CN114325610A - Radar installation error correction method based on dynamic measurement data - Google Patents
Radar installation error correction method based on dynamic measurement data Download PDFInfo
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Abstract
The invention relates to a radar installation error correction method based on dynamic measurement data, which can be used for correcting installation errors of a radar and inertial navigation. The invention calculates the error average value of each voyage by counting the moving target detection data of multiple flights, then takes the average value as the system error part of the relative installation error of the radar and the inertial navigation, further decomposes the error into the errors in 3 directions of yawing, pitching and rolling between two equipment installation reference surfaces, corrects the coordinate conversion process, and finally achieves the purpose of eliminating the system error.
Description
Technical Field
The invention belongs to the technical field of radar data processing, and particularly relates to a radar installation error correction method based on dynamic measurement data, which can be used for correcting installation errors of a radar and inertial navigation.
Background
The radar measurement precision reflects the consistency degree of the measurement result and the true value and is divided into two parts of a system error and a random error. The random error is an irregular error component of a plurality of measurement results, has a certain statistical probability and a certain probability distribution, and can be suppressed by data processing methods such as smoothing and filtering. The systematic error is a fixed offset or a regularly varying error component between the average of the multiple measurements and a reference value, usually expressed as a mathematical expectation of the error, and can be eliminated by taking appropriate calibration measures after the radar is manufactured and installed on the platform.
A certain type of radar is carried on a small unmanned aerial vehicle, one of the main functions is to search and track ground moving targets (including trucks, tanks and the like), and finally the absolute positions of the targets need to be reported to a ground control vehicle for display and subsequent information processing. Although the system error between the mechanical shaft and the electric shaft of the radar is eliminated by the traditional calibration method when the radar leaves a factory, the relative position information of the moving target reported in the ground test reaches the moving target measurement precision required by the index. However, the above-mentioned situation is static measurement in a state where the radar is stationary and the platform inertial navigation is disengaged, and cannot represent the measurement accuracy of the moving target in an actual flying state. The relative position of a target is converted into the absolute position of the target by the radar in the hanging and flying state, the speed, the posture and the position information of an aerial carrier measured by inertial navigation are required, the arrangement of internal equipment of the unmanned aerial vehicle is compact, the radar and the inertial navigation do not have redundant space for installing a light aiming device, the relative installation error between the two devices cannot be calibrated, and the detection result of the radar to the ground target in the hanging and flying state has a large error.
Disclosure of Invention
Technical problem to be solved
In order to avoid the defects of the prior art, the invention provides a radar installation error correction method based on dynamic measurement data.
Technical scheme
A radar installation error correction method based on dynamic measurement data is characterized by comprising the following steps:
step 1: recording the real position information of the test-accompanying target in a geodetic coordinate system by using differential positioning equipment, and calculating the real position information of the test-accompanying target in an airborne NED coordinate system by combining with airborne position information of the target detected by a radar;
step 2: using the result obtained in the step 1 as a true value, using the detection result of the radar on the accompanying target as a measurement value, counting target azimuth error data of each voyage, and calculating an average value of the azimuth errors;
and step 3: decomposing the azimuth error average value calculated in the step 2 into installation errors of 3 directions of yaw, pitch and roll of the reference surfaces of the two devices;
and 4, step 4: and (4) binding the radar and inertial navigation reference surface installation errors calculated in the step (3) into a radar system for correction.
The further technical scheme of the invention is as follows: the actual position information in the geodetic coordinate system in the step 1 includes longitude, latitude and altitude, the onboard position information at the target moment includes longitude, latitude and altitude, and the actual position information in the onboard NED coordinate system includes longitude, latitude and altitude.
The further technical scheme of the invention is as follows: the calculation formula of step 2 is as follows:
Δi＝A′i-Ai (1)
in the formula: a'iIs the ith measurement, AiIs the ith true value, ΔiFor the i-th measurement error, aLAverage value of errors of the target viewed from the left side of the radar, aRThe average of the errors of the target viewed from the right side of the radar.
The further technical scheme of the invention is as follows: the installation error in the step 3 comprises a course error and a pitching error, and the specific calculation formula is as follows:
heading error psiMThe calculation formula of (2):
ψM＝-(aL+aR) (3)
pitch error thetaMThe calculation formula of (2):
θM＝12.5as (5)
as＝aR+ψM (4)
advantageous effects
The invention provides a radar installation error correction method based on dynamic measurement data, which calculates the error average value of each voyage by counting moving target detection data of multiple flights, then takes the average value as the system error part of relative installation errors of radar and inertial navigation, further decomposes the system error into errors in 3 directions of yaw, pitch and roll which are orthogonal with each other, corrects the coordinate conversion process, and finally achieves the purpose of eliminating the system error. Compared with a static measurement method for calibrating installation errors by adding optical aiming equipment, the method only needs to utilize a moving target detection result of a first hang-off test after radar installation, belongs to dynamic measurement, and can play back original baseband echo data recorded during hang-off for verification after calibration, so that extra hardware cost is not increased, and workload is saved. The method is verified in the comparison measurement of the radar of the model, and the measurement precision of the radar for detecting the moving target completely meets the index requirement.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.
FIG. 1 is a flow chart of an implementation of the present invention.
Fig. 2 is a schematic diagram of radar beam azimuth coverage.
FIG. 3 is a schematic diagram of the flight path of the aircraft and the target under test.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The invention provides a radar installation error correction method based on dynamic measurement data, which comprises the following steps:
step 1: recording the real position information of the test-accompanying target in a geodetic coordinate system by using differential positioning equipment, and calculating the real position information of the test-accompanying target in an airborne NED coordinate system by combining with airborne position information of the target detected by a radar;
step 2: using the result obtained in the step 1 as a true value, using a detection result (an airborne NED coordinate system) of the radar on the accompanying target as a measurement value, counting target azimuth error data of each voyage, and calculating an average value of azimuth errors;
and step 3: decomposing the azimuth error average value calculated in the step 2 into installation errors of 3 directions of yaw, pitch and roll of the reference surfaces of the two devices;
and 4, step 4: and (3) according to the mounting error correction coordinate conversion process calculated in the step (3), recalculating the position information of the test-accompanying target in the geodetic coordinate system by using the target measurement value in the radar spherical coordinate system, and comparing the recalculated position information with the real position information (geodetic coordinate system) of the test-accompanying target in the step (1) to calculate the measurement accuracy of the moving target at the moment.
In order that those skilled in the art will better understand the present invention, the following detailed description is given with reference to specific examples.
The radar platform realized by the invention is carried on the small unmanned aerial vehicle, because of the space limitation of the aerial vehicle, the servo can only rotate around the rotating shaft parallel to the longitudinal axis of the aerial vehicle in the pitching direction, the azimuth direction of the antenna array surface realizes the coverage of-45 degrees by taking the normal direction of the antenna as the center by means of mutual scanning, so the actual beam azimuth coverage ranges are-135 degrees to-45 degrees and 45-135 degrees (the coordinate system of the aerial vehicle, the direction of the nose is 0 degree, the left side of the body is negative, and the right side of the body is positive), as shown in figure 2. Based on the above reasons, the travel paths of the planned flight line and the trial target in the hanging flight experiment are basically perpendicular to each other, and the target is guaranteed to basically move at a uniform speed along the radial direction of the radar, as shown in fig. 3.
Step 1:
and (3) installing differential positioning equipment on the test-accompanying target, enabling the test-accompanying target to move at a constant speed along a linear path, and recording the real position information (longitude, latitude and height) of the test-accompanying target in a geodetic coordinate system in the test process. After all the voyage flights are finished, the real position information (distance, direction and pitching) of the accompanying target under the NED coordinate system of the aircraft is calculated by combining the aircraft position information (longitude, latitude and height) of the target detected by the radar recorded by the ground control vehicle.
Step 2:
and (3) taking a radar detection result (an on-board NED coordinate system) recorded by the ground control vehicle as a measured value, taking the position information of the test-accompanying target obtained in the step 1 at the same moment as a true value, counting target azimuth error data of each voyage, and calculating an average value of azimuth errors according to the left side view and the right side view of the radar.
Δi＝A′i-Ai (1)
In the above formula: a'iIs the ith measurement, AiIs the ith true value, ΔiFor the i-th measurement error, aLAverage value of errors of the target viewed from the left side of the radar, aRThe average of the errors of the target viewed from the right side of the radar.
And step 3:
because the radar can only detect the target on the left side or the right side, and the installation reference surfaces of the radar and the inertial navigation can be basically ensured to be parallel, the azimuth error is mainly influenced by the yaw and pitch errors of the two reference surfaces, and the roll error can be directly ignored. The course error psi can be directly calculated by the formula (3)M：
ψM＝-(aL+aR) (3)
After the yaw error is eliminated through the operation of the formula (3), aLAnd aRThere are residual amounts of equal absolute value but opposite sign, which are partly caused by the reference plane pitch error.
as＝aR+ψM (4)
Equation (4) is the residual amount after yaw error is eliminated by the radar right side view azimuth error, and the error part can be converted into pitch error according to the precondition that the target is at 90 degrees of radar azimuth, and the following relation is approximately established:
θM＝12.5as (5)
in formula (5): thetaMThe pitch error of the two equipment reference surfaces.
And 4, step 4:
mounting error (psi) of the radar and inertial navigation reference plane calculated in the step 3M、θM) And binding the target measurement value in a radar spherical coordinate system, combining the attitude and the position information of the carrier, recalculating the position information of the accompanied target in a geodetic coordinate system, comparing the recalculated position information with the real position information (the geodetic coordinate system) of the accompanied target in the step 1, and calculating the measurement precision of the moving target at the moment, so that the system error part of the measurement errors in the longitude direction and the latitude direction is basically eliminated.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications or substitutions can be easily made by those skilled in the art within the technical scope of the present disclosure.
Claims (4)
1. A radar installation error correction method based on dynamic measurement data is characterized by comprising the following steps:
step 1: recording the real position information of the test-accompanying target in a geodetic coordinate system by using differential positioning equipment, and calculating the real position information of the test-accompanying target in an airborne NED coordinate system by combining with airborne position information of the target detected by a radar;
step 2: using the result obtained in the step 1 as a true value, using the detection result of the radar on the accompanying target as a measurement value, counting target azimuth error data of each voyage, and calculating an average value of the azimuth errors;
and step 3: decomposing the azimuth error average value calculated in the step 2 into installation errors of 3 directions of yaw, pitch and roll of the reference surfaces of the two devices;
and 4, step 4: and (4) binding the radar and inertial navigation reference surface installation errors calculated in the step (3) into a radar system for correction.
2. The method according to claim 1, wherein the radar installation error correction method based on dynamic measurement data is characterized in that: the actual position information in the geodetic coordinate system in the step 1 includes longitude, latitude and altitude, the onboard position information at the target moment includes longitude, latitude and altitude, and the actual position information in the onboard NED coordinate system includes longitude, latitude and altitude.
3. The method according to claim 1, wherein the calculation formula of step 2 is as follows:
Δi＝A′i-Ai (1)
in the formula: a'iIs the ith measurement, AiIs the ith true value, ΔiFor the i-th measurement error, aLAverage value of errors of the target viewed from the left side of the radar, aRThe average of the errors of the target viewed from the right side of the radar.
4. The method as claimed in claim 1, wherein the installation error in step 3 includes a heading error and a pitch error, and the specific calculation formula is as follows:
heading error psiMThe calculation formula of (2):
ψM＝-(aL+aR) (3)
pitch error thetaMThe calculation formula of (2):
θM＝12.5aS (5)
aS＝aR+ψM (4)。
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| CN115200608A (en) * | 2022-06-10 | 2022-10-18 | 北京航天控制仪器研究所 | Method for calibrating installation error of water laser radar and inertial navigation |
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| CN115200608A (en) * | 2022-06-10 | 2022-10-18 | 北京航天控制仪器研究所 | Method for calibrating installation error of water laser radar and inertial navigation |
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