CN114442087A - Low-cost linear frequency modulation ground penetrating radar system and use method - Google Patents
Low-cost linear frequency modulation ground penetrating radar system and use method Download PDFInfo
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- CN114442087A CN114442087A CN202210140899.1A CN202210140899A CN114442087A CN 114442087 A CN114442087 A CN 114442087A CN 202210140899 A CN202210140899 A CN 202210140899A CN 114442087 A CN114442087 A CN 114442087A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/885—Radar or analogous systems specially adapted for specific applications for ground probing
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/28—Details of pulse systems
- G01S7/285—Receivers
- G01S7/292—Extracting wanted echo-signals
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
Abstract
The invention provides a low-cost linear frequency modulation ground penetrating radar system and a use method thereof, wherein the system comprises a radio frequency part, a digital signal processing part and an upper computer part, wherein the radio frequency part is in data intercommunication with the digital signal processing part, and the digital signal processing part is in data intercommunication with the upper computer part; the radio frequency part is used for receiving the linear frequency modulation control signal of the digital signal processing part, transmitting a linear frequency modulation electromagnetic wave, receiving an echo signal and transmitting the echo signal back to the digital signal processing part, the digital signal processing part is used for controlling the frequency of the transmitted signal and generating a linear frequency modulation control signal, and is also used for receiving the echo signal and performing digital signal processing, and the echo signal is transmitted back to the upper computer part after the processing is finished, and the upper computer part is used for controlling the working parameters of the digital signal processing part and processing and displaying the returned echo signal.
Description
Technical Field
The invention relates to the technical field of engineering measurement equipment, in particular to a low-cost linear frequency modulation ground penetrating radar system and a using method thereof.
Background
In recent years, along with the gradual deepening of urbanization progress of China, the urbanization history is gradually lengthened, and a new geological disaster is as follows: urban road collapse disasters also occur year by year. The urban road collapse disaster mainly causes cracks and cavities due to the fact that underground foundations of urban roads are attacked by earthquakes, flood disasters, pipeline leakage and the like, and road collapse occurs when the underground foundations cannot support loads of roads above the urban roads. Therefore, before a disaster happens, the disaster characteristics such as cracks, cavities and the like can be timely and accurately detected, so that the urban road collapse disaster can be effectively prevented. Ground penetrating radar is the most effective equipment for nondestructive detection of underground structure of road at present.
Ground penetrating radars have various systems, the most common of which is pulsed ground penetrating radar. The ground penetrating radar transmits pulse signals with narrow pulse width and high power underground, and then receives echoes for data processing and imaging. However, the transmission pulse is narrow, the transmission speed is high, and high requirements are put on the sampling rate of the echo. The low-cost linear frequency modulation ground penetrating radar system adopts a linear frequency modulation system, and changes signals into fundamental frequency signals by using a linear frequency modulation radar system matched filtering mode for acquisition and processing, so that the requirement on the sampling rate is reduced, and the equipment cost is effectively reduced. Besides, the linear frequency modulation radar system is wide in bandwidth, and the distance resolution can be improved while the detection depth is not reduced.
Disclosure of Invention
The present invention is directed to a low cost chirp sod system and method of use to solve the problems mentioned in the background.
In order to achieve the above purpose, the invention provides the following technical scheme:
a low-cost linear frequency modulation ground penetrating radar system comprises a radio frequency part, a digital signal processing part and an upper computer part, wherein the radio frequency part is in data intercommunication with the digital signal processing part, and the digital signal processing part is in data intercommunication with the upper computer part;
the radio frequency part is used for receiving the linear frequency modulation control signal of the digital signal processing part, transmitting a linear frequency modulation electromagnetic wave and receiving an echo signal and transmitting the echo signal back to the digital signal processing part, the digital signal processing part is used for controlling the frequency of the transmitted signal and generating a linear frequency modulation control signal and is also used for receiving the echo signal and carrying out digital signal processing, the echo signal is transmitted back to the upper computer part after the processing is finished, and the upper computer part is used for controlling the working parameters of the digital signal processing part and processing and displaying the returned echo signal.
Further description of the invention: the radio frequency part comprises a linear frequency modulation module, a linear frequency demodulation module and a first power supply module;
the linear frequency modulation module is used for converting the linear frequency modulation control signal transmitted by the digital signal processing part into a radio frequency signal, one part of the radio frequency signal is used for transmitting radar waves, and the other part of the radio frequency signal is transmitted to the linear frequency demodulation module for demodulation;
the linear frequency demodulation module is used for receiving radar echo signals, processing and demodulating the radar echo signals into analog baseband signals, converting the analog baseband signals into digital signals and transmitting the digital signals back to the digital signal processing part;
the first power supply module is used for supplying power to the linear frequency modulation module and the linear frequency demodulation module.
Further description of the invention: the linear frequency modulation module comprises a digital-to-analog converter, a voltage-controlled oscillator, a power divider, a power amplifier and a transmitting antenna which are electrically connected in sequence;
the linear frequency demodulation module comprises a receiving antenna, a low noise amplifier, a mixer, a band-pass filter and an analog-to-digital converter which are electrically connected in sequence.
Further description of the invention: the digital signal processing part comprises a main control module, a network transmission module and a second power supply module;
the main control module is used for providing a linear frequency modulation control signal for the radio frequency part, receiving an echo digital signal transmitted back by the radio frequency part and transmitting radar echo data to the network transmission module;
the network transmission module is used for transmitting the processed radar echo data to the upper computer part;
and the second power supply module is used for supplying power to the main control module and the network transmission module.
Further description of the invention: the upper computer part adopts a computer capable of running upper computer software.
Further description of the invention: the upper computer software is used for receiving radar echo data transmitted back by the digital signal processing part through the Ethernet and is also used for processing target images, including but not limited to noise reduction, digital filtering and spectrum drawing.
A use method of a low-cost linear frequency modulation ground penetrating radar system comprises the following steps: the method comprises the following steps:
step one, power-on initialization: after the system is powered on, the upper computer software is ready to be connected with the digital signal processing part, the digital signal processing part is powered on to carry out parameter configuration on each module in the digital signal processing part, then carry out parameter configuration on the analog-to-digital converter, the digital-to-analog converter and the network transmission module, and carry out configuration confirmation after configuration is finished; feeding back errors and reconfiguring if the configuration confirmation fails; after the configuration of the network transmission module is finished, the network transmission module is connected with the upper computer software, displays the connection state at the upper computer software after the connection is successful, and waits for the upper computer part to send a trigger command;
step two, generating a transmitting signal: when a trigger command is received, the data signal processing part generates a transmitting signal, the data signal processing part generates a linear frequency modulation control signal and sends the linear frequency modulation control signal to the radio frequency part, the radio frequency part sends a radar signal according to the linear frequency modulation control signal, and the digital signal processing part generates a synchronous receiving control signal for controlling receiving while sending the linear frequency modulation control signal;
step three, receiving echo signals: when the digital signal processing part receives the synchronous receiving control signal, the echo signal is received by a receiving antenna of the radio frequency part, is converted into a digital signal through an analog-to-digital converter after being processed by an analog signal and is transmitted back to the digital signal processing part, and the digital signal processing part processes the digital signal after the echo signal is received and then executes the step four;
step four, returning data: after the digital signal processing is finished, the digital signal processing part transmits target image information back to the upper computer part through the network transmission module, the upper computer software synchronously displays data after receiving the target image information so as to represent underground real-time results, and the transmission data are also stored in the upper computer software for subsequent storage;
step five, data processing: the target image may be subjected to data processing in the upper computer software, including but not limited to filtering, averaging, and target identification.
The invention has the beneficial effects that: the low-cost linear frequency modulation ground penetrating radar system adopts a linear frequency modulation system, and changes signals into fundamental frequency signals by using a linear frequency modulation radar system matched filtering mode for acquisition and processing, so that the requirement on the sampling rate is reduced, and the equipment cost is effectively reduced. The invention reduces the high-frequency electromagnetic wave signal to low frequency by means of coherent demodulation and the like, greatly reduces the requirement on an analog-digital converter, and ensures that the cost is reduced and the realization is easy. Besides, the linear frequency modulation radar system is wide in bandwidth, and the distance resolution can be improved while the detection depth is not reduced.
Drawings
FIG. 1 is a block diagram of the structural components of the present invention;
FIG. 2 is a block diagram of the RF section of the present invention;
FIG. 3 is a block diagram of the digital signal processing section of the present invention;
FIG. 4 is a block diagram of the host computer software flow of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
as shown in fig. 1, a low-cost chirp ground penetrating radar system includes a radio frequency part, a digital signal processing part and an upper computer part, the radio frequency part and the digital signal processing part are in data communication, and the digital signal processing part and the upper computer part are in data communication;
the radio frequency part is used for receiving the linear frequency modulation control signal of the digital signal processing part, transmitting a linear frequency modulation electromagnetic wave and receiving an echo signal and transmitting the echo signal back to the digital signal processing part, the digital signal processing part is used for controlling the frequency of the transmitted signal and generating a linear frequency modulation control signal and is also used for receiving the echo signal and carrying out digital signal processing, the echo signal is transmitted back to the upper computer part after the processing is finished, and the upper computer part is used for controlling the working parameters of the digital signal processing part and processing and displaying the returned echo signal.
The radio frequency part comprises a linear frequency modulation module, a linear frequency demodulation module and a first power supply module;
linear frequency modulation-LFM (linear frequency modulation-LFM) signals used in the present invention are often used in high resolution radar applications due to their large signal bandwidth, low transmit power, and the like. The working principle is that the difference frequency of a transmitting signal and an echo signal is utilized to distinguish target information. The transmission signal is a chirp signal whose transmission frequency varies linearly, and can be expressed as:
wherein: the coefficient A being the signal amplitude, fNThe frequency-time expression is related to the relative motion of the target and the transmitter due to the doppler effect.
Is the initial phase of the signal, typically zero.
In the working principle explanation, the reasoning is simplified on the assumption that the electromagnetic wave cannot be attenuated in the propagation process. In addition, the attenuation only causes amplitude change of the time domain signal, and does not affect the frequency of the signal. So the simplification does not affect the target signal identification. In addition, because the underground target can not move frequently, the target can not move in the detection process to cause the Doppler effect of the echo signal.
The frequency-time expression is:
wherein: k is the frequency modulation coefficient, B is the sweep bandwidth, T is the sweep period, f0Is the frequency modulation starting frequency. Using this expression can simplify process analysis.
After the radar signal is transmitted, the electromagnetic wave encounters a medium interface, namely a position with inconsistent dielectric constant, and then is reflected and refracted. Assuming that a reflection target exists underground and the distance between the reflection target and the ground is R, the time expression of the radar reflection echo frequency is as follows:
wherein: t is t0The time elapsed from transmission to reception of the echo. R is the distance traveled by the echo from the transmitting antenna to the receiving antenna, c is the speed of light in vacuum, and epsilon is the relative dielectric constant:
as can be seen from the frequency-time expression, the echo signal can be actually regarded as the transmission signal passing through t0The result of the time delay. The time delay can be determined by the target distance R and the actual speed of light
To indicate. We can see that the echo signal contains target range information R. From which the target position can be extracted.
And performing frequency mixing processing on the echo signal and the transmitting signal, and removing high-frequency components through a low-pass filter to obtain a difference frequency signal. The difference frequency signal is expressed by a frequency-time expression as follows:
therefore, the target position information and the difference frequency information are in a linear relation, so that Fourier transformation can be carried out to convert the time domain map into the frequency domain map. Thereby, the target position information can be read out.
The linear frequency modulation module is used for converting the linear frequency modulation control signal transmitted by the digital signal processing part into a radio frequency signal, one part of the radio frequency signal is used for transmitting radar waves, and the other part of the radio frequency signal is transmitted to the linear frequency demodulation module for demodulation;
as shown in fig. 2, the linear frequency demodulation module is configured to receive a radar echo signal, demodulate the radar echo signal into an analog baseband signal through processing, and convert the analog baseband signal into a digital signal and transmit the digital signal back to the digital signal processing portion;
the first power supply module is used for supplying power to the linear frequency modulation module and the linear frequency demodulation module.
The linear frequency modulation module comprises a digital-to-analog converter, a voltage-controlled oscillator, a power divider, a power amplifier and a transmitting antenna which are electrically connected in sequence.
The digital-to-analog converter adopts AD9767, the bit width of the digital-to-analog converter is 14 bits, the highest working speed can reach 125M, the output signal is a current signal, the voltage can reach 0-5V after being converted into voltage, and the voltage-controlled oscillator can be directly driven to work. The digital-to-analog converter can generate sawtooth waves, triangular waves, direct current levels and other waveforms for self-checking and working of the ground penetrating radar by matching with an input clock of the processor and parallel input data.
The voltage-controlled oscillator adopts SYM-30DMHW, the device can generate a single-frequency sinusoidal signal from 370MHz to 570MHz within a driving level of 0-5V, phase noise is below-85 dB, and a linear frequency modulation signal with stable frequency can be generated. The power distributor considers that the types of echo frequency bands of the ground penetrating radar are multiple, the coverage area is large, and the echo frequency bands are distributed from 100MHz to 1 GHz. Therefore, a broadband Wilkinson power divider is used. The broadband Wilkinson power divider belongs to a microwave device, is only composed of PCB copper-clad and a resistor, and has low cost and easy realization. The antenna can cover a wide frequency band through specific design and is compatible with multi-model ground penetrating radar antennas.
The power amplifier using SBB2089Z provides a constant 20dB gain over the band from 370MHz to 570 MHz.
The transmitting antenna selects a broadband butterfly antenna. The center frequency is 400MHz, the bandwidth is more than 300MHz, the in-band flatness is less than 10dB, and the method is widely used in ground penetrating radar.
The linear frequency demodulation module is used for receiving radar echo signals, demodulating the radar echo signals into analog baseband signals through processing, and converting the analog baseband signals into digital signals and transmitting the digital signals back to the digital signal processing part.
The linear frequency demodulation module comprises a receiving antenna, a low noise amplifier, a mixer, a band-pass filter and an analog-to-digital converter which are electrically connected in sequence.
The receiving antenna is the same as the transmitting antenna, and the broadband butterfly antenna is selected. The gain of the low noise amplifier can reach about 26dB in the frequency band by adopting the ATF 54143.
The mixer adopts SYM-30DMHW, echo signals received by a receiving antenna are used as RF input, reference signals provided by a power divider of a transmitting module are used as LO input, and IF output is used for inputting the LO input into a band-pass filter.
The band-pass filter is used for suppressing or eliminating useless frequencies in the fundamental frequency signal, and the starting frequency is 70Hz, and the cut-off frequency is 1 MHz.
The analog-to-digital converter adopts AD926, and the maximum acquisition rate of the analog-to-digital converter can reach 65Msps, so that the requirement of base frequency signal acquisition is met.
As shown in fig. 3, the digital signal processing part includes a main control module, a network transmission module and a second power module;
the main control module is used for providing a linear frequency modulation control signal for the radio frequency part, receiving an echo digital signal transmitted back by the radio frequency part and transmitting radar echo data to the network transmission module;
the main control module adopts an xc7z020clg400-2l chip of ZYNQ7020 series. An arm processor and an FPGA are arranged in the chip, so that the high-speed parallel signal processing can be performed while various chip interfaces are connected conveniently.
The network transmission module is used for transmitting the processed radar echo data to the upper computer part, and the used chip is RTL 82211E.
And the second power supply module is used for supplying power to the main control module and the network transmission module.
The upper computer part adopts a computer capable of running upper computer software.
As shown in fig. 4, the upper computer software is configured to receive the radar echo data transmitted back by the digital signal processing part via the ethernet, and is further configured to process a target image, including but not limited to noise reduction, digital filtering, and spectrum mapping.
A use method of a low-cost linear frequency modulation ground penetrating radar system comprises the following steps: the method comprises the following steps:
step one, power-on initialization: after the system is powered on, the upper computer software is ready to be connected with the digital signal processing part, the digital signal processing part is powered on to carry out parameter configuration on each module in the digital signal processing part, then carry out parameter configuration on the analog-to-digital converter, the digital-to-analog converter and the network transmission module, and carry out configuration confirmation after configuration is finished; feeding back errors and reconfiguring if the configuration confirmation fails; after the configuration of the network transmission module is finished, the network transmission module is connected with the upper computer software, displays the connection state at the upper computer software after the connection is successful, and waits for the upper computer part to send a trigger command;
step two, generating a transmitting signal: when a trigger command is received, the data signal processing part generates a transmitting signal, the data signal processing part generates a linear frequency modulation control signal and sends the linear frequency modulation control signal to the radio frequency part, the radio frequency part sends a radar signal according to the linear frequency modulation control signal, and the digital signal processing part generates a synchronous receiving control signal for controlling receiving while transmitting the linear frequency modulation control signal;
step three, receiving echo signals: when the digital signal processing part receives the synchronous receiving control signal, the echo signal is received by a receiving antenna of the radio frequency part, is converted into a digital signal through an analog-to-digital converter after being processed by an analog signal and is transmitted back to the digital signal processing part, the digital signal processing part processes the digital signal after the echo signal is received, and then the step four is executed;
step four, returning data: after the digital signal processing is finished, the digital signal processing part transmits target image information back to the upper computer part through the network transmission module, the upper computer software synchronously displays data after receiving the target image information so as to represent underground real-time results, and the transmission data are also stored in the upper computer software for subsequent storage;
step five, data processing: the target image may be subjected to data processing in the upper computer software, including but not limited to filtering, averaging, and target identification.
The technical scope of the present invention is not limited to the above embodiments, and any modifications, equivalent variations and modifications made to the above embodiments according to the technical spirit of the present invention still fall within the technical scope of the present invention.
Claims (7)
1. A low-cost linear frequency modulation ground penetrating radar system which characterized in that: the system comprises a radio frequency part, a digital signal processing part and an upper computer part, wherein the radio frequency part is in data intercommunication with the digital signal processing part, and the digital signal processing part is in data intercommunication with the upper computer part;
the radio frequency part is used for receiving the linear frequency modulation control signal of the digital signal processing part, transmitting a linear frequency modulation electromagnetic wave and receiving an echo signal and transmitting the echo signal back to the digital signal processing part, the digital signal processing part is used for controlling the frequency of the transmitted signal and generating a linear frequency modulation control signal and is also used for receiving the echo signal and processing the digital signal, the echo signal is transmitted back to the upper computer part after the processing is finished, and the upper computer part is used for controlling the working parameters of the digital signal processing part and processing and displaying the returned echo signal.
2. A low cost chirp sod system according to claim 1, wherein: the radio frequency part comprises a linear frequency modulation module, a linear frequency demodulation module and a first power supply module;
the linear frequency modulation module is used for converting the linear frequency modulation control signal transmitted by the digital signal processing part into a radio frequency signal, one part of the radio frequency signal is used for transmitting radar waves, and the other part of the radio frequency signal is transmitted to the linear frequency demodulation module for demodulation;
the linear frequency demodulation module is used for receiving radar echo signals, demodulating the radar echo signals into analog baseband signals through processing, converting the analog baseband signals into digital signals and transmitting the digital signals back to the digital signal processing part;
the first power supply module is used for supplying power to the linear frequency modulation module and the linear frequency demodulation module.
3. A low cost chirp sod system according to claim 2, wherein: the linear frequency modulation module comprises a digital-to-analog converter, a voltage-controlled oscillator, a power divider, a power amplifier and a transmitting antenna which are electrically connected in sequence;
the linear frequency demodulation module comprises a receiving antenna, a low noise amplifier, a mixer, a band-pass filter and an analog-to-digital converter which are electrically connected in sequence.
4. A low cost chirp sod system according to claim 3, wherein: the digital signal processing part comprises a main control module, a network transmission module and a second power supply module;
the main control module is used for providing a linear frequency modulation control signal for the radio frequency part, receiving an echo digital signal transmitted back by the radio frequency part and transmitting radar echo data to the network transmission module;
the network transmission module is used for transmitting the processed radar echo data to the upper computer part;
the second power supply module is used for supplying power to the main control module and the network transmission module.
5. A low cost chirp sod system according to claim 4, wherein: the upper computer part adopts a computer capable of running upper computer software.
6. A low cost chirp sod system according to claim 5, wherein: the upper computer software is used for receiving radar echo data transmitted back by the digital signal processing part through the Ethernet and is also used for processing target images, including but not limited to noise reduction, digital filtering and spectrum drawing.
7. The use method of the low-cost chirp ground penetrating radar system according to claim 6, wherein: the method comprises the following steps:
step one, power-on initialization: after the system is powered on, the upper computer software is ready to be connected with the digital signal processing part, the digital signal processing part is powered on to carry out parameter configuration on each module in the digital signal processing part, then carry out parameter configuration on the analog-to-digital converter, the digital-to-analog converter and the network transmission module, and carry out configuration confirmation after configuration is finished; feeding back errors and reconfiguring if the configuration confirmation fails; the network transmission module is connected with the upper computer software after the configuration is finished, displays the connection state at the upper computer software after the connection is successful, and waits for the upper computer to send a trigger command;
step two, generating a transmitting signal: when a trigger command is received, the data signal processing part generates a transmitting signal, the data signal processing part generates a linear frequency modulation control signal and sends the linear frequency modulation control signal to the radio frequency part, the radio frequency part sends a radar signal according to the linear frequency modulation control signal, and the digital signal processing part transmits the linear frequency modulation control signal and simultaneously generates a synchronous receiving control signal for controlling receiving;
step three, receiving echo signals: when the digital signal processing part receives the synchronous receiving control signal, the echo signal is received by the receiving antenna of the radio frequency part, is converted into a digital signal through the analog-to-digital converter after being processed by an analog signal and is transmitted back to the digital signal processing part, and the digital signal processing part processes the digital signal after the echo signal is received, and then executes the step four;
step four, returning data: after the digital signal processing is finished, the digital signal processing part transmits target image information back to the upper computer part through the network transmission module, the upper computer software synchronously displays data after receiving the target image information so as to represent underground real-time results, and the transmission data is also stored in the upper computer software for subsequent storage;
step five, data processing: data processing including, but not limited to, filtering, averaging, and object recognition may be performed on the target image in the host computer software.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| RU2806651C1 (en) * | 2023-05-24 | 2023-11-02 | Акционерное общество "Научно-исследовательский институт Приборостроения имени В.В. Тихомирова" | Method for forming radar image of the earth's surface by airborne radar station |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| RU2806651C1 (en) * | 2023-05-24 | 2023-11-02 | Акционерное общество "Научно-исследовательский институт Приборостроения имени В.В. Тихомирова" | Method for forming radar image of the earth's surface by airborne radar station |
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