CN114739233A - Lightning field detection system based on low-altitude ultra-wideband synthetic aperture radar - Google Patents
Lightning field detection system based on low-altitude ultra-wideband synthetic aperture radar Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
- F41H11/00—Defence installations; Defence devices
- F41H11/12—Means for clearing land minefields; Systems specially adapted for detection of landmines
- F41H11/13—Systems specially adapted for detection of landmines
- F41H11/136—Magnetic, electromagnetic, acoustic or radiation systems, e.g. ground penetrating radars or metal-detectors
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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
- G01S13/887—Radar or analogous systems specially adapted for specific applications for detection of concealed objects, e.g. contraband or weapons
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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
- G01S13/90—Radar or analogous systems specially adapted for specific applications for mapping or imaging using synthetic aperture techniques, e.g. synthetic aperture radar [SAR] techniques
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Abstract
The invention discloses a radar field detection system based on a low-altitude ultra-wideband synthetic aperture radar, which comprises a ground control part, a flight control part and a radar detection part, wherein the ground control part is used for controlling the ground of a radar; the ground control part sends a flight instruction and a detection instruction to the flight control part and the radar detection part after completing the thunder field detection planning, the flight control part executes the flight instruction and plans the flight of a flight line, and the radar detection part executes the detection instruction, carries out RD imaging algorithm processing on a detection echo signal and then transmits the detection echo signal back to an upper computer of the ground control part for imaging and identification. The invention has the beneficial effects that: the flight control part and the radar detection part adopt an unmanned aerial vehicle as an airborne platform, and an upper computer of the ground control part plans a detection task and controls the airborne platform to finish the thunder field detection work; the method and the device realize non-contact, rapid and accurate detection and real-time imaging of the lightning field and reduce the danger of detection operation of the lightning field.
Description
Technical Field
The invention relates to a method and a system for detecting a lightning field, in particular to a low-altitude ultra-wideband synthetic aperture radar lightning field detection system suitable for detecting the lightning field in a complex terrain environment.
Background
The thunder field detection can not miss the report, and the false alarm rate is too high.
The traditional method for detecting the mines comprises dog detection and manual detection, the types of the mine left in the mine field after the warfare are complex, most of the mine fields have large time span and more complex terrain evolution, and the mine detection capability of the dogs is very limited due to uncertain factors such as weather and the like; the method is dangerous and has extremely low mine detection speed. With the development of science and technology, more and more mine detection methods such as infrared imaging, X-ray detection, electric wave and ultrasonic detection and the like are available, but most of the methods have the conditions of high omission factor or false alarm rate, large influence of weather and the like; taking infrared imaging as an example, almost all objects can emit infrared radiation outwards, and the landmine has different emittance with the environment where the landmine is located, so that different gray values are presented in an infrared image, and the purpose of mine detection can be achieved by matching with an image processing algorithm. The diversity of the existing mine manufacturing materials and the large time span of the mine field further reduce the effectiveness of the detection method.
With the development of modern technologies, ultra-wideband ground penetrating synthetic aperture radar (ultra-wideband-GPSAR) is proposed, which is a new system radar that combines the ultra-wideband technology and the radar imaging technology to detect subsurface substances. Unlike metal detectors, ultra-wideband ground penetrating synthetic aperture radars can not only detect metal mines, but also react to any discontinuity in the subsurface of the illuminated area by using the characteristic that each substance has a different dielectric constant, and therefore can detect any substance other than soil as long as the signal-to-noise ratio is high enough. By utilizing the high-resolution characteristic of the synthetic aperture radar, the target classification can be carried out on different target information contained in the echo signal, so that the false alarm rate is reduced. However, the traditional ultra-wideband GPSAR needs to contact the ground for detection, has low efficiency and poor safety, and is difficult to detect in the complex terrain environment of a lightning field; therefore, it is necessary to develop a low-altitude ultra-wideband synthetic aperture radar field detection system suitable for radar field detection in complex terrain environments.
Disclosure of Invention
In order to overcome the technical problem, the invention discloses a radar field detection system based on a low-altitude ultra-wideband synthetic aperture radar.
The technical scheme of the invention is as follows: a radar field detection system based on a low-altitude ultra-wideband synthetic aperture radar is composed of a ground control part, a flight control part and a radar detection part; the ground control part comprises an upper computer and a communication and data transmission 1, the upper computer is in wired connection with the communication and data transmission 1, the communication and data transmission 1 is in wireless connection with a flight control part, and the upper computer integration system control software and radar data imaging software issue flight instructions and detection instructions and receive radar data for real-time imaging through the communication and data transmission 1; the flight control part comprises a flight control module and a communication and data transmission part 2, the flight control module is in wired connection with the communication and data transmission part 2 and a radar data processing module of the radar detection part, the communication and data transmission part 2 is in wireless connection with the data transmission part 1 and is in wired connection with the radar data processing module of the radar detection part, and the flight control part is used for controlling the flight of the airborne platform and transmitting upper computer instructions and radar data in real time; the radar detection part is including the integrative antenna of receiving and dispatching that is used for low latitude transmission ultra wide band radar wave and receives radar echo signal, a radar signal transceiver module for receiving and dispatching signals and taking care of, carry out algorithm to radar echo data and handle and transmit data to ground management and control part's radar data processing module through flying the accuse part, a data cache module for storing operation procedure and keeping in echo data processing intermediate data, radar data processing module and radar signal transceiver module, data cache module, fly between flight control module and the communication and the data transmission 2 of accuse part wired connection, integrative antenna of receiving and dispatching and radar signal transceiver module wired connection.
In the invention, the ground control part consists of an upper computer and a communication and data transmission 1, wherein the upper computer integrates system control software and radar data imaging software, the communication and data transmission 1 comprises a detection data transmission link consisting of a detection communication module A and a USB-to-SPI interface, a flight control data transmission link consisting of a flight control communication module A and a USB-to-SCI interface, and an RTK positioning data transmission link consisting of an RTCM sending module and an RTK base station module, the detection data transmission link and the flight control data transmission link are electrically connected with the upper computer through the USB interface to realize flight control, detection control and data transmission in the detection process, and the RTK positioning data transmission link is electrically connected with the upper computer through an RS232 interface to obtain RTK base station coordinate information; in the detection process, the flight control part and the radar detection part receive control instructions and complete flight and radar detection through the flight control data transmission link and the detection data transmission link under the control of the upper computer integrated system control software, meanwhile, the flight control part and the radar detection part return real-time flight position information and radar real-time detection data to the upper computer through the flight control data transmission link and the detection data transmission link, and the upper computer radar data imaging software images according to the real-time flight position information and the radar real-time detection data to obtain a detection result.
In the invention, the flight control part consists of a flight control module and a communication and data transmission part 2, wherein the flight control module comprises a flight control CPU, an attitude sensor, a height determining sensor, an obstacle avoiding sensor, a lithium battery, a power circuit 1, a power circuit 2, a rotor motor and an electric controller, the communication and data transmission part 2 comprises an RTCM receiving module, an RTK slave station module, a flight control communication module B and a detection communication module B, and the detection communication module B is connected to the radar detection part; the lithium battery is electrically adjusted to provide a working power supply for the rotor motor, the power supply circuit 1 is used for providing a working power supply for the flight control part, the power supply circuit 2 is used for providing a working power supply for the radar detection part, the RTK slave station module receives an RTCM data stream sent by an RTK positioning data transmission link of the ground control part through an RTCM receiving module and solves the real-time position of the unmanned aerial vehicle by combining satellite information received by the RTK slave station module, the flight control CPU receives a flight control instruction of the ground control part through the flight control communication module B, and the combined attitude, height, position and surrounding obstacle state information of the unmanned aerial vehicle are obtained by combining an attitude sensor, an RTK slave station module and an obstacle avoidance sensor in real time.
In the invention, the radar detection part comprises a receiving and transmitting integrated antenna, a radar signal receiving and transmitting module, a radar data processing module and a data cache module, wherein a power circuit 2 provides a working power supply, the data cache module consists of an RAM (random access memory) type memory for temporarily storing intermediate data and a ROM (read only memory) type memory for storing an operation program, the radar data processing module comprises a DSP (digital signal processor), an FPGA (field programmable gate array) and a high-speed ADC (analog to digital converter), the radar signal receiving and transmitting module comprises an ultra-wideband radar signal transmitting unit, an ultra-wideband radar signal receiving unit and a single-pole double-throw switch S1, wherein the ultra-wideband radar signal transmitting unit consists of a PLL (phase locked loop) circuit with a VCO (voltage controlled oscillator), an ultra-wideband radar signal modulation circuit, a signal power amplifier and a coupling circuit, and the ultra-wideband radar signal receiving unit consists of a low-noise amplifying circuit, a mixer, a band-pass filter and an intermediate frequency amplifying circuit; the data cache module is electrically connected with a DSP (digital signal processor) and an FPGA (field programmable gate array) of the radar data processing module, the DSP of the radar data processing module is connected with the detection communication module B through an SCI (serial interface) interface to realize the transmission of detection instructions and detection data with the ground control part, is connected with the flight control CPU through an SPI (serial peripheral interface) interface to realize the real-time acquisition of the position information of the unmanned aerial vehicle in the detection process, and is connected with the FPGA through a TSIP (short time internet protocol) interface to realize the emission control of ultra-wideband radar signals and the collection of received echoes; after receiving a detection instruction of a ground control part, a DSP acquires position information of an unmanned aerial vehicle in real time, controls a PLL circuit with a VCO to generate a UWB signal fundamental wave through an FPGA according to the detection instruction parameter, controls a UWB signal modulation circuit to generate a UWB transmitting signal with the detection instruction parameter requiring bandwidth and repetition frequency, controls a single-pole double-throw switch S1 to enable the UWB transmitting signal to be transmitted by a receiving-transmitting integrated antenna after passing through a signal power amplifier and a coupling circuit, immediately controls the single-pole double-throw switch S1 to a receiving state, converts a UWB echo signal of the receiving-transmitting integrated antenna into a digital signal through a low-noise amplification circuit, a mixer, a band-pass filter and a medium-frequency amplification circuit by a high-speed ADC, transmits the UWB echo digital signal to the DSP through a TSIP interface by the FPGA, performs RD imaging algorithm processing on the UWB echo data, and transmits a processing result to an upper computer of the ground control part for imaging through a detection communication module B, thus realizing the detection and identification of the lightning field.
The invention has the beneficial effects that: the mine field detection system comprises a ground control part, a flight control part and a radar detection part, wherein the flight control part and the radar detection part adopt an unmanned aerial vehicle as an airborne platform, and an upper computer of the ground control part plans a detection task and controls the airborne platform to complete mine field detection work; the method and the device realize non-contact, rapid and accurate detection and real-time imaging of the lightning field and reduce the danger of detection operation of the lightning field.
Drawings
FIG. 1 is a general block diagram of the present invention;
FIG. 2 is a block diagram of a ground management and control portion of an embodiment of the present invention;
FIG. 3 is a block diagram of an flight control portion of an embodiment of the present invention;
fig. 4 is a block diagram of a radar detection section of an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention; it is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. 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.
Referring to fig. 1, the overall structure of the present invention is shown in block diagram. The invention relates to a radar field detection system based on a low-altitude ultra-wideband synthetic aperture radar, which consists of a ground control part, a flight control part and a radar detection part; the ground control part comprises an upper computer and a communication and data transmission 1, the upper computer is in wired connection with the communication and data transmission 1, the communication and data transmission 1 is in wireless connection with a flight control part, and the upper computer integration system control software and radar data imaging software issue flight instructions and detection instructions and receive radar data for real-time imaging through the communication and data transmission 1; the flight control part comprises a flight control module and a communication and data transmission part 2, the flight control module is in wired connection with the communication and data transmission part 2 and a radar data processing module of the radar detection part, the communication and data transmission part 2 is in wireless connection with the data transmission part 1 and is in wired connection with the radar data processing module of the radar detection part, and the flight control part is used for controlling the flight of the airborne platform and transmitting upper computer instructions and radar data in real time; the radar detection part comprises a receiving and transmitting integrated antenna used for transmitting ultra-wideband radar waves at low altitude and receiving radar echo signals, a radar signal receiving and transmitting module used for conditioning the received and transmitted signals, a radar data processing module used for carrying out algorithm processing on radar echo data and transmitting the data to the ground control part through the flight control part, a data cache module used for storing running programs and temporarily storing the data in the middle of the processing of the echo data, the radar data processing module is in wired connection with the radar signal receiving and transmitting module, the data cache module, the flight control module of the flight control part is in wired connection with the communication and data transmission 2, and the receiving and transmitting integrated antenna is in wired connection with the radar signal receiving and transmitting module.
The synthetic aperture radar is a radar which synthesizes a larger antenna aperture by using the movement of a radar platform, the range-direction resolution is, wherein C is the speed of light, B is the detection pulse bandwidth, and the visible range-direction resolution is in inverse proportion to the detection pulse bandwidth, so that in order to realize high range resolution, ultra-wideband detection signals are used; the azimuth resolution is, wherein D is the synthetic aperture radar antenna aperture, so the azimuth resolution is in direct proportion to the antenna aperture, so the high azimuth resolution is realized, a smaller antenna aperture is used, and the synthetic aperture radar antenna carried by the unmanned aerial platform is smaller, so the azimuth resolution required by mine exploration can be met. The upper computer transmits a flight control signal and a detection signal to the flight control part through the data transmission module, the flight control part receives the flight control signal and the detection signal through wireless data transmission and transmits the flight control signal and the detection signal to the detection CPU, the detection CPU executes the flight control signal to control the detection extension to fly and transmits the detection signal to the radar detection part, the radar detection part starts to execute a detection task, the radar data processing part controls the operation of the radar signal transceiving part, the radar signal transceiving part transmits an ultra-wideband detection signal and receives an ultra-wideband detection echo signal, the detection ultra-wideband detection echo signal is transmitted to the radar data processing part to be processed by a synthetic aperture radar imaging algorithm, the data cache is used for storing real-time data of the radar data processing part during radar imaging, then the radar data processing part transmits the radar data processed by the radar imaging algorithm to the flight control CPU, and the flight control CPU transmits the radar data to the wireless data transmission, the radar data are transmitted to the data transmission module in a wireless transmission mode through wireless data transmission, the data transmission module transmits the radar data to the upper computer, and the upper computer utilizes radar imaging software to image the radar data in real time. The GPS master station transmits RTCM data stream to the GPS slave station in real time to assist the positioning.
Referring to fig. 2, the ground control part of the invention is composed of an upper computer and a communication and data transmission 1. The system comprises an upper computer integrated system control software and a radar data imaging software, wherein a communication and data transmission 1 comprises a detection data transmission link consisting of a detection communication module A and a USB-to-SPI interface, a flight control data transmission link consisting of a flight control communication module A and a USB-to-SCI interface, and an RTK positioning data transmission link consisting of an RTCM sending module and an RTK base station module, the detection data transmission link and the flight control data transmission link are electrically connected with an upper computer through the USB interface to realize flight control, detection control and data transmission in a detection process, and the RTK positioning data transmission link is electrically connected with the upper computer through an RS232 interface to acquire RTK base station coordinate information; in the detection process, the flight control part and the radar detection part receive control instructions and complete flight and radar detection through the flight control data transmission link and the detection data transmission link under the control of the upper computer integrated system control software, meanwhile, the flight control part and the radar detection part return real-time flight position information and radar real-time detection data to the upper computer through the flight control data transmission link and the detection data transmission link, and the upper computer radar data imaging software images according to the real-time flight position information and the radar real-time detection data to obtain a detection result. The system comprises a ground control part, a data transmission module and a data transmission module, wherein the ground control part is provided with upper computer integrated system control software and radar data imaging software which are responsible for imaging radar data and issuing an operation instruction of a detection system; the flight control signal transmitting and receiving module is responsible for transmitting a flight control instruction and a detection instruction of the upper computer to the detection extension set, transmitting the detection instruction to the radar detection part through the flight control CPU, receiving flight data of the detection extension set in real time, and after detection is finished, the upper computer transmits a detection finishing instruction to the radar detection part through the flight control signal transmitting and receiving module; the GPS base station is composed of a positioning starting module, a positioning module and a positioning signal transmitting module and used for assisting in positioning of the detection extension set, the upper computer controls the positioning starting module to start the positioning module, then the upper computer controls the positioning module to generate an RTCM data stream in real time, and the RTCM data stream is transmitted to the positioning signal transmitting module and transmitted to the detection extension set to realize GPS positioning. The ultra-wideband radar has the characteristics of wide frequency and high frequency, has strong penetrating power to the earth surface and high distance resolution, and can detect the mine target hidden in the shallow earth surface.
Referring to fig. 3, the flight control part of the present invention is composed of a flight control module and a communication and data transmission 2. The flight control module comprises a flight control CPU, an attitude sensor, a fixed height sensor, an obstacle avoidance sensor, a lithium battery, a power circuit 1, a power circuit 2, a rotor motor and an electric regulator, the communication and data transmission 2 comprises an RTCM receiving module, an RTK slave station module, a flight control communication module B and a detection communication module B, and the detection communication module B is connected to the radar detection part; the lithium battery is electrically adjusted to provide a working power supply for the rotor motor, the power supply circuit 1 is used for providing a working power supply for the flight control part, the power supply circuit 2 is used for providing a working power supply for the radar detection part, the RTK slave station module receives an RTCM data stream sent by an RTK positioning data transmission link of the ground control part through an RTCM receiving module and solves the real-time position of the unmanned aerial vehicle by combining satellite information received by the RTK slave station module, the flight control CPU receives a flight control instruction of the ground control part through the flight control communication module B, and the combined attitude, height, position and surrounding obstacle state information of the unmanned aerial vehicle are obtained by combining an attitude sensor, an RTK slave station module and an obstacle avoidance sensor in real time. The flight control module in the flight control part comprises a flight control CPU, an attitude sensor, a height determining sensor, an obstacle avoiding sensor, a lithium battery, a power supply circuit 1, a motor and an electric regulator, wherein the flight control CPU selects STM32F427 of an ideological semiconductor, is executed by a FLASH memory at the working frequency of 180MHz, has a FLASH memory of 1MB, has the processing performance of 225DMIPS/608CoreMark, and can meet the control and data processing problems of an aircraft in the flight process. The attitude sensor adopts an MPU6050 chip integrating an accelerometer and a gyroscope, and the chip has high integration level and good reliability. The height-fixing sensor adopts a DFRobot URM06 type ultrasonic sensor, has good measurement accuracy, is connected with a flight control CPU by adopting an RS-485 interface, the obstacle-avoiding sensor adopts a radar for avoiding obstacles by adopting a radar for receiving 24GHz millimeter waves, the lithium battery adopts a Grignard 4000mAh-3S-11.1v-25C power supply, the motor adopts a Langyu brushless motor with the model of X2212-13KV980, and the electric regulation adopts 40A electric regulation of an astronaut of Hobbywing company. The communication and data transmission 2 comprises a GPS slave station and wireless data transmission, the attitude sensor monitors the attitude of the unmanned aerial vehicle in real time and sends attitude data to the STM32F 427; the URM06 type ultrasonic sensor monitors the flying height of the unmanned aerial vehicle in real time and sends height data to a flying control CPU; the obstacle avoidance sensor monitors obstacles around the unmanned aerial vehicle in real time and sends obstacle data to the STM32F 427; the GPS slave station can receive the RTCM data stream of the GPS master station in real time, monitors the position of the unmanned aerial vehicle in real time and sends position data to the STM32F 427; the wireless data transmission can receive flight control instructions and detection instructions, the instructions are sent to the STM32F427, the STM32F427 transmits flight data and detection data to the wireless data transmission, the data is transmitted to the data transmission module in the communication and data transmission 1 through the wireless data transmission, and then the data is transmitted to the upper computer; the internal integrated flight control algorithm of STM32F427 can process above-mentioned sensor data and instruction data to generate the control signal to the electricity accent, make the electricity accent output corresponding electric current, control motor rotational speed makes unmanned aerial vehicle smooth flight.
Referring to fig. 4, the radar detection part of the present invention includes a transceiver antenna, a radar signal transceiver module, a radar data processing module, and a data buffer module, and a power circuit 2 provides a working power supply, wherein the data buffer module includes a RAM-type memory for temporarily storing intermediate data and a ROM-type memory for storing an operation program, the radar data processing module includes a DSP, an FPGA, and a high-speed ADC, the radar signal transceiver module includes an ultra-wideband radar signal transmitting unit, an ultra-wideband radar signal receiving unit, and a single-pole double-throw switch S1, wherein the ultra-wideband radar signal transmitting unit includes a PLL circuit with a VCO, a UWB signal modulation circuit, a signal power amplifier and a coupling circuit, and the ultra-wideband radar signal receiving unit includes a low-noise amplifier circuit, a mixer, a band-pass filter, and an intermediate-frequency amplifier circuit; the data cache module is electrically connected with a DSP (digital signal processor) and an FPGA (field programmable gate array) of the radar data processing module, the DSP of the radar data processing module is connected with the detection communication module B through an SCI (serial interface) interface to realize the transmission of detection instructions and detection data with the ground control part, is connected with the flight control CPU through an SPI (serial peripheral interface) interface to realize the real-time acquisition of the position information of the unmanned aerial vehicle in the detection process, and is connected with the FPGA through a TSIP (short time internet protocol) interface to realize the emission control of ultra-wideband radar signals and the collection of received echoes; after receiving a detection instruction of a ground control part, a DSP acquires position information of an unmanned aerial vehicle in real time, controls a PLL circuit with a VCO to generate a UWB signal fundamental wave through an FPGA according to the detection instruction parameter, controls a UWB signal modulation circuit to generate a UWB transmitting signal with the detection instruction parameter requiring bandwidth and repetition frequency, controls a single-pole double-throw switch S1 to enable the UWB transmitting signal to be transmitted by a receiving-transmitting integrated antenna after passing through a signal power amplifier and a coupling circuit, immediately controls the single-pole double-throw switch S1 to a receiving state, converts a UWB echo signal of the receiving-transmitting integrated antenna into a digital signal through a low-noise amplification circuit, a mixer, a band-pass filter and a medium-frequency amplification circuit by a high-speed ADC, transmits the UWB echo digital signal to the DSP through a TSIP interface by the FPGA, performs RD imaging algorithm processing on the UWB echo data, and transmits a processing result to an upper computer of the ground control part for imaging through a detection communication module B, thus realizing the detection and identification of the lightning field. The high-speed ADC adopts AD7266, the ADC is dual-core 12-bit, the sampling rate can reach 2MBPS, the function of the module is to carry out A/D conversion on radar detection echo data at the front end, a chip adopted by the DSP is a TMS320C6678 floating-point DSP which has 8C 66x kernels, the parallel floating-point operation peak performance is up to 160GFLOPS, the high-speed ADC is an ideal radar data imaging processing chip, the FPGA adopts Virtex-6 series high-performance FPGA designed and produced by Serling company, and the FPGA is utilized to carry out work regulation and control on a radar detection part. The lithium battery supplies power to the radar detection part through the power circuit 2, the single-pole double-throw switch S1 is used for switching signal receiving and sending modes, the ultra-wideband radar transmitter generates UWB ultra-wideband radar waves in an LFM modulation mode, the ultra-wideband radar receiver utilizes local oscillation signals coupled by the ultra-wideband radar transmitter to carry out down-conversion on echo signals and carry out filtering and amplification on the echo signals, the receiving and sending integrated antenna carries out signal transmitting and receiving, the FPGA is used for controlling the single-pole double-throw switch S1 to switch the receiving and sending modes, controlling the AD7266 to carry out A/D conversion, carrying out down-conversion on radar data and transmitting the data to the TMS320C6678 in a distributed mode; TMS320C6678 performs RD imaging algorithm processing on the radar echo data, and RAM and ROM are used for storing real-time radar data in the DSP. The specific detection process comprises the following steps: the detection personnel operates system control software in the upper computer through a human-computer interaction interface, a detection air route is planned, a flight control instruction is issued, the detection instruction is issued, a GPS base station is started, air route data, the flight control instruction and the detection instruction data are transmitted to a detection extension set through a flight control signal transmitting and receiving module externally connected with the upper computer, the GPS base station transmits RTCM data stream to the detection extension set in real time, a wireless module of the detection extension set receives the air route and the instruction data and transmits the air route and the instruction data to an STM32F427, a GPS slave station receives the RTCM data of the GPS slave station to realize accurate positioning, the STM32F427 receives the air route data, the flight control instruction and the detection instruction data, the flight control instruction is started to be executed, the detection instruction is transmitted to an FPGA, the detection extension set takes off, when the designated air route height is reached, the FPGA controls a radar detection part to start to execute a detection task, and the detection starts to fly according to the designated air route and the flight speed, the method comprises the steps that ultra-wideband synthetic aperture radar detection is started, an FPGA controls an ultra-wideband radar transmitter to be electrified, a crystal oscillator in the ultra-wideband radar transmitter generates a high-stability frequency source through phase-locked loop frequency doubling phase locking, the signal is used as a local oscillator signal to carry out LFM modulation, the output frequency of the signal is 8GHz, an ultra-wideband signal with the pulse repetition frequency of 45KHz is output, the ultra-wideband signal is output to a signal power amplifier and coupler to be amplified, meanwhile, the FPGA outputs a control signal to control a single-pole double-throw switch S1 to enable a receiving-transmitting integrated antenna to be connected with the ultra-wideband radar transmitter, a signal transmitting link is conducted, an ultra-wideband detection signal is output, and the other path of signal is coupled from the signal power amplifier and the coupler and transmitted to a gain amplifier; in the echo data collection stage, an FPGA outputs a control signal to control a single-pole double-throw switch S1 to enable a receiving and transmitting integrated antenna to be connected with a low-noise amplifier, a signal recovery link is conducted, echo signals are firstly amplified and noise-reduced by the low-noise amplifier, local oscillation signals coupled by a coupler in a radar transmitter are subjected to gain conversion by a gain amplifier, down-conversion is carried out on the two paths of signals by a double-balanced mixer to obtain difference frequency signals, then the difference frequency signals are filtered by a band-pass filter to remove direct waves and ground clutter of the antenna, then amplitude adjustment is carried out on the signals by an intermediate frequency amplifier to meet the signal amplitude requirement required by a high-speed AD7266, then the FPGA controls the AD7266 to carry out A/D sampling on the signals, and then data are transmitted to the FPGA for down-conversion and transmitted to TMS320C 6678; TMS320C6678 carries out RD imaging algorithm to radar echo data and handles, and RAM & ROM are used for preserving the real-time radar data in the TMS320C6678, and data transmission after the imaging processing to STM32F427, STM32F427 with data transmission to wireless data transmission, transmit the data transmission module by wireless data transmission again, the data transmission module with data transmission to the host computer through radar imaging software formation of image. The host computer sets up outside the thunder field safety range, and the flight formation and the route of planning control machine platform guarantee the safe and reliable of exploration process, and a plurality of machine platforms of a host computer steerable according to the detection topography of difference, can use different flying height and formation mode, realize more accurate detection.
In summary, the lightning field detection system of the invention comprises a ground control part, a flight control part and a radar detection part; the ground control part sends a flight instruction and a detection instruction to the flight control part and the radar detection part after completing the thunder field detection planning, the flight control part executes the flight instruction and plans the flight of a flight line, and the radar detection part executes the detection instruction, sends a detection echo signal after the RD imaging algorithm processing to the upper computer of the ground control part for imaging and identification, so that the non-contact high-precision thunder field detection is realized. The ground control system has the advantages that the flight control part and the radar detection part adopt the unmanned aerial vehicle as an airborne platform, and an upper computer of the ground control part plans a detection task and controls the airborne platform to complete the detection work of a thunder field; the method and the device realize non-contact, rapid and accurate detection and real-time imaging of the lightning field and reduce the danger of detection operation of the lightning field.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (4)
1. A radar field detection system based on a low-altitude ultra-wideband synthetic aperture radar is composed of a ground control part, a flight control part and a radar detection part; the method is characterized in that: the ground control part comprises an upper computer and a communication and data transmission 1, the upper computer is in wired connection with the communication and data transmission 1, the communication and data transmission 1 is in wireless connection with a flight control part, and the upper computer integrated system control software and radar data imaging software issue flight instructions and detection instructions and receive radar data for real-time imaging through the communication and data transmission 1; the flight control part comprises a flight control module and a communication and data transmission part 2, the flight control module is in wired connection with the communication and data transmission part 2 and a radar data processing module of the radar detection part, the communication and data transmission part 2 is in wireless connection with the data transmission part 1 and is in wired connection with the radar data processing module of the radar detection part, and the flight control part is used for controlling the flight of the airborne platform and transmitting upper computer instructions and radar data in real time; the radar detection part comprises a receiving and transmitting integrated antenna used for transmitting ultra-wideband radar waves at low altitude and receiving radar echo signals, a radar signal receiving and transmitting module used for conditioning the received and transmitted signals, a radar data processing module used for carrying out algorithm processing on radar echo data and transmitting the data to the ground control part through the flight control part, a data cache module used for storing running programs and temporarily storing the data in the middle of the processing of the echo data, the radar data processing module is in wired connection with the radar signal receiving and transmitting module, the data cache module, the flight control module of the flight control part is in wired connection with the communication and data transmission 2, and the receiving and transmitting integrated antenna is in wired connection with the radar signal receiving and transmitting module.
2. The ground control part according to claim 1, which is composed of an upper computer and a communication and data transmission 1, and is characterized in that: the system comprises upper computer integrated system control software and radar data imaging software, wherein a communication and data transmission 1 comprises a detection data transmission link consisting of a detection communication module A and a USB-to-SPI interface, a flight control data transmission link consisting of a flight control communication module A and a USB-to-SCI interface, and an RTK positioning data transmission link consisting of an RTCM sending module and an RTK base station module, wherein the detection data transmission link and the flight control data transmission link are electrically connected with an upper computer through the USB interface to realize flight control, detection control and data transmission in a detection process, and the RTK positioning data transmission link is electrically connected with the upper computer through an RS232 interface to acquire RTK base station coordinate information; in the detection process, the flight control part and the radar detection part receive control instructions and complete flight and radar detection through the flight control data transmission link and the detection data transmission link under the control of the upper computer integrated system control software, meanwhile, the flight control part and the radar detection part return real-time flight position information and radar real-time detection data to the upper computer through the flight control data transmission link and the detection data transmission link, and the upper computer radar data imaging software images according to the real-time flight position information and the radar real-time detection data to obtain a detection result.
3. The flight control section according to claim 1, comprising a flight control module and a communication and data transmission 2, characterized in that: the flight control module comprises a flight control CPU, an attitude sensor, a fixed height sensor, an obstacle avoidance sensor, a lithium battery, a power circuit 1, a power circuit 2, a rotor motor and an electronic controller, the communication and data transmission 2 comprises an RTCM receiving module, an RTK slave station module, a flight control communication module B and a detection communication module B, and the detection communication module B is connected to the radar detection part; the lithium battery is electrically adjusted to provide a working power supply for the rotor motor, the power supply circuit 1 is used for providing a working power supply for the flight control part, the power supply circuit 2 is used for providing a working power supply for the radar detection part, the RTK slave station module receives an RTCM data stream sent by an RTK positioning data transmission link of the ground control part through an RTCM receiving module and solves the real-time position of the unmanned aerial vehicle by combining satellite information received by the RTK slave station module, the flight control CPU receives a flight control instruction of the ground control part through the flight control communication module B, and the combined attitude, height, position and surrounding obstacle state information of the unmanned aerial vehicle are obtained by combining an attitude sensor, an RTK slave station module and an obstacle avoidance sensor in real time.
4. The radar detection part of claim 1, comprising a transceiver antenna, a radar signal transceiver module, a radar data processing module, and a data buffer module, wherein the power circuit 2 provides operating power, and the radar detection part is characterized in that: the data cache module consists of an RAM type memory for temporarily storing intermediate data and a ROM type memory for storing an operation program, the radar data processing module comprises a DSP, an FPGA and a high-speed ADC, the radar signal transceiving module comprises an ultra-wideband radar signal transmitting unit, an ultra-wideband radar signal receiving unit and a single-pole double-throw switch S1, wherein the ultra-wideband radar signal transmitting unit consists of a PLL circuit with a VCO (voltage controlled oscillator), an ultra-wideband radar signal modulating circuit, a signal power amplifier and a coupling circuit, and the ultra-wideband radar signal receiving unit consists of a low-noise amplifying circuit, a frequency mixer, a band-pass filter and an intermediate frequency amplifying circuit; the data cache module is electrically connected with a DSP (digital signal processor) and an FPGA (field programmable gate array) of the radar data processing module, the DSP of the radar data processing module is connected with the detection communication module B through an SCI (serial interface) interface to realize the transmission of detection instructions and detection data with the ground control part, is connected with the flight control CPU through an SPI (serial peripheral interface) interface to realize the real-time acquisition of the position information of the unmanned aerial vehicle in the detection process, and is connected with the FPGA through a TSIP (short time internet protocol) interface to realize the emission control of ultra-wideband radar signals and the collection of received echoes; after receiving a detection instruction of a ground control part, a DSP acquires position information of an unmanned aerial vehicle in real time, controls a PLL circuit with a VCO to generate a UWB signal fundamental wave through an FPGA according to the detection instruction parameter, controls a UWB signal modulation circuit to generate a UWB transmitting signal with the detection instruction parameter requiring bandwidth and repetition frequency, controls a single-pole double-throw switch S1 to enable the UWB transmitting signal to be transmitted by a receiving-transmitting integrated antenna after passing through a signal power amplifier and a coupling circuit, immediately controls the single-pole double-throw switch S1 to a receiving state, converts a UWB echo signal of the receiving-transmitting integrated antenna into a digital signal through a low-noise amplification circuit, a mixer, a band-pass filter and a medium-frequency amplification circuit by a high-speed ADC, transmits the UWB echo digital signal to the DSP through a TSIP interface by the FPGA, performs RD imaging algorithm processing on the UWB echo data, and transmits a processing result to an upper computer of the ground control part for imaging through a detection communication module B, therefore, the detection and identification of the lightning field are realized.
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