CN116068560A - Marine evaporation waveguide floating type detection system and method based on radar sea clutter - Google Patents
Marine evaporation waveguide floating type detection system and method based on radar sea clutter Download PDFInfo
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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
- G01S13/95—Radar or analogous systems specially adapted for specific applications for meteorological use
- G01S13/956—Radar or analogous systems specially adapted for specific applications for meteorological use mounted on ship or other platform
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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
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Abstract
The invention relates to the field of marine evaporation waveguide detection, and particularly discloses a radar sea clutter-based marine evaporation waveguide floating type detection system and a radar sea clutter-based marine evaporation waveguide floating type detection method. The detection method comprises the steps of obtaining observation data, carrying out simulation calculation on radar sea clutter signal power, determining an objective function based on inversion theory and algorithm, and inverting evaporation waveguide parameters; and (5) data transmission. The detection system and the detection method disclosed by the invention can improve the inversion precision of the parameters of the evaporation waveguide, simultaneously, a plurality of systems are deployed in a designated area, the detection of the area non-uniform evaporation waveguide can be realized, and the detection system and the detection method have important significance for researching the propagation environment of the electromagnetic wave at sea and improving the use energy efficiency of a radar system.
Description
Technical Field
The invention relates to the field of marine evaporation waveguide detection, in particular to a radar sea clutter-based marine evaporation waveguide floating type detection system and method.
Background
When the air humidity of the sea interface is drastically reduced with the increase of the altitude, an abnormal change of the refractive index profile of the atmosphere at the bottom layer of the sea interface (the altitude is generally lower than 40 m) is caused, so that the characteristics of propagation track and propagation attenuation of electromagnetic waves are changed, and thus, the performance of various radio systems such as radars working therein is abnormal, the atmosphere of the layer is called an evaporation waveguide, and the refractive index profile of the atmosphere of the layer is generally called an evaporation waveguide profile 15, as shown in fig. 3. The evaporation waveguide is one of the most core and most important parameters for the detection of the marine electric wave environment and the research of the electric wave propagation characteristics, and has extremely important significance and application value for a plurality of important fields such as electric wave refraction correction, marine beyond-the-horizon communication, radio system efficiency evaluation, satellite remote sensing calibration and the like.
In an actual marine environment, due to different environmental conditions and changing characteristics of different sea areas, when the positions of two points on the sea are larger than a certain distance (about 20 km), the marine evaporation waveguides are obviously different, namely the marine evaporation waveguides are non-uniform in area, and the influence characteristics on various radio systems such as radars are obviously different from the influence characteristics under the horizontal uniform evaporation waveguide environment. Therefore, detection of the area non-uniform evaporation waveguide has important practical significance for accurately predicting electromagnetic wave propagation characteristics and improving the working efficiency of radio systems such as radars.
Currently, the detection method of the evaporation waveguide mainly comprises a direct observation method, a theoretical model calculation method, a numerical weather forecast method and the like. However, these means have the limitations of high cost, complex operation, large weather influence, difficult long-term unmanned observation, low precision, difficult regional observation and the like to different degrees, and are difficult to meet the normalized observation requirements of large region, high precision, real-time and long-term stability of the marine evaporation waveguide.
Disclosure of Invention
In order to solve the technical problems, the invention provides a radar sea clutter-based marine evaporation waveguide floating detection system and a radar sea clutter-based marine evaporation waveguide floating detection method, so as to achieve the purpose of accurately and effectively obtaining on-site, real-time and continuous evaporation waveguide parameters of buoy placement positions in a marine environment.
In order to achieve the above purpose, the technical scheme of the invention is as follows:
the floating type detection system of the marine evaporation waveguide based on the radar sea clutter comprises a buoy platform, wherein the buoy platform comprises a floating body and a mast positioned at the upper part of the floating body, a microwave radar module and a meteorological hydrologic observation module are respectively arranged at the upper end and the middle part of the mast, and a motion gesture measurement module, a data acquisition control module, a data compensation correction module, an evaporation waveguide inversion processing module, a data transmission module and a power supply module are arranged in the floating body; the microwave radar module, the meteorological hydrologic observation module and the motion gesture measurement module are respectively connected with the data acquisition control module, the data acquisition control module is connected with the data compensation and correction module, the data compensation and correction module is connected with the evaporation waveguide inversion processing module, and the evaporation waveguide inversion processing module is connected with the data transmission module and is transmitted to the shore-based data receiving and processing center in a satellite communication mode; the power supply module provides the whole detection system with the required electric energy.
A radar sea clutter based floating detection method for a sea evaporation waveguide adopts the floating detection system for the sea evaporation waveguide based on the radar sea clutter, and comprises the following steps:
step one, obtaining observation data: acquiring meteorological hydrological parameters by adopting a data acquisition control module; meanwhile, the radar actual measurement sea clutter signal power at different antenna heights and different wave bands is obtained by utilizing floating of the buoy up and down, shaking of the buoy left and right and multi-wave band rapid switching of the microwave radar, and compensation correction is carried out on the radar actual measurement sea clutter signal power data according to the gesture parameters obtained by the data acquisition control module, so that accurate radar sea clutter signal power is obtained;
step two, radar sea clutter signal power simulation calculation: setting an initial evaporation waveguide parameter vector according to observed weather hydrologic parameters, and according to the acquired antenna height and radar sea clutter signal frequency parameters, adopting a parabolic equation and a radar equation to simulate and calculate radar sea clutter signal power of different antenna heights and different wave bands to obtain the simulated and calculated radar sea clutter signal power of different antenna heights and different wave bands;
step three, evaporating waveguide parameter inversion: determining an objective function and inverting the evaporation waveguide parameter based on an inversion theory and algorithm according to the radar sea clutter signal power actually measured in the first step and the radar sea clutter signal power calculated in the second step;
step four, data transmission: and transmitting the observation data and the inversion result to an onshore data center through a data transmission module.
In the above scheme, in the first step, the weather hydrographic observation module includes a temperature and humidity sensor, an air pressure sensor, a wind speed and direction sensor, an infrared temperature sensor, and a wave parameter sensor; the meteorological hydrologic parameters comprise temperature, relative humidity, air pressure, wind speed, wind direction, sea surface temperature, pitching, rolling, heaving, longitude and latitude, wave height, wave direction and wave period.
In the above scheme, in the first step, the floating up-down distance of the floating body obtained by the motion gesture measurement module is used for determining the real-time height of the antenna from the water surface, and the data acquisition control module is used for obtaining the heights of different antennas by utilizing the multi-band rapid switching characteristic of the radar
Different frequencies->
Time radar actual measurement sea clutter power data
, wherein ,/>
For a horizontal distance from the radar transmitting antenna,
for evaporating the waveguide parameter vector, n is the number of antenna height values and m is the number of radar frequency values.
In the above scheme, in the second step, the evaporation waveguide height is set
Evaporation waveguide parameter vector as characteristic parameter>
The following formula is shown:
wherein ,
for height +.>
To evaporate the height of the waveguide bottom layer, a value of 1.5X10 is taken -4 m，/>
For>
The atmospheric refractive index at that point is typically 370.
In the scheme, in the second step, the height of the evaporation waveguide is determined according to the priori information
Randomly acquiring a group of evaporation waveguide parameter vectors M by adopting a formula (1), and calculating different antenna heights +_in by using a formula (2) in a simulation manner>
Different radar frequencies->
Radar sea clutter signal power at time +.>
；
wherein ,
the unit is km, which is the horizontal distance between the sea surface and the radar antenna; />
Is the sea clutter scattering coefficient; />
For a constant term related to radar parameters and ground wiping angle, the unit is dB, and the constant term is calculated according to a formula (3);
in the formula (3),
is radar transmitting power, the unit is dB; />
and />
The unit is dB, which is the transmitting gain and the receiving gain of the radar antenna respectively; />
Is the wavelength of electromagnetic waves, the unit is m; />
Is the radar antenna horizontal lobe width in rad; />
Taking the light velocity as the propagation velocity of electromagnetic waves, wherein the unit is m/s;/>
the pulse width of the radar sea clutter signal is s;
in the formula (4) of the present invention,
the unit is MHz for radar sea clutter signal frequency; />
The propagation factor is the parameters of antenna height, radar sea clutter signal frequency, distance and evaporation waveguide, and the unit is V/m.
In the above scheme, in the third step, based on the radar multiband fast switching characteristic and the buoy floating characteristic, the radar sea clutter signal power is obtained as follows
Is a power vector matrix of (1), namely:
wherein T represents a matrix transpose;
order the
and />
Respectively representing the actually measured power vector and the simulation calculated power vector, letting the objective function vector +.>
The degree of coincidence between the actually measured power vector and the simulation calculated power vector is evaluated, and then:
thereby converting the evaporation waveguide inversion problem into a minimum value problem of multi-objective optimization, and expressing the corresponding mathematical model as:
wherein ,
，/>
，/>
，/>
and />
Respectively->
and />
Is the average value of +.>
The function of normalization factor is provided, namely the objective function has normalization function; r is a constraint set, and the R is a constraint set,
a constraint vector for the evaporation waveguide parameter vector M, the height h and the frequency f;
the number of determined objective functions being the product of the number of antenna height values and the number of radar frequency values, i.e
Each of which is calculated according to equation (7), namely:
in the above scheme, in the third step, the inversion method of the multi-objective function includes a multi-objective optimized genetic algorithm based on a rapid non-dominant ordering algorithm with elite strategy, a differential evolution algorithm, a simulated annealing method, an ant colony algorithm, a particle swarm algorithm and a machine learning algorithm.
In the scheme, in the third step, the multi-objective function inversion problem is converted into a single-objective function inversion problem, a single-objective method based on a least square criterion is adopted for rapid inversion, and an objective function vector is obtained
Labeling as shown in formula (8);
in the scheme, in the fourth step, the data transmission module performs unified coding on the radar sea clutter signal power, the weather hydrological parameters, the attitude and position parameters obtained in the first step, and sends the inversion result obtained in the third step to the shore-based data receiving and processing center through the communication antenna.
Through the technical scheme, the offshore evaporation waveguide floating type detection system and method based on radar sea clutter provided by the invention have the following beneficial effects:
according to the marine evaporation waveguide floating type detection system based on the radar sea clutter, a buoy platform is combined with a radar, radar observation is expanded to the field of marine meteorological observation, the up-down floating characteristic of the buoy and the multi-band rapid switching characteristic of the radar are fully utilized, the input observation data quantity of an inversion algorithm is enriched, and the on-site, real-time and continuous evaporation waveguide parameters of the buoy arrangement position in the marine environment can be accurately and effectively obtained.
The invention has the characteristics of low cost, small volume, easy arrangement, convenient networking and the like, and can realize real-time and on-site observation of the non-uniform evaporation waveguide in different areas by simultaneously arranging a plurality of floating detection systems in different areas, thereby providing an effective detection means for researching the change mechanism and the evolution characteristic of the large-scale evaporation waveguide at sea, filling the blank of long-term, automatic and unmanned observation of the evaporation waveguide at sea, and having important significance for researching the propagation environment of electromagnetic waves at sea and improving the use energy efficiency of a radio system.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below.
FIG. 1 is a schematic diagram of a floating detection system of an offshore evaporation waveguide based on radar sea clutter according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the relationship of the modules in the detection system;
FIG. 3 is a schematic diagram of detection according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a floating detection method of an offshore evaporation waveguide based on radar sea clutter according to an embodiment of the present invention;
fig. 5 is a schematic flow chart of a detection method according to an embodiment of the present invention.
In the figure, 1, a buoy platform; 11. a floating body; 12. a mast; 2. a microwave radar module; 3. a meteorological hydrologic observation module; 4. a motion gesture measurement module; 5. a data acquisition control module; 6. a data compensation and correction module; 7. an evaporation waveguide inversion processing module; 8. a data transmission module; 9. a power supply module; 10. radar sea clutter signals; 13. a communication satellite; 14. a shore-based data receiving and processing center; 15. evaporating the waveguide profile.
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.
The invention provides a radar sea clutter based marine evaporation waveguide floating type detection system, which is shown in fig. 1, and comprises a buoy platform 1, wherein the buoy platform 1 comprises a buoy 11 and a mast 12 positioned at the upper part of the buoy 11, a microwave radar module 2 and a meteorological hydrologic observation module 3 are respectively arranged at the upper end and the middle part of the mast 12, and a motion gesture measurement module 4, a data acquisition control module 5, a data compensation correction module 6, an evaporation waveguide inversion processing module 7, a data transmission module 8 and a power supply module 9 are arranged in the buoy 11.
As shown in fig. 2, the microwave radar module 2, the weather-hydrologic observation module 3 and the motion gesture measurement module 4 are respectively connected with the data acquisition control module 5, the data acquisition control module 5 is connected with the data compensation and correction module 6, the data compensation and correction module 6 is connected with the evaporation waveguide inversion processing module 7, and the evaporation waveguide inversion processing module 7 is connected with the data transmission module 8 and is transmitted to the shore-based data receiving and processing center 14 in a satellite communication mode; the power supply module 9 supplies the entire detection system with the required electrical energy.
As shown in fig. 3, the buoy platform 1 is used for installing a microwave radar module 2, a meteorological hydrological observation module 3, a motion gesture measurement module 4, a data acquisition control module 5, a data compensation correction module 6, an evaporation waveguide inversion processing module 7, a data transmission module 8 and a power supply module 9.
The microwave radar module 2 is used for transmitting electromagnetic wave signals in multiple frequency bands and receiving signals scattered back from the sea surface, and the power of radar sea clutter signals 10 in different heights and different frequency bands and different distances is obtained by utilizing the characteristic that the buoy platform 1 floats up and down and left and right and the multiband fast switching characteristic of the microwave radar module 2.
The meteorological hydrologic observation module 3 is used for observing meteorological hydrologic parameters such as temperature, relative humidity, air pressure, wind speed and direction, sea surface temperature and sea wave and the like of the near sea surface, and provides necessary meteorological hydrologic data for evaporation waveguide inversion.
The motion gesture measurement module 4 is configured to measure motion characteristics of the buoy platform 1, including gesture parameters such as pitch, roll, heave, heading, and the like, latitude and longitude parameters, and coordinated universal time (UTC time), and is configured to compensate and correct errors generated by observing the radar sea clutter signal 10 due to gesture motion of the buoy 11.
The data acquisition control module 5 is connected with the microwave radar module 2, the weather hydrologic observation module 3 and the motion attitude measurement module 4 to acquire radar sea clutter signal 10 power, weather hydrologic parameters, floating body 11 attitude parameters and position parameters, and stores the parameters according to a uniform format to provide input parameters for evaporation waveguide inversion.
The data compensation and correction module 6 analyzes the buoy motion characteristics and the influence on the observation of the radar sea clutter signals 10 according to the attitude parameters such as pitching, rolling, rising and falling of the floating body 11 and the power data of the radar sea clutter signals 10 output by the data acquisition control module 5, performs error compensation and correction on the radar observed sea clutter signals 10, and improves the observation accuracy of the power of the radar sea clutter signals 10.
The evaporation waveguide inversion processing module 7 inverts the evaporation waveguide parameters based on a parabolic equation algorithm and an inversion algorithm according to the meteorological hydrological parameters and the power parameters of the radar sea clutter signals 10 acquired by the data compensation and correction module 6.
The data transmission module 8 is configured to uniformly encode parameters such as the meteorological hydrologic parameter, the attitude parameter, the radar sea clutter signal 10 power, the inversion result of the evaporation waveguide section 15, and the power supply current of the system acquired by the above modules, and send the parameters to the shore-based data receiving and processing center 14 through a satellite communication manner.
The power supply module 9 is used for providing the electric energy necessary for the operation of the modules, and comprises a storage battery, a solar panel, a wind driven generator and a fuel cell, wherein the solar panel, the wind driven generator and the fuel cell can be flexibly configured according to actual working requirements.
An offshore evaporation waveguide floating detection method based on radar sea clutter adopts the above offshore evaporation waveguide floating detection system based on radar sea clutter, as shown in fig. 4 and 5, and comprises the following steps:
step one, obtaining observation data: acquiring meteorological hydrological parameters by adopting a data acquisition control module 5; meanwhile, the radar actual measurement sea clutter signal 10 power at different antenna heights and different wave bands is obtained by utilizing floating of the buoy up and down, shaking of the buoy left and right and multi-wave band rapid switching of the microwave radar, and compensation and correction are carried out on the radar actual measurement sea clutter signal 10 power data according to the gesture parameters obtained by the data acquisition control module 5, so that the accurate radar sea clutter signal 10 power is obtained.
The buoy platform 1 is provided with a multiband microwave radar, a temperature and humidity sensor, an air pressure sensor, a wind speed and direction sensor, an infrared temperature sensor, a wave parameter sensor, an attitude sensor and a GPS device, and a data acquisition unit is adopted to acquire meteorological hydrologic observation data such as temperature, relative humidity, air pressure, wind speed, wind direction, sea surface temperature, pitching, rolling, heaving, longitude and latitude, wave height, wave direction, wave period and the like.
The real-time height of the antenna from the water surface is determined by utilizing the floating distance of the floating body 11, which is obtained by the motion gesture measuring module 4, and the heights of different antennas are obtained by utilizing the radar multiband fast switching characteristic and the data acquisition control module 5
Different frequencies->
Time radar actual measurement sea clutter power data
, wherein ,/>
For a horizontal distance from the radar transmitting antenna,
for evaporating the waveguide parameter vector, n is the number of antenna height values and m is the number of radar frequency values.
Step two, power simulation calculation of the radar sea clutter signal 10: and setting an initial evaporation waveguide parameter vector according to the observed meteorological hydrological parameters, and according to the acquired antenna height and radar sea clutter signal 10 frequency parameters, adopting a parabolic equation and a radar equation to simulate and calculate the radar sea clutter signal 10 power of different antenna heights and different wave bands to obtain the simulated and calculated radar sea clutter signal 10 power of different antenna heights and different wave bands.
Setting the height of the evaporation waveguide
Evaporation waveguide parameter vector as characteristic parameter>
The following formula is shown:
wherein ,
for height +.>
To evaporate the height of the waveguide bottom layer, a value of 1.5X10 is taken -4 m，/>
For>
The atmospheric refractive index at that point is typically 370.
Determining evaporation waveguide height from a priori information
Is used for the value range of the (a),randomly acquiring a group of evaporation waveguide parameter vectors M by adopting a formula (1), and calculating different antenna heights by using a formula (2) in a simulation manner>
Different radar frequencies->
Radar sea clutter signal power at time +.>
；
wherein ,
the unit is km, which is the horizontal distance between the sea surface and the radar antenna; />
Is the sea clutter scattering coefficient; the method can adopt the models of an Adjusted Barton model, an Adjusted Morchin model, a GIT and the like for calculation, and can also be obtained by electromagnetic scattering calculation methods such as a kirchhoff approximation method, a small slope approximation method, a moment method and the like; />
The unit is dB, and the constant items related to radar parameters such as radar transmitting power, antenna gain, antenna pattern and the like are calculated according to a formula (3);
in the formula (3),
is radar transmitting power, the unit is dB; />
and />
The unit is dB, which is the transmitting gain and the receiving gain of the radar antenna respectively; />
Is the wavelength of electromagnetic waves, the unit is m; />
Is the radar antenna horizontal lobe width in rad; />
Taking the light velocity as the propagation velocity of electromagnetic waves, wherein the unit is m/s; />
The pulse width of the radar sea clutter signal is s;
in the formula (4) of the present invention,
the unit is MHz for radar sea clutter signal frequency; />
The propagation factor is the parameters of antenna height, radar sea clutter signal frequency, distance and evaporation waveguide, and the unit is V/m.
Step three, evaporating waveguide parameter inversion: and determining an objective function and inverting the evaporation waveguide parameters based on inversion theory and algorithm according to the actual measured radar sea clutter signal 10 power in the step one and the radar sea clutter signal 10 power calculated in the step two.
Based on radar multiband fast switching characteristic and buoy floating characteristic, acquiring power of radar sea clutter signal 10 as
Is a power vector matrix of (1), namely:
wherein T represents a matrix transpose;
order the
and />
Respectively representing the actually measured power vector and the simulation calculated power vector, letting the objective function vector +.>
The degree of coincidence between the actually measured power vector and the simulation calculated power vector is evaluated, and then:
thereby converting the evaporation waveguide inversion problem into a minimum value problem of multi-objective optimization, and expressing the corresponding mathematical model as:
wherein ,
，/>
，/>
，/>
and />
Respectively->
and />
Is the average value of +.>
The function of normalization factor is provided, namely the objective function has normalization function; r is a constraint set, and the R is a constraint set,
a constraint vector for the evaporation waveguide parameter vector M, the height h and the frequency f; the range of the evaporation waveguide parameter vector can be determined by adopting historical meteorological data and statistical data so as to improve the optimization speed of the inversion algorithm and ensure the rationality of the solution.
The number of objective functions designed by the invention is the product of the number of antenna height values and the number of radar frequency values, namely
Each of which is calculated according to equation (7), namely: />
In order to obtain an effective optimal solution of the multi-objective function, a multi-objective optimized genetic algorithm (NSGA-II), a differential evolution algorithm, a simulated annealing method, an ant colony algorithm, a particle swarm algorithm, a machine learning algorithm and the like based on a rapid non-dominant sorting algorithm with elite strategy can be adopted, but are not limited to the method, so that the solving efficiency and the precision of the multi-objective function are improved.
Taking NSGA-II algorithm as an example, setting a population scale of 50, iteration times of 40, the number of objective functions of n x m and dimensions of 30, and obtaining an optimal solution through iterative optimization.
The invention also supports the rapid inversion by adopting a single-target method, and can adopt methods based on least square criterion and the like to vector the target function
And (3) scaling, namely, a formula (8), at the moment, converting the multi-objective function inversion problem into a single-objective function inversion problem, and improving the calculation efficiency.
Step four, data transmission: the data transmission module 8 performs unified coding on the radar sea clutter signal 10 power, the weather hydrological parameters, the attitude and position parameters and the inversion result obtained in the third step, and sends the radar sea clutter signal 10 power, the weather hydrological parameters, the attitude and position parameters and the inversion result to the shore-based data receiving and processing center 14 through Beidou communication, communication satellite 13 communication, 4G/5G communication, radio station and other wireless communication modes.
The invention has the characteristics of low cost, small volume, easy arrangement, convenient networking and the like, and can realize real-time and on-site observation of the regional non-uniform evaporation waveguide through networking of a plurality of devices. By utilizing the device and the monitoring method, the detection data in the far sea area can be greatly enriched, the detection range and the space-time resolution of the evaporation waveguide can be expanded, the blank of regional field observation of the evaporation waveguide at sea can be filled, and the device and the method have important significance for researching the propagation environment of electromagnetic waves at sea and improving the use energy efficiency of a radio system.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. The marine evaporation waveguide floating type detection system based on radar sea clutter is characterized by comprising a buoy platform, wherein the buoy platform comprises a floating body and a mast positioned at the upper part of the floating body, a microwave radar module and a meteorological hydrologic observation module are arranged at the top of the mast, and a motion gesture measurement module, a data acquisition control module, a data compensation correction module, an evaporation waveguide inversion processing module, a data transmission module and a power supply module are arranged in the floating body; the microwave radar module, the meteorological hydrologic observation module and the motion gesture measurement module are respectively connected with the data acquisition control module, the data acquisition control module is connected with the data compensation and correction module, the data compensation and correction module is connected with the evaporation waveguide inversion processing module, and the evaporation waveguide inversion processing module is connected with the data transmission module and is transmitted to the shore-based data receiving and processing center in a satellite communication mode; the power supply module provides the whole detection system with the required electric energy.
2. An offshore evaporation waveguide floating detection method based on radar sea clutter, which adopts the offshore evaporation waveguide floating detection system based on radar sea clutter as claimed in claim 1, and is characterized by comprising the following steps:
step one, obtaining observation data: acquiring meteorological hydrological parameters by adopting a data acquisition control module; meanwhile, the radar actual measurement sea clutter signal power at different antenna heights and different wave bands is obtained by utilizing floating of the buoy up and down, shaking of the buoy left and right and multi-wave band rapid switching of the microwave radar, and compensation correction is carried out on the radar actual measurement sea clutter signal power data according to the gesture parameters obtained by the data acquisition control module, so that accurate radar sea clutter signal power is obtained;
step two, radar sea clutter signal power simulation calculation: setting an initial evaporation waveguide parameter vector according to observed weather hydrologic parameters, and according to the acquired antenna height and radar sea clutter signal frequency parameters, adopting a parabolic equation and a radar equation to simulate and calculate radar sea clutter signal power of different antenna heights and different wave bands to obtain the simulated and calculated radar sea clutter signal power of different antenna heights and different wave bands;
step three, evaporating waveguide parameter inversion: determining an objective function and inverting the evaporation waveguide parameter based on an inversion theory and algorithm according to the radar sea clutter signal power actually measured in the first step and the radar sea clutter signal power calculated in the second step;
step four, data transmission: and transmitting the observation data and the inversion result to an onshore data center through a data transmission module.
3. The method for detecting the floating type of the marine evaporation waveguide based on the radar sea clutter according to claim 2, wherein in the first step, the weather-hydrologic observation module comprises a temperature and humidity sensor, an air pressure sensor, a wind speed and direction sensor, an infrared temperature sensor and a wave parameter sensor; the meteorological hydrologic parameters comprise temperature, relative humidity, air pressure, wind speed, wind direction, sea surface temperature, pitching, rolling, heaving, longitude and latitude, wave height, wave direction and wave period.
4. The method for detecting the floating type of the marine evaporation waveguide based on the radar sea clutter according to claim 2, wherein in the first step, the floating distance of the floating body obtained by the motion gesture measuring module is utilized to determine the real-time height of the antenna from the water surface, the radar multiband fast switching characteristic is utilized, and the data acquisition control module is utilized to obtain the height of different antennas
Different frequencies->
When (1)Actual measurement of sea clutter power data by radar
Wherein r is the horizontal distance from the radar transmitting antenna, M is the evaporation waveguide parameter vector, n is the number of antenna height values, and M is the number of radar frequency values.
5. The method for floating detection of marine evaporation waveguide based on radar sea clutter as claimed in claim 2, wherein in the second step, the evaporation waveguide height is set to be used
Evaporation waveguide parameter vector as characteristic parameter>
The following formula is shown:
wherein z is the height, z 0 To evaporate the height of the waveguide bottom layer, a value of 1.5X10 is taken -4 m，
To be away from sea surface z 0 The atmospheric refractive index at that point is typically 370.
6. The method for floating detection of a marine evaporation waveguide based on radar sea clutter as claimed in claim 2, wherein in the second step, the evaporation waveguide height is determined based on a priori information
Randomly acquiring a group of evaporation waveguide parameter vectors M by adopting a formula (1), and calculating different antenna heights +_in by using a formula (2) in a simulation manner>
Different radar frequencies
Radar sea clutter signal power at time +.>
；
Wherein r is the horizontal distance between the sea surface and the radar antenna, and the unit is km;
is the sea clutter scattering coefficient; />
For a constant term related to radar parameters and ground wiping angle, the unit is dB, and the constant term is calculated according to a formula (3);
in the formula (3),
is radar transmitting power, the unit is dB; />
and />
The unit is dB, which is the transmitting gain and the receiving gain of the radar antenna respectively; lambda is the wavelength of electromagnetic waves, and the unit is m; />
Is the radar antenna horizontal lobe width in rad; c is the propagation velocity of electromagnetic waveTaking the light speed, wherein the unit is m/s; />
The pulse width of the radar sea clutter signal is s;
in the formula (4), f is radar sea clutter signal frequency, and the unit is MHz; f is a propagation factor, and is the parameters of antenna height, radar sea clutter signal frequency, distance and evaporation waveguide, and the unit is V/m.
7. The method for floating detection of sea evaporation waveguide based on radar sea clutter according to claim 2, wherein in the third step, the radar sea clutter signal power is obtained based on radar multiband fast switching characteristics and buoy floating characteristics as follows
Is a power vector matrix of (1), namely:
wherein T represents a matrix transpose;
order the
and />
Representing the actually measured power vector and the simulated calculation, respectivelyPower vector, let objective function vector
The degree of coincidence between the actually measured power vector and the simulation calculated power vector is evaluated, and then:
thereby converting the evaporation waveguide inversion problem into a minimum value problem of multi-objective optimization, and expressing the corresponding mathematical model as:
wherein ,
，/>
，/>
，/>
and />
Respectively->
and />
Is the average value of +.>
The function of normalization factor is provided, namely the objective function has normalization function; r is a constraint set, and the R is a constraint set,
a constraint vector for the evaporation waveguide parameter vector M, the height h and the frequency f;
the number of determined objective functions being the product of the number of antenna height values and the number of radar frequency values, i.e
Each of which is calculated according to equation (7), namely:
8. the method for floating detection of a marine evaporation waveguide based on radar sea clutter of claim 7, wherein in the third step, the inversion method of the multi-objective function comprises a multi-objective optimized genetic algorithm based on a rapid non-dominant ordering algorithm with elite strategy, a differential evolution algorithm, a simulated annealing method, an ant colony algorithm, a particle swarm algorithm and a machine learning algorithm.
9. The method for floating detection of marine evaporation waveguide based on radar sea clutter of claim 7, wherein in step three, the multi-objective function inversion problem is converted into a single-objective function inversion problem, the single-objective method based on least square criterion is adopted for rapid inversion, and the objective function vector is obtained
Labeling as shown in formula (8);
10. the method for floating detection of the marine evaporation waveguide based on the radar sea clutter according to claim 2, wherein in the fourth step, the data transmission module performs unified coding on the radar sea clutter signal power, the weather hydrologic parameter, the gesture and position parameter obtained in the first step and the inversion result obtained in the third step, and sends the result to the shore-based data receiving and processing center through the communication antenna.
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