CN112835034A - Two-channel radar ground height measurement system and method - Google Patents
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Abstract
A two-channel radar ground height measurement system comprises an antenna, a microwave combination, a transmitter, a low-power radio frequency extension set and a beam controller; the transmitter filters and amplifies the low-power radio frequency transmission signal, and outputs the generated high-power transmission signal to a microwave combination; the microwave combination outputs the input high-power transmitting signal to the input end of the antenna; the beam controller controls the antenna beam to point to the height measurement area; the antenna converts the echo signals of the two antenna sub-array surfaces into azimuth and channel echo signals and azimuth difference channel echo signals; the low-power radio frequency extension generates a low-power radio frequency signal, down-converts and filters the sum channel and azimuth difference channel radio frequency echo output by microwave combination into a low-intermediate frequency or zero-intermediate frequency sum channel and azimuth difference channel echo, and outputs the sum channel and azimuth difference channel echo to the signal processing and control extension.
Description
Technical Field
The invention relates to the technical field of information acquisition and processing, in particular to a two-channel radar height measurement system and a method without line-of-sight constraint.
Background
According to the traditional method for measuring the height of the ground of the airborne radar of the aircraft, the characteristic that a wave beam points to the direction of the nadir is utilized, so that the range compression of the echo distance has good height measurement and observation capacity. For the requirement of forward oblique height measurement in a flight profile, a delay-Doppler height measurement method is provided by scientific researchers, and a good application effect is obtained. At present, for the height measurement requirement of a beam deviating from a flight profile, echoes in an antenna beam show two effects of serious distance broadening and serious Doppler broadening, so that the traditional height measurement method fails, the radar height measurement technology which is not limited by direction cannot be realized, the two-dimensional distance Doppler broadening problem exists under the general conditions of front-down view height measurement, back-down view height measurement in the flight profile of an aircraft, oblique view height measurement outside the flight profile and the like, and the beam center point height extraction method fails.
Disclosure of Invention
Technical problem to be solved
The method solves the problem of difficult height measurement caused by beam distance and Doppler broadening under the condition of wide beam squint, and realizes the technology of height measurement to the ground without being restricted by observation sight.
(II) technical scheme
The invention discloses a two-channel radar ground height measuring system, which comprises an antenna, a microwave combination, a transmitter, a low-power radio frequency extension set and a beam controller, wherein the antenna is connected with the microwave combination; the transmitter filters and amplifies the low-power radio frequency transmission signal, and outputs the generated high-power transmission signal to a microwave combination; the microwave combination outputs the input high-power transmitting signal to the input end of the antenna; the beam controller controls the antenna beam to point to the height measurement area; the antenna converts the echo signals of the two antenna sub-array surfaces into azimuth and channel echo signals and azimuth difference channel echo signals; the low-power radio frequency extension generates a low-power radio frequency signal, down-converts and filters the sum channel and azimuth difference channel radio frequency echo output by microwave combination into a low-intermediate frequency or zero-intermediate frequency sum channel and azimuth difference channel echo, and outputs the sum channel and azimuth difference channel echo to the signal processing and control extension.
The invention also discloses a two-channel radar height measurement method to the ground, which comprises the following steps:
a1: the two-channel radar ground height measuring device transmits a typical large-time wide-bandwidth product signal and receives a scene echo s (t)aT) performing range pulse compression, range migration compensation and coherent accumulation on the echo signal;
a2: performing binary segmentation on the sum channel distance-Doppler image;
a3: performing threshold-crossing detection on the amplitude ratio of the sum channel to the azimuth difference channel distance-Doppler image, and determining an area of zero depth of the azimuth difference beam;
a4: performing linear fitting with direction constraint on zero-depth initial detection traces passing through a threshold;
a5: outlier point elimination is carried out on the zero-depth initial detection trace passing the threshold;
a6: performing quadratic curve fitting on the result of the zero-depth detection point set E;
a7: and calculating the height of the aircraft by using the distance-Doppler data of the plurality of zero-depth detection points after quadratic curve fitting.
Further, the a1 flow is specifically as follows:
a11, calculating distance direction pulse compression and distance migration compensation:
S(ta,R)＝IFFT{FFT[s(ta,t)]·H11(ta,fr)}
wherein: s (t)aR) range-wise pulse compression and range migration compensation results for the echo, s (t)aT) is the two-dimensional time-domain signal of the echo, taFor azimuth time, R ═ ct2 is echo reception distance, c is speed of light, t is distance time, f isrIs the range frequency, KrChirp rate of chirp signal, f, for radar transmissioncIs the carrier frequency, v is the aircraft velocity, θLIs a spatial squint angle;
a12: carrying out azimuth coherent accumulation on the two-channel range-direction pulse compression and range migration compensation results to obtain a two-channel range-Doppler image, wherein the calculation method comprises the following steps:
I(fa,R)＝FFT[S(ta,R)]
wherein, I (f)dR) is the distance-much after two-dimensional coherent processingTaylor image, fdIs the doppler frequency.
Further, the a2 flow is specifically as follows:
a21: the method for calculating the segmentation threshold comprises the following steps:
wherein, IavgTo partition the threshold, IΣ(i, j) is the value of the ith row and jth column pixel of the sum channel distance-Doppler image, N is the number of image rows, and M is the number of image columns;
a22: the method for channel range-doppler image segmentation is as follows:
wherein, IsegAnd (i, j) is a mask after division.
Further, the specific method of a3 is as follows:
wherein, Izero(I, j) is the azimuth difference beam zero depth detection result, and satisfies IzeroThe combination of (I, j) with (I, j) 1 is azimuth difference beam zero depth point trace, IΔ(I, j) is an azimuth difference channel distance-Doppler image, and I is takenTh＝15dB。
Further, the specific flow of a4 is as follows:
a41: the Doppler center value of the azimuth difference beam zero depth crossing threshold point is estimated, and the specific method comprises the following steps:
wherein f isd(n) is the zero depth center Doppler estimate of the azimuth difference beam of the nth range cell, fd(k, n) is HetongThe Doppler value of the kth row and the nth column of the track distance-Doppler image, wherein P (k, n) is the ratio of the zero depth of the azimuth difference beam and the channel amplitude to the azimuth difference channel amplitude;
a42: performing linear parameter fitting with direction constraint, wherein the specific method comprises the following steps:
wherein, N is N distance units passed by azimuth zero depth detection, r (N) is the slant distance corresponding to the azimuth difference beam zero depth center of the nth distance unit, and B is the constraint slope of the straight line, which is expressed as follows
Wherein, lambda is the working wavelength of the radar, H is the navigation altitude of the aircraft,
and
respectively, the nominal pointing angle of the beam center in the velocity coordinate system.
Further, the specific flow of a5 is as follows:
a51: the method for calculating the nearest distance from the azimuth difference beam zero-depth detection point to the fitting straight line comprises the following steps:
a52: the outlier elimination of azimuth difference beam zero depth detection output is carried out, and the method comprises the following steps: deletion of D (n) ≦ DthObtaining a new M-point (M is less than or equal to N) zero-depth detection point set E, wherein DthThe selection is carried out by combining the specific parameters of the radar, and no more than three range-Doppler resolution units are selected;
further, the specific flow of a6 is as follows:
a61: the coefficients of the quadratic curve are calculated by the following method:
wherein G is an observation matrix, b is a measurement vector, A1、B1、C1Respectively, a second order term coefficient, a first order term coefficient and a constant term of the quadratic curve.
A62: performing quadratic curve fitting on the zero-depth detection point set E by the following method
fdf(m)＝A1R2(m)+B1R(m)+C1,m＝1,…,M
Wherein f isdfAnd (m) is the Doppler estimated value of the mth range bin after quadratic curve fitting.
Further, a7 is specifically formulated as follows:
wherein HestSign (t) is a sign function for the relative altitude estimation of the two-channel radar to the geodetic altitude.
(III) advantageous technical effects
The invention fully utilizes the analytic model and the characteristics of the wave beam center line of the static scene of the ground irradiated by the radar carried by the aircraft, realizes the extraction of the wave beam azimuth center line by combining the sum and difference dual-antenna technology, and utilizes the distance-Doppler pair of the point traces on the wave beam azimuth center line to calculate the relative height of the aircraft, thereby having greater universality, being capable of adapting to the relative height measurement to the ground without being restricted by sight, and having high precision of height measurement without being influenced by the scattering characteristics of the ground scene.
Drawings
FIG. 1: the two-channel radar ground height measurement system is formed into a diagram;
FIG. 2: an aircraft squint height measurement model;
FIG. 3: a double-channel radar height measurement to ground flow chart;
FIG. 4: azimuth difference beam zero depth initial extraction result;
FIG. 5: a beam centerline estimation result;
FIG. 6: comparing the height measurement result with the true value;
Detailed Description
In addition to the embodiments described below, the invention is capable of other embodiments or of being practiced or carried out in various ways. It is to be understood, therefore, that the invention is not limited to the details of construction set forth in the following description or illustrated in the drawings. While only one embodiment has been described herein, the claims are not to be limited to that embodiment.
The invention models the non-nadir direction height measurement as an unconstrained height measurement condition that the sight line and the motion direction of the aircraft form any included angle, and has generality and expandability. Aiming at the problem of distance Doppler two-dimensional broadening in the general conditions of front downward view and back downward view height measurement in a flight profile of an aircraft, oblique view height measurement outside the flight profile and the like, the problem that the traditional method for extracting the height of the beam center point is invalid is solved, azimuth beam center line analytical model representation is developed, azimuth and differential dual-antenna technology is utilized, azimuth beam zero-depth extraction is realized by using azimuth beam center line direction constraint as a reference, and then aircraft relative height estimation independent of the beam center point is realized according to a height estimation model.
As shown in fig. 1, a two-channel radar ground height measurement system includes an antenna, a microwave combination, a transmitter, a low-power radio frequency extension, and a beam controller; the transmitter filters and amplifies the low-power radio frequency transmission signal, and outputs the generated high-power transmission signal to a microwave combination; the microwave combination outputs the input high-power transmitting signal to the input end of the antenna; the beam controller controls the antenna beam to point to the height measurement area; the antenna converts the echo signals of the two antenna sub-array surfaces into azimuth and channel echo signals and azimuth difference channel echo signals; the low-power radio frequency extension generates a low-power radio frequency signal, down-converts and filters the sum channel and azimuth difference channel radio frequency echo output by microwave combination into a low-intermediate frequency or zero-intermediate frequency sum channel and azimuth difference channel echo, and outputs the sum channel and azimuth difference channel echo to the signal processing and control extension.
As shown in fig. 2 and 3, a method for measuring height of a ground by a dual-channel radar includes the following specific steps:
the single-channel and double-channel radar ground height measuring device transmits a typical large-time wide-bandwidth product signal and receives a scene echo s (t)aAnd t) performing range-direction pulse compression, range migration compensation and coherent accumulation on the echo signal, wherein the specific calculation steps are as follows:
(1) the calculation method of the distance direction pulse compression and distance migration compensation comprises the following steps:
S(ta,R)＝IFFT{FFT[s(ta,t)]·H11(ta,fr)}
in the formula, S (t)aR) range-wise pulse compression and range migration compensation results for the echo, s (t)aT) is the two-dimensional time-domain signal of the echo, taFor azimuth time, R ═ct/2 is echo receiving distance, c is light speed, t is distance time, frIs the range frequency, KrChirp rate of chirp signal, f, for radar transmissioncIs the carrier frequency, v is the aircraft velocity, θLIs a spatial squint angle.
(2) Carrying out azimuth coherent accumulation on the two-channel range-direction pulse compression and range migration compensation results to obtain a two-channel range-Doppler image, wherein the calculation method comprises the following steps:
S(fa,R)＝FFT[S(ta,R)]
wherein, I (f)dR) is a distance-Doppler image after two-dimensional coherent processing, fdIs the doppler frequency.
Secondly, binary segmentation is carried out on the sum channel distance-Doppler image, and the specific steps are as follows:
(1) the method for calculating the segmentation threshold comprises the following steps:
wherein, IavgTo partition the threshold, IΣ(i, j) is the value of the pixel in the ith row and the jth column of the sum channel range-Doppler image, N is the number of image rows, and M is the number of image columns.
(2) The method for channel range-doppler image segmentation is as follows:
wherein, IsegAnd (i, j) is a mask after division.
And thirdly, carrying out threshold-crossing detection on the amplitude ratio of the sum channel to the azimuth difference channel distance-Doppler image, and determining the zero-depth area of the azimuth difference beam, wherein the specific method comprises the following steps:
wherein, Izero(I, j) is the azimuth difference beam zero depth detection result, and satisfies IzeroThe combination of (I, j) with (I, j) 1 is azimuth difference beam zero depth point trace, IΔ(I, j) is an azimuth difference channel distance-Doppler image, and I is takenTh＝15dB。
Fourthly, straight line fitting with direction constraint is carried out on zero-depth initial detection traces which pass through a threshold, and the method comprises the following steps:
(1) the Doppler center value of the azimuth difference beam zero depth crossing threshold point is estimated, and the specific method comprises the following steps:
in the above formula, fd(n) is the zero depth center Doppler estimate of the azimuth difference beam of the nth range cell, fdAnd (k, n) is the Doppler value of the kth row and the nth column of the sum channel distance-Doppler image, and P (k, n) is the ratio of the zero depth of the azimuth difference beam and the channel amplitude to the azimuth difference channel amplitude.
(2) Performing linear parameter fitting with direction constraint, wherein the specific method comprises the following steps:
wherein N is N distance units for passing azimuth zero-depth detection, R (N) is the slant distance corresponding to the azimuth difference beam zero-depth center of the nth distance unit, and B is the constraint slope of a straight line, which is expressed as follows
In the formula, lambda is the working wavelength of the radar, H is the navigation altitude of the aircraft,
and
respectively, the nominal pointing angle of the beam center in the velocity coordinate system.
Fifthly, outlier points are removed from the zero-depth initial detection traces passing the threshold, and the steps are as follows:
(1) the method for calculating the nearest distance from the azimuth difference beam zero-depth detection point to the fitting straight line comprises the following steps:
(2) the outlier elimination of azimuth difference beam zero depth detection output is carried out, and the method comprises the following steps: deletion of D (n) ≦ DthObtaining a new M-point (M is less than or equal to N) zero-depth detection point set E, wherein DthThe selection of the range-Doppler resolution unit is carried out by combining specific parameters of the radar, and the range-Doppler resolution unit does not exceed three range-Doppler resolution units.
Sixthly, performing quadratic curve fitting on the result of the zero-depth detection point set E, wherein the steps are as follows:
(1) the coefficients of the quadratic curve are calculated by the following method:
wherein G is the observation momentArray, b is the measurement vector, A1、B1、C1Respectively, a second order term coefficient, a first order term coefficient and a constant term of the quadratic curve.
(2) Performing quadratic curve fitting on the zero-depth detection point set E by the following method
fdf(m)＝A1R2(m)+B1R(m)+C1,m＝1,…,M
Wherein f isdfAnd (m) is the Doppler estimated value of the mth range bin after quadratic curve fitting.
Seventhly, the altitude of the aircraft is calculated by using the distance-Doppler data of the multiple zero-depth detection points after quadratic curve fitting, and the method comprises the following steps:
in the formula, HestSign (t) is a sign function for the relative altitude estimation of the two-channel radar to the geodetic altitude.
In conclusion, the invention fully utilizes the analytic model and the characteristics of the wave beam center line of the static scene of the ground irradiated by the radar carried by the aircraft, realizes the extraction of the wave beam azimuth center line by combining the sum-difference dual-antenna technology, and utilizes the distance-Doppler pair of the point traces on the wave beam azimuth center line to calculate the relative height of the aircraft, has greater universality, can adapt to the relative height measurement to the ground without the restriction of sight, and has high precision of height measurement without the influence of the scattering characteristics of the ground scene.
On the background of verification of an airborne flight technology, the method is utilized to carry out measurement test on the relative height of an airplane in the landing process, wherein figure 4 shows the zero initial depth extraction result of azimuth difference wave beams, and as can be seen from figure 4, the zero depth extraction of the wave beams is basically stable. Fig. 5 is a beam centerline estimation result, and it can be seen from the figure that the beam centerline estimation is accurate and is located in the zero-depth central area of the azimuth beam, which provides a good data guarantee for the estimation of the relative altitude of the aircraft. FIG. 6 is a comparison between the height measurement result and the true value, and it can be seen from the figure that the result tends to be near the true value, the fluctuation value does not exceed 15 meters, and better accuracy is achieved under the condition of height measurement outside the flight profile.
Claims (9)
1. A two-channel radar ground height measurement system is characterized by comprising an antenna, a microwave combination, a transmitter, a low-power radio frequency extension set and a beam controller; the transmitter filters and amplifies the low-power radio frequency transmission signal, and outputs the generated high-power transmission signal to a microwave combination; the microwave combination outputs the input high-power transmitting signal to the input end of the antenna; the beam controller controls the antenna beam to point to the height measurement area; the antenna converts the echo signals of the two antenna sub-array surfaces into azimuth and channel echo signals and azimuth difference channel echo signals; the low-power radio frequency extension generates a low-power radio frequency signal, down-converts and filters the sum channel and azimuth difference channel radio frequency echo output by microwave combination into a low-intermediate frequency or zero-intermediate frequency sum channel and azimuth difference channel echo, and outputs the sum channel and azimuth difference channel echo to the signal processing and control extension.
2. A two-channel radar ground height measurement method is characterized by comprising the following steps:
a1: the two-channel radar ground height measuring device transmits a typical large-time wide-bandwidth product signal and receives a scene echo s (t)aT) performing range pulse compression, range migration compensation and coherent accumulation on the echo signal;
a2: performing binary segmentation on the sum channel distance-Doppler image;
a3: performing threshold-crossing detection on the amplitude ratio of the sum channel to the azimuth difference channel distance-Doppler image, and determining an area of zero depth of the azimuth difference beam;
a4: performing linear fitting with direction constraint on zero-depth initial detection traces passing through a threshold;
a5: outlier point elimination is carried out on the zero-depth initial detection trace passing the threshold;
a6: performing quadratic curve fitting on the result of the zero-depth detection point set E;
a7: and calculating the height of the aircraft by using the distance-Doppler data of the plurality of zero-depth detection points after quadratic curve fitting.
3. The dual-channel radar height-to-ground measuring method according to claim 2, wherein the A1 process is specifically as follows:
a11, calculating the range-direction pulse compression and range migration compensation results of the echo:
S(ta,R)＝IFFT{FFT[s(ta,t)]·H11(ta,fr)}
wherein, S (t)aR) range-wise pulse compression and range migration compensation results for the echo, s (t)aT) is the two-dimensional time-domain signal of the echo, taFor azimuth time, R ═ ct/2 is echo reception distance, c is speed of light, t is distance time, f isrIs the range frequency, KrChirp rate of chirp signal, f, for radar transmissioncIs the carrier frequency, v is the aircraft velocity, θLIs a spatial squint angle;
a12: carrying out azimuth coherent accumulation on the two-channel range-direction pulse compression and range migration compensation results to obtain a two-channel range-Doppler image, wherein the calculation method comprises the following steps:
I(fd,R)＝FFT[S(ta,R)]
wherein, I (f)dR) is a distance-Doppler image after two-dimensional coherent processing, fdIs the doppler frequency.
4. The dual-channel radar height-to-ground measuring method according to claim 2, wherein the A2 process is specifically as follows:
a21: the method for calculating the segmentation threshold comprises the following steps:
wherein, IavgTo partition the threshold, IΣ(i, j) is the value of the ith row and jth column pixel of the sum channel distance-Doppler image, N is the number of image rows, and M is the number of image columns;
a22: the method for channel range-doppler image segmentation is as follows:
wherein, IsegAnd (i, j) is a mask after division.
5. The dual-channel radar height-to-ground method according to claim 2, wherein the specific method A3 is as follows:
wherein, Izero(I, j) is the azimuth difference beam zero depth detection result, and satisfies IzeroThe combination of (I, j) with (I, j) 1 is azimuth difference beam zero depth point trace, IΔ(I, j) is an azimuth difference channel distance-Doppler image, and I is takenTh＝15dB。
6. The dual-channel radar height-to-ground measuring method according to claim 2, wherein the specific flow of A4 is as follows:
a41: the Doppler center value of the azimuth difference beam zero depth crossing threshold point is estimated, and the specific method comprises the following steps:
wherein f isd(n) is the zero depth center Doppler estimate of the azimuth difference beam of the nth range cell, fd(k, n) is the Doppler value of the kth row and the nth column of the sum channel distance-Doppler image, and P (k, n) is the ratio of the zero depth of the azimuth difference beam and the channel amplitude to the azimuth difference channel amplitude;
a42: performing linear parameter fitting with direction constraint, wherein the specific method comprises the following steps:
wherein N is N distance units passed by azimuth zero depth detection, R (N) is the slant distance corresponding to the azimuth difference beam zero depth center of the nth distance unit, B is the constraint slope of a straight line, which is expressed as follows,
wherein, lambda is the working wavelength of the radar, H is the navigation altitude of the aircraft,
and
respectively, the nominal pointing angle of the beam center in the velocity coordinate system.
7. The dual-channel radar height-to-ground measuring method according to claim 2, wherein the specific flow of A5 is as follows:
a51: the method for calculating the nearest distance from the azimuth difference beam zero-depth detection point to the fitting straight line comprises the following steps:
wherein D (n) is the nearest distance from the nth zero-depth detection point of the azimuth difference beam to the fitting straight line;
a52: the outlier elimination of azimuth difference beam zero depth detection output is carried out, and the method comprises the following steps: deletion of D (n) ≦ DthObtaining a new M-point (M is less than or equal to N) zero-depth detection point set E, wherein DthThe selection of the range-Doppler resolution unit is carried out by combining specific parameters of the radar, and the range-Doppler resolution unit does not exceed three range-Doppler resolution units.
8. The dual-channel radar height-to-ground measuring method according to claim 2, wherein the specific flow of A6 is as follows:
a61: the coefficients of the quadratic curve are calculated by the following method:
wherein G is an observation matrix, b is a measurement vector, A1、B1、C1Respectively a second order term coefficient, a first order term coefficient and a constant term of the quadratic curve;
a62: performing quadratic curve fitting on the zero-depth detection point set E by the following method
fdf(m)＝A1R2(m)+B1R(m)+C1,m＝1,…,M
Wherein f isdfAnd (m) is the Doppler estimated value of the mth range bin after quadratic curve fitting.
9. The dual-channel radar height-to-ground method of claim 2, wherein A7 is specified by the following equation:
wherein HestSign (t) is a sign function for the relative altitude estimation of the two-channel radar to the geodetic altitude.
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