna of the weather radar comprises the following steps:
the calibration antenna is controlled to receive an input signal from a weather radar and then transmit the input signal to the signal conditioning unit, the signal conditioning unit reduces the power and frequency of the input signal to form a received radio frequency signal, the received radio frequency signal is transmitted to the baseband signal processing unit, the baseband signal processing unit analyzes the received radio frequency signal and obtains radar characteristic parameters, and then the radar characteristic parameters are transmitted to a ground control console; analyzing according to the radar characteristic parameters through the ground control console to generate second calibration data so as to calibrate a transmitting channel of the weather radar and an antenna of the weather radar;
the calibration of the monitoring and judging capability of the weather radar to the specific weather echo comprises the following steps:
the baseband signal processing unit delays and Doppler modulates the received radio frequency signal to generate a simulated echo signal, the simulated echo signal is transmitted to the signal conditioning unit, the signal conditioning unit improves the power and the frequency of the simulated echo signal to form a simulated echo output signal, and the simulated echo output signal is radiated to a receiving channel of a weather radar through the calibration antenna; and receiving and analyzing the analog echo output signal through a weather radar, and generating third calibration data to calibrate the monitoring and judging capability of the weather radar on the specific weather echo.
8. The drone-based weather radar calibration system of claim 7,
the unmanned aerial vehicle is provided with a load cabin which is used for embedding the signal conditioning unit and the baseband signal processing unit;
a chassis is arranged between the load cabin and the signal conditioning unit and between the load cabin and the baseband signal processing unit and is used for carrying out electromagnetic shielding on the signal conditioning unit and the baseband signal processing unit;
the unmanned aerial vehicle also comprises a load power supply module which is used for providing a direct-current power supply for the airborne calibration device;
the unmanned aerial vehicle is further provided with a cloud platform for fixing the calibration antenna.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010349440.3A CN111537965B (en) | 2020-04-28 | 2020-04-28 | Weather radar calibration method and system based on unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010349440.3A CN111537965B (en) | 2020-04-28 | 2020-04-28 | Weather radar calibration method and system based on unmanned aerial vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111537965A CN111537965A (en) | 2020-08-14 |
| CN111537965B true CN111537965B (en) | 2020-11-03 |
Family
ID=71977252
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010349440.3A Active CN111537965B (en) | 2020-04-28 | 2020-04-28 | Weather radar calibration method and system based on unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111537965B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112363129A (en) * | 2020-11-03 | 2021-02-12 | 江苏省气象探测中心(江苏省(金坛)气象综合试验基地) | Weather radar differential reflectivity factor parameter calibration method |
| CN113342052A (en) * | 2021-06-27 | 2021-09-03 | 广西翼界科技有限公司 | Beyond-visual-range operation unmanned aerial vehicle fault emergency landing method |
| CN113820709B (en) * | 2021-11-25 | 2022-03-15 | 湖南华诺星空电子技术有限公司 | Through-wall radar detection system and detection method based on unmanned aerial vehicle |
| CN114499720B (en) * | 2021-12-10 | 2023-10-20 | 北京无线电计量测试研究所 | Electromagnetic signal free space propagation model correction method and system |
| CN114756045B (en) * | 2022-05-18 | 2023-03-14 | 电子科技大学 | Unmanned aerial vehicle control method for meteorological radar calibration |
| CN115113156B (en) * | 2022-08-26 | 2022-11-11 | 中国人民解放军国防科技大学 | Calibration method and system for dual-polarized phased array meteorological radar |
| CN116299248B (en) * | 2023-05-22 | 2023-08-08 | 成都远望科技有限责任公司 | Weather radar signal processor calibration system and calibration method |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104678369A (en) * | 2015-01-20 | 2015-06-03 | 南京大学 | Dual-polarization weather radar calibration method based on non-fixed metal ball |
| CN205158140U (en) * | 2015-07-29 | 2016-04-13 | 重庆赛乐威航空科技有限公司 | Low -latitude flying ware machine carries mutual equipment |
| CA2916617A1 (en) * | 2016-01-04 | 2017-07-04 | WOLLEBEN, Maik | Portable radiometer/radar system for remote sensing of soil moisture |
| CN107037415A (en) * | 2017-06-22 | 2017-08-11 | 雷象科技（北京）有限公司 | From record position radar calibration metal ball |
| CN109581307A (en) * | 2018-11-22 | 2019-04-05 | 西安八阵图电子科技有限公司 | Echo strength Z parameter scaling method, device, computer equipment and storage medium |
| EP3508870A1 (en) * | 2017-12-31 | 2019-07-10 | Elta Systems Ltd. | Methods and systems for calibrating and/or testing radars or antennas |
| CN110068803A (en) * | 2019-04-16 | 2019-07-30 | 北京遥感设备研究所 | A kind of aerial bracketing device and method of radar equipment |
| CN110770596A (en) * | 2018-11-30 | 2020-02-07 | 深圳市大疆创新科技有限公司 | Radar performance testing method and system |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6927725B2 (en) * | 2003-12-12 | 2005-08-09 | The Boeing Company | System and method for radar detection and calibration |
| CN103051373B (en) * | 2012-12-24 | 2015-05-27 | 北京航天科工世纪卫星科技有限公司 | Self-rotor unmanned aerial vehicle-based air emergency communication system |
| CN106791418B (en) * | 2016-12-30 | 2024-02-02 | 农业部南京农业机械化研究所 | The method comprises the following steps of: independent type the method comprises the following steps of: independent type Table system control method |
| CN108248891A (en) * | 2017-12-27 | 2018-07-06 | 彩虹无人机科技有限公司 | A kind of calibration system and scaling method for unmanned plane semiclosed loop rudder face |
-
2020
- 2020-04-28 CN CN202010349440.3A patent/CN111537965B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104678369A (en) * | 2015-01-20 | 2015-06-03 | 南京大学 | Dual-polarization weather radar calibration method based on non-fixed metal ball |
| CN205158140U (en) * | 2015-07-29 | 2016-04-13 | 重庆赛乐威航空科技有限公司 | Low -latitude flying ware machine carries mutual equipment |
| CA2916617A1 (en) * | 2016-01-04 | 2017-07-04 | WOLLEBEN, Maik | Portable radiometer/radar system for remote sensing of soil moisture |
| CN107037415A (en) * | 2017-06-22 | 2017-08-11 | 雷象科技（北京）有限公司 | From record position radar calibration metal ball |
| EP3508870A1 (en) * | 2017-12-31 | 2019-07-10 | Elta Systems Ltd. | Methods and systems for calibrating and/or testing radars or antennas |
| CN109581307A (en) * | 2018-11-22 | 2019-04-05 | 西安八阵图电子科技有限公司 | Echo strength Z parameter scaling method, device, computer equipment and storage medium |
| CN110770596A (en) * | 2018-11-30 | 2020-02-07 | 深圳市大疆创新科技有限公司 | Radar performance testing method and system |
| CN110068803A (en) * | 2019-04-16 | 2019-07-30 | 北京遥感设备研究所 | A kind of aerial bracketing device and method of radar equipment |
Non-Patent Citations (2)
| Title |
|---|
| Method of multichannel calibration for unmanned aerial vehicle surveillance radar;Yanan Hou et al.;《IET International Radar Conference (IRC 2018)》;20191231;正文第1-4页 * |
| RCS测量标校中采用无人机吊放标准球的解决方案研究;孙军，孙保杰;《舰船电子对抗》;20160831;第19-24页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111537965A (en) | 2020-08-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111537965B (en) | Weather radar calibration method and system based on unmanned aerial vehicle | |
| US10824170B2 (en) | Autonomous cargo delivery system | |
| Elston et al. | The tempest unmanned aircraft system for in situ observations of tornadic supercells: Design and VORTEX2 flight results | |
| CN201000576Y (en) | Flight control system for unmanned plane | |
| CN110308457A (en) | A kind of power transmission line polling system based on unmanned plane | |
| CN106443608B (en) | Airborne synthetic aperture radar simulation testing device | |
| CN107167814A (en) | Airborne telemetering system | |
| CN107703512A (en) | Airborne mapping equipment, unmanned plane and airborne mapping system | |
| CN114578302A (en) | Radio beacon-based unmanned aerial vehicle radar echo simulation system and method | |
| CN107783118A (en) | The avoiding collision of fixed-wing unmanned plane multiple target CAS based on millimetre-wave radar | |
| US11587449B2 (en) | Systems and methods for guiding a vertical takeoff and landing vehicle to an emergency landing zone | |
| Zhao et al. | Design on altitude control system of quad rotor based on laser radar | |
| CN107783128A (en) | Fixed-wing unmanned plane multiple target CAS based on millimetre-wave radar | |
| CN109814079A (en) | A kind of three-dimensional radar simulation system | |
| CN112781621A (en) | Multi-rotor unmanned aerial vehicle flight calibration system and method based on precise positioning | |
| CN111290434A (en) | Unmanned aerial vehicle guiding method, system, equipment and storage medium | |
| CN110764525A (en) | Unmanned aerial vehicle flight control system based on skynet number one | |
| CN206773189U (en) | Airborne telemetering system | |
| US20230095619A1 (en) | Radio system for realising a precise landing approach based in microwaves and a method for realising a precise landing approach | |
| CN109557938A (en) | A kind of system and method that large and medium-sized shipping fixed-wing unmanned plane strange land is landed | |
| Raimundo | Autonomous obstacle collision avoidance system for uavs in rescue operations | |
| CN210180456U (en) | Multi-mode combined receiving device for airborne radio navigation | |
| CN209167529U (en) | A kind of three-dimensional radar simulation system | |
| CN204228003U (en) | To increase rain artificially hail-suppression rocket navigation system | |
| CN210350099U (en) | Antenna control system and ground control terminal thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Qi Tao Inventor after: Gao Yuchun Inventor after: Zhang Xuefen Inventor after: He Ping Inventor after: Zhou Honggen Inventor after: Zhang Fugui Inventor after: Li Feifei Inventor before: Qi Tao Inventor before: Gao Yuchun Inventor before: Zhang Xuefen Inventor before: He Ping Inventor before: Zhou Honggen Inventor before: Zhang Fugui Inventor before: Li Feifei |