CN115436906B - Method for improving accuracy of radar detection target position and wind field inversion information - Google Patents
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- 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
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- G01S13/95—Radar or analogous systems specially adapted for specific applications for meteorological use
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Abstract
The invention relates to a method for improving accuracy of radar detection target position and wind field inversion information, belonging to the technical field of radar detection and comprising the following steps: acquiring radar dip angle information; setting the radar elevation angle to be 0 degrees, performing at least two times of circular scanning, obtaining the maximum inclination angle value of the antenna in the axial direction, and recording the azimuth angle at the moment; correcting radar data through radar azimuth/elevation angle information and a radar scanning mode; correcting data in any radial and any scanning area or correcting all data in a circle of circumferential scanning according to the relative angle relation in any radial direction of the radar; and obtaining the real vector wind speed of the set height layer according to the relation of any radial relative angle of the radar. The method adopts the combination of the application mode of the tilt angle sensor on the meteorological radar and the software data correction algorithm, reduces the radar deployment difficulty and the deployment cost, and improves the radar operation index and the meteorological energy utilization efficiency.
Description
Technical Field
The invention relates to the technical field of radar detection, in particular to a method for improving accuracy of radar detection target position and wind field inversion information.
Background
The weather radar is one of the main detection tools for warning and forecasting medium and small scale weather systems (such as typhoon and rainstorm cloud systems), and has extremely important functions in sudden and disastrous monitoring, forecasting, alarming and figure operations. The detection accuracy directly influences the accuracy, timeliness, reliability and economy of weather forecast, early warning, weather scientific research and figure operation. The wind measuring radar is used in the fields of meteorological climate monitoring, weather detection, air pollution tracking, atmospheric research, wind energy utilization and the like. The accuracy of radar detection directly influences the accuracy of acquisition of wind speed and wind direction, and the accuracy, timeliness, reliability and wind energy utilization efficiency of meteorological climate monitoring, weather detection, air pollution tracking, atmospheric research can be directly influenced as a result. The detection accuracy of the meteorological radar and the anemometry radar is influenced by design indexes such as antenna beam width, servo positioning accuracy and radar wave band, and is also influenced by later-stage factors such as deployment environment and deployment mode. The detection accuracy of the design index after one radar is shaped is designed and shaped and cannot be changed, the index is a theoretical index, namely an optimal index, and the design index and the radar application side both provide nearly rigorous requirements on the erection position and the erection mode of the radar in order to ensure that the detection accuracy index of the radar is infinitely close to the theoretical index in the actual use process.
At present, the deployment modes of domestic fixed observation type meteorological radars are mainly divided into two modes of foundation type deployment and movable type deployment, and in order to guarantee the detection accuracy of the radar, 0 degree of a radar antenna and 0 degree of a horizontal plane are required to be infinitely approached when the radar is deployed. Aiming at the requirement, the radar deployed in a foundation type can build an infinite erection platform approaching to the horizontal plane in a radar deployment field, then the radar is erected on the platform, and manual 2-time calibration is carried out through a level gauge carried by the radar; the radar of portable deployment mainly approaches to the horizontal plane infinitely through controlling on-vehicle platform, then erects the radar on this platform, and the gradienter of rethread radar self-band carries out artificial 2 times calibration. In the mobile deployed meteorological radar, the leveling work is repeated for many times because the meteorological radar can change the observation site frequently.
According to the method, in order to guarantee the detection accuracy of the radar in the radar deployment process, a radar supplier and a radar application party adopt a plurality of measures, the measures achieve corresponding effects to a certain extent, but a plurality of external influence factors exist in the measures, so that the deployment cost and the deployment difficulty of the radar are increased, meanwhile, due to the existence of artificial sensory judgment conditions, the results are uncontrollable and uncertain, the unified standard cannot be achieved, and finally, the phenomenon that different personnel of the same type of radar deploy the same type of radar and the results are inconsistent occurs.
It is noted that the information disclosed in the above background section is only for enhancement of understanding of the background of the present disclosure and therefore may include information that does not constitute prior art that is already known to a person of ordinary skill in the art.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a method for improving the position of a radar detection target and the accuracy of wind field inversion information, and solves the problems that the current radar detection target and a real target have errors, the installation and erection difficulty is high, the installation and erection cost is high, and the vector wind speed synthesis of a wind detection radar is influenced by the accuracy of an erection plane.
The purpose of the invention is realized by the following technical scheme: a method for improving accuracy of radar detection target position and wind field inversion information, the method comprising:
s1, obtaining radar dip angle information;
s2, acquiring an initial correction position: setting the elevation angle of the radar to be 0 degrees, performing at least two times of circumferential scanning, obtaining the maximum inclination angle value of the antenna in the axial direction, and recording the azimuth angle at the moment, wherein the azimuth angle is the initial correction position;
s3, radar data correction: correcting radar data through radar azimuth/elevation angle information and a radar scanning mode;
s4, weather radar data correction: correcting data in any radial and any scanning area or correcting all data in a circle of circumferential scanning according to the relative angle relation in any radial direction of the radar;
s5, wind measuring radar data correction: and obtaining the real vector wind speed of the set height layer according to the relation of any radial relative angle of the radar.
The radar data correction step specifically comprises the following steps:
obtaining a relative relation between the azimuth/elevation angle information and the ground inclination angle information of the radar antenna;
acquiring a relative angle relation corresponding to any radial direction of the radar data according to the relative relation of the two and the scanning mode of the radar, and obtaining a real angle value of the radial data according to the relative angle relation;
and introducing the real angle value into a radar detection target position calculation formula to obtain accurate target position information and other detection information inverted by the target position.
The obtaining of the relative relationship between the azimuth/elevation angle information and the ground inclination angle information through the radar antenna comprises:
acquiring an included angle alpha between an actual erection plane and a theoretical erection plane of the radar through an inclination angle sensor, and performing circular scanning on the radar according to an angle alpha' set elevation angle;
obtaining the actually measured heights H ', H', the actually measured horizontal distances B ', B' of the radar at the moment, the corrected actual detection heights H, H and the actual horizontal distances B, B; h '= sin ≈ α · R, h = sin (≈ α + · α'). R, b '= cos · α · R, b = cos (· α + · α'). R; when alpha ' is less than alpha, H ' = sin alpha '. R, H = sin (< alpha >). R, B ' = cos alpha '. R, B = cos (< alpha >). R; when = < α, H = H '= sin ≈ α · R, B = B' = cos · α ·; when < α ', H = H ' = sin α '. R, B = B ' = cos α '. R; wherein, the axis c is a reference horizontal plane, the axis c' is an actual erection plane of the radar, and the axis R is a radial distance detected by the radar.
The method for acquiring the relative angle relation corresponding to the radar data in any radial direction according to the relative relation between the radar data and the scanning mode of the radar comprises the following steps:
when the radar scans in the range of 0-90 degrees or 180-270 degrees, formulas h = sin (° alpha +. Alpha '). Times R and b = cos (° alpha +. Alpha'). Times R are respectively converted into
And
；
when the radar scans within the range of 90-180 degrees or 270-0 degrees, formulas H = sin (. Alpha. -. Alpha.) and B = cos (. Alpha. -. Alpha.) R are respectively converted into
And
wherein n is the accumulated radial number of one cycle of radar scanning, k is the kth radial number which is more than or equal to 1 and less than or equal to
Is an integer of (1).
The weather radar data correction step specifically comprises the following steps:
by the formula
、
、
And
complete any radial and any scanning areaOr all data corrections of a circle scan;
data satisfying various radar installation conditions are corrected by the formulas H = H '= sin · α · R, B = B' = cos · α · R, H = H '= sin · α' · R, and B = B '= cos · α' · R.
The wind-measuring radar data correction step comprises the following steps: by the formula
、
、
And
and acquiring the real height and projection distance data influenced by the inclination angle, and substituting the actually acquired data into a wind measuring radar vector wind speed synthesis formula to obtain the real vector wind speed of the set height layer.
And in the step of acquiring the radar inclination angle information, the radar inclination angle is acquired through an inclination angle sensor, the inclination angle sensor is arranged in the radar antenna base, and a certain axis of the inclination angle sensor and the radar antenna are in the same horizontal plane for acquiring the inclination angle changes of the radar in the x axis direction and the y axis direction.
The invention has the following advantages: a method for improving accuracy of radar detection target position and wind field inversion information is characterized in that a novel application mode of an inclination angle sensor on a meteorological radar is combined with a software data correction algorithm, radar deployment difficulty and deployment cost are reduced, artificial external influence risks are eliminated, and radar operation indexes and meteorological energy utilization efficiency are improved.
Drawings
FIG. 1 is a schematic flow diagram of the process of the present invention;
FIG. 2 is a schematic diagram of a radar data correction process;
FIG. 3 is a schematic diagram of a plane inclination of a radar mounting;
FIG. 4 is a radar symmetry direction diagram in a single radial direction;
FIG. 5 is a counterclockwise circular scan of the radar;
FIG. 6 is a schematic diagram of wind detection in a wind detection radar DBS (Doppler beam sharpening) mode;
fig. 7 is an outline diagram of a wind measuring radar DBS mode.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the detailed description of the embodiments of the present application provided below in connection with the appended drawings is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application. The invention is further described below with reference to the accompanying drawings.
The invention particularly relates to a method for improving accuracy of radar detection target positions and wind field inversion information, which aims to improve detection accuracy of meteorological radars and anemometry radars and reduce detection errors.
The radar tilt angle sensor is mounted in a radar antenna base, an axis of the tilt angle sensor and the radar antenna point to be in the same horizontal plane and used for collecting radar tilt angle data, and the data acquisition card is located in a radar control system and used for collecting the radar tilt angle data collected by the tilt angle sensor.
The inclination angle sensor can acquire the angle changes of the x axis and the y axis in two axial directions, and the acquisition precision of the inclination angle sensor is better than 0.01 degrees. The sensor is arranged in a radar antenna base, and when the sensor is arranged, a certain axial line and the antenna point to 0 degree axial coincidence, so that the change of the inclination of the sensor in the axial direction can reflect the change of the inclination of the radar antenna in the axial direction.
As shown in fig. 1, the method steps of the software system specifically include the following:
s1, obtaining radar dip angle information;
s2, acquiring an initial correction position: setting the elevation angle of the radar to be 0 degree, performing at least two times of circular scanning (the more scanning times, the higher the data accuracy obtained), obtaining the maximum inclination angle value of the antenna in the axial direction, and recording the azimuth angle at the moment, wherein the azimuth angle is an initial correction position, and the position can be corrected in real time in the actual operation process of the radar;
s3, radar data correction: correcting radar data through radar azimuth/elevation angle information and a radar scanning mode;
s4, weather radar data correction: correcting data in any radial and any scanning area or correcting all data in a circle of circumferential scanning according to the relative angle relation in any radial direction of the radar;
s5, wind measuring radar data correction: and obtaining the real vector wind speed of a set height layer according to the relation of any radial relative angle of the radar.
Further, as shown in fig. 2, the radar data correction step specifically includes:
obtaining the relative relation between the azimuth/elevation angle information of the radar antenna and the ground inclination angle information;
acquiring a relative angle relation corresponding to any radial direction of the radar data according to the relative relation of the two and the scanning mode of the radar, and obtaining a real angle value of the radial data according to the relative angle relation;
and introducing the real angle value into a radar detection target position calculation formula to obtain accurate target position information and other detection information inverted by the target position.
The invention can not only realize the target position correction of radar real-time detection and other detection information correction reflected by the target position, but also realize the historical target position correction detected by the radar and other detection information correction reflected by the target position, and the realization mechanism is that the real angle information of the radial data is used for replacing the angle in the historical radial data, and the subsequent operation is consistent with the real-time correction.
Further, as shown in fig. 3 and 4, obtaining the relative relationship between the azimuth/elevation angle information of the radar antenna and the ground tilt angle information includes:
acquiring an included angle alpha between an actual erection plane and a theoretical erection plane of the radar through an inclination angle sensor, and performing circular scanning on the radar according to an angle alpha' set elevation angle;
obtaining the actually measured heights H ', H', the actually measured horizontal distances B ', B' of the radar at the moment, and the corrected real detection heights H, H and the real horizontal distances B, B; h '= sin · α · R, h = sin (· α + · α'). Lr, b '= cos · α · R, b = cos (· α + · α'). R; when < α ' > < α, H ' = sin < α ' > R, H = sin (< α ' -) R, B ' = cos α ' > R, B = cos (< α ' -) R; when = < α, H = H '= sin ≈ α · R, B = B' = cos · α ·; when < α ', H = H ' = sin α '. R, B = B ' = cos α '. R; wherein, the axis c is a reference horizontal plane, the axis c' is an actual erection plane of the radar, and the axis R is a radial distance detected by the radar.
According to the calculation formula, when the erection plane error of the radar is larger and the detection distance is farther, the error of the measured target height information and the measured horizontal distance information is larger. Similarly, the error of the inverted information according to the height and the horizontal distance can be synchronously increased.
Further, as shown in fig. 5, obtaining a relative angle relationship corresponding to any radial direction of the radar data according to the relative relationship between the two and the scanning mode of the radar includes:
when the radar carries out circumferential scanning, the inclination angle alpha changes regularly along with the change of the scanning angle, and when the radar carries out scanning within the range of 0-90 degrees or 180-270 degrees, the formulas h = sin (& lt alpha & gtalpha ')/R and b = cos (& lt alpha & gtalpha')/R are respectively converted into
And
；
when the radar scans within the range of 90-180 degrees or 270-0 degrees, formulas H = sin (. Alpha. -. Alpha.) and B = cos (. Alpha. -. Alpha.) R are respectively converted into
And
wherein n is the accumulated radial number of one cycle of radar scanning, k is the kth radial number, and the value is more than or equal to 1 and less than or equal to
The k value is reset every 90 ° (the calculated value is reset without changing the true radial number).
Further, the weather radar data correction step specifically comprises:
by the formula
、
、
And
finishing data correction of any radial and any scanning area or all data correction of a circle of circumferential scanning;
the data correction requirements under various radar erection conditions can be met by the formulas H = H '= sin · α · R, B = B' = cos · α · R, H = H '= sin · α' · R, and B = B '= cos · α' · R.
Further, as shown in fig. 6, the vector wind speeds u, v, and w of the wind-measuring radar are estimated from five independent radial speeds of vertical headspace, east tilt, north tilt, west tilt, and south tilt, as shown in fig. 7, when the wind-measuring radar is erected on an erection surface of an east-west tilt, and when the radar scans at a set elevation angle of ═ α', the change relationship of the position information is consistent with that shown in fig. 4, and it can be known from fig. 6 that the vector wind speed of the wind-measuring radar cannot be correctly obtained due to the change of the position information.
The wind measuring radar data correction step comprises the following steps: by the formula
、
、
And
and acquiring the real height and projection distance data influenced by the inclination angle, and substituting the actually acquired data into a wind measuring radar vector wind speed synthesis formula to obtain the real vector wind speed of the set height layer.
The foregoing is illustrative of the preferred embodiments of this invention, and it is to be understood that the invention is not limited to the precise form disclosed herein and that various other combinations, modifications, and environments may be resorted to, falling within the scope of the concept as disclosed herein, either as described above or as apparent to those skilled in the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (4)
1. A method for improving accuracy of radar detection target position and wind field inversion information is characterized by comprising the following steps: the method comprises the following steps:
s1, obtaining radar dip angle information;
s2, acquiring an initial correction position: setting the radar elevation angle to be 0 degrees, performing at least two times of circular scanning, obtaining the maximum inclination angle value of the antenna in the axial direction, and recording the azimuth angle at the moment, wherein the azimuth angle is the initial correction position;
s3, radar data correction: correcting radar data through radar azimuth/elevation angle information and a radar scanning mode;
s4, weather radar data correction: correcting data in any radial and any scanning area or correcting all data in a circle of circumferential scanning according to the relative angle relation in any radial direction of the radar;
s5, wind measuring radar data correction: obtaining the real vector wind speed of a set height layer according to the relation of any radial relative angle of the radar;
the radar data correction step specifically comprises:
obtaining the relative relation between the azimuth/elevation angle information of the radar antenna and the ground inclination angle information;
acquiring a relative angle relation corresponding to any radial direction of the radar data according to the relative relation of the two and the scanning mode of the radar, and obtaining a real angle value of the radial data according to the relative angle relation;
introducing the real angle value into a radar detection target position calculation formula to obtain accurate target position information and other detection information inverted by the target position;
the obtaining of the relative relationship between the azimuth/elevation angle information and the ground inclination angle information through the radar antenna comprises the following steps:
acquiring an included angle alpha between an actual erection plane and a theoretical erection plane of the radar through an inclination angle sensor, and performing circumferential scanning on the radar according to a set elevation angle of alpha';
obtaining the actually measured heights H ', H', the actually measured horizontal distances B ', B' of the radar at the moment, and the corrected real detection heights H, H and the real horizontal distances B, B; h '= sin · α · R, h = sin (· α + · α'). Lr, b '= cos · α · R, b = cos (· α + · α'). R; when < α ' > < α, H ' = sin < α ' > R, H = sin (< α ' -) R, B ' = cos α ' > R, B = cos (< α ' -) R; when = < alpha >, H = H '= sin < alpha > R, B = B' = cos < alpha > R; when < α ', H = H ' = sin α '. R, B = B ' = cos α '. R; wherein, R is the radial distance detected by the radar;
when the radar scans in the range of 0-90 degrees or 180-270 degrees, formulas h = sin (° alpha +. Alpha '). Times R and b = cos (° alpha +. Alpha'). Times R are respectively converted into
And
；
when the radar scans in the range of 90-180 degrees or 270-0 degrees, formulas H = sin (& lt alpha '-alpha & gtR) and B = cos (& lt alpha' -alpha) R are respectively converted into
And
wherein n is the accumulated radial number of one cycle of radar scanning, k is the kth radial number, and the value is more than or equal to 1 and less than or equal to
Is an integer of (1).
2. The method for improving the accuracy of the radar detection target position and the wind field inversion information according to claim 1, wherein the method comprises the following steps: the weather radar data correction step specifically comprises the following steps:
by the formula
、
、
And
finishing data correction of any radial and any scanning area or all data correction of a circle of circumferential scanning;
data satisfying various radar installation conditions are corrected by formulas H = H '= sin α · R, B = B' = cos α · R, H = H '= sin α' · R, and B = B '= cos α' · R.
3. The method for improving the accuracy of the radar detection target position and the wind field inversion information according to claim 1, wherein the method comprises the following steps: the wind measuring radar data correction step comprises the following steps: by the formula
、
、
And
acquiring real height and projection distance data influenced by the inclination angle, and substituting the real acquired data into a vector wind speed synthesis formula of the wind measuring radar
,
,
Beta represents a zenith angle, and the real vector wind speed of a set height layer is obtained, wherein u represents the vector wind speed in the east-west direction in the laser radar inversion, v represents the vector wind speed in the north-south direction in the laser radar inversion, and w represents the vector wind speed in the vertical opposite direction in the laser radar inversion.
4. The method for improving the accuracy of the radar detection target position and the wind field inversion information according to any one of claims 1 to 3, wherein the method comprises the following steps: and in the step of acquiring the radar inclination angle information, the radar inclination angle is acquired through an inclination angle sensor, the inclination angle sensor is installed in a radar antenna base, and a certain axis of the inclination angle sensor and the radar antenna are in the same horizontal plane in the direction, so that the inclination angle sensor is used for acquiring the inclination angle changes of the radar in the x axis and the y axis in the two axial directions.
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