CN116520328A - Three-dimensional Weiqi calibration method and device based on unmanned aerial vehicle target simulator - Google Patents
Three-dimensional Weiqi calibration method and device based on unmanned aerial vehicle target simulator 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
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
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- G—PHYSICS
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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
- 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
- G01S7/40—Means for monitoring or calibrating
- G01S7/4052—Means for monitoring or calibrating by simulation of echoes
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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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- 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
- G01S7/411—Identification of targets based on measurements of radar reflectivity
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
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Abstract
The invention provides a three-dimensional Weitepan calibration method and equipment based on an unmanned aerial vehicle-mounted target simulator, which comprises the steps that a receiving antenna receives a radar radio frequency signal to be tested, then sends the radar radio frequency signal into a target simulator host for mixing and amplifying the radar radio frequency signal to be tested, and then turns the radar radio frequency signal into an intermediate frequency signal, the intermediate frequency signal is converted into a digital signal through analog-to-digital conversion, and the digital signal is converted into a baseband signal through digital down conversion; the equipment host modulates the amplitude, the speed and the distance of the baseband signal to generate a baseband target analog signal, the baseband target analog signal is converted into an intermediate frequency analog signal after digital up-conversion and digital-to-analog conversion, the intermediate frequency analog signal is converted into a radio frequency signal after frequency mixing and amplification, and the radio frequency signal is sent into a transmitting antenna through a radio frequency cable to be directed at a radar to be measured for radiation, so that a required analog target signal is generated on the radar to be measured. According to the method, a target simulator can be carried on a low-cost unmanned aerial vehicle platform in a real scene, and high-precision calibration of the radar three-dimensional power diagram is realized in a scaling measurement mode.
Description
Technical Field
The invention relates to the technical field of electronics and radar, in particular to a three-dimensional Weitebra calibration method and device based on an unmanned aerial vehicle target simulator.
Background
The radar can acquire target information all the weather, and is a necessary means for weather service, aviation and ship traffic control. The radar detection range is also called radar power range, and refers to the airspace in which the radar continuously observes targets. The effective detection range of the radar is determined, so that operators can be helped to grasp electromagnetic situations in real time, the informatization decision making capability is enhanced, and an important basis is provided for task planning.
There are three general ways to obtain a radar power map, the first is to estimate the radar power map by numerical simulation in combination with radar equations, radar antenna patterns, clutter models, etc. The second is to obtain Lei Dawei force diagram by performing radar test on the test field. Thirdly, through recording actual measurement data of various targets in the radar using process, continuously correcting the radar power diagram according to the actual measurement data and a theoretical model, and obtaining the radar power diagram in the current state.
The first numerical simulation mode is simple and convenient, has low cost, but is difficult to accurately simulate the real electromagnetic environment, has large error and can only be used as a reference. Moreover, as the service life of the radar increases, problems such as reduction of transmitting power, deformation of antenna beams and the like can occur, so that the change condition of the radar detection power can not be known by a numerical simulation method alone. The second radar flight detection test mode has high requirements on factors such as target flight attitude, track selection and environment, and meanwhile, the second radar flight detection test mode has huge cost, more coordination matters and poor engineering practicability. The third mode of estimating by combining the actual measurement data of the radar with the theoretical model requires a large amount of data accumulation to obtain the radar power map, and has long time consumption, and the accumulated actual measurement data needs to be continuously updated and maintained, so that the implementation difficulty is also high.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a three-dimensional Weitebra calibration method and device based on an unmanned aerial vehicle target simulator. In a real scene, a target simulator is carried by using a low-cost unmanned aerial vehicle platform, and high-precision calibration of the radar three-dimensional power diagram is realized by means of scale measurement.
According to a first aspect of the present invention, there is provided a three-dimensional power icon calibration method based on an unmanned aerial vehicle target simulator, the calibration method comprising the steps of:
step one: calibrating radar scattering sectional area of a target simulator;
step two: the unmanned aerial vehicle carries a target simulator to lift off, hovers after flying to a set position, and the radar and the target simulator enter a standby state;
step three: adjusting the attitude of the unmanned aerial vehicle to enable the radar and the main lobe of the simulator to be mutually aligned;
step four: the radar and the target simulator enter a working state, the target simulator receives radar signals and generates target simulation signals to aim at radar emission;
step five: the radar receives a target analog signal, and a radar screen displays a radar detection result;
step six: the target simulator sets the link gain step reduction;
step seven: the radar monitors the change condition of the simulation target, when the simulation target is from existence to non-existence, namely the radar detection power limit, the link gain value on the current target simulator is recorded, and the radar detection power limit of the current position and direction is calculated;
step eight: controlling radar beam scanning, controlling the unmanned aerial vehicle to fly to a beam pointing position according to a flight track, and repeating the third to seventh steps to measure and record detection limits when the radar points to other azimuth angles, wherein the required azimuth measuring range is larger than the radar azimuth detecting range;
step nine: the unmanned aerial vehicle changes the flying height, and the third to eighth steps are repeated to measure the detection power of other high-altitude targets, so that the range of the height is required to cover the radar pitching direction detection range;
step ten: after the detection of a plurality of heights is finished, radar detection power in the height direction and the azimuth direction is obtained, and a target radar scattering cross section area Nm is generated according to the recording result 2 The radar three-dimensional power map of the radar, and the other radar scattering cross-sectional area is scaled according to the radar three-dimensional power map of the preset target.
Optionally, the radar cross-sectional area of the off-line calibration target simulator includes:
step a: target simulator is arranged in distance vector network analyzer R m The output port of the vector network analyzer is connected with a standard horn antenna to transmit signals;
step b: the target simulator stores samples of the received signals, and the vector network analyzer stops transmitting signals;
step c: the standard horn antenna is connected to a receiving port of the vector network analyzer;
step d: the target simulator starts to send the target analog signal which is not subjected to amplitude modulation;
step e: calculating the power E of a signal on a vector network analyzer 1 ；
Step f: calculating the equivalent radar cross-sectional area as Nm 2 When in use, the target simulator is arranged in the distance vector network analyzer R m When in position, the power E of the signal received by the off-line network is lost 2 ；
Step g: target dieThe simulator resumes sending the target analog signal, adjusts the target simulator link gain, displays it on the vector network analyzer such that E 1 ＝E 2 ；
Step h: recording the link gain setting value m at the moment, namely R is the radar distance target simulator m When the target simulator sets the link gain to be m, the radar cross-sectional area of the target simulated by the target simulator is Nm 2 And (5) finishing off-line calibration.
Optionally, in the step E, the power E 1 The expression of (2) is:
wherein P is l Is the signal transmitting power of the vector network analyzer; g l Is the standard horn antenna gain; m is the link gain of the target simulator, which is adjustable; r is R m Is the distance between the receiving horn antenna and the simulator; sigma (sigma) er Is the equivalent radar cross-sectional area of the target simulated by the target simulator; a is that e Is the receive aperture of a standard horn antenna; lambda is the signal wavelength; a, a l The radio frequency cable insertion loss from the antenna port to the vector network analyzer can be measured in advance to obtain a numerical value.
Optionally, in the step f, according to a radar equation, the radar reflection cross-sectional area is 1m 2 The power of the target reflected echo signal received by the standard horn antenna and the vector network analyzer is that
Wherein,,expressed as radar cross-sectional area, with a value of 1, P l Is the signal transmitting power of the vector network analyzer; g l Is the standard horn antenna gain; r is R m Is the distance between the receiving horn antenna and the simulatorThe method comprises the steps of carrying out a first treatment on the surface of the Lambda is the signal wavelength; a, a l The radio frequency cable insertion loss from the antenna port to the vector network analyzer can be measured in advance to obtain a numerical value.
Optionally, the radar monitors the change condition of the simulation target, when the simulation target is from existence to non-existence, namely, the radar detection power limit, records the link gain value on the current target simulator, and calculates the radar detection power limit of the current position and direction, including:
calculating the radar reflection sectional area corresponding to the link gain value n;
according to the radar equation, under the condition of solving the detection limit, the radar reflection sectional area is Nm 2 Power of target transmitting signal to radar
Calculating the power Pr of the current simulation target to the radar according to the radar distance equation;
when P r ＝P rmin In this case, a radar detection limit value is obtained.
Optionally, the powerThe method is calculated according to the following formula:
wherein P is t Is radar transmitting power; g t Is the radar antenna gain; r is R max The detection power of the radar in the current direction is as follows;
alternatively, the power P of the target to the radar is currently simulated according to the radar range equation r The method comprises the following steps:
wherein sigma m Is the equivalent cross-sectional area corresponding to the target simulator when the link gain setting value is n。
According to a second aspect of the present invention, there is also provided a three-dimensional power icon determination apparatus based on an unmanned aerial vehicle target simulator, comprising:
the target simulator mainly comprises a target simulator equipment host, a receiving and transmitting antenna, a data transmission and ground display control part, wherein the receiving and transmitting antenna can adopt a single antenna mode shared by receiving and transmitting and can also adopt a double antenna mode with separated receiving and transmitting;
the unmanned aerial vehicle is provided with the target simulator, and the radar beam and the target simulator beam can be mutually aligned through posture adjustment.
Optionally, the receiving and transmitting antenna receives the radar signal to be detected, and then sends the radar signal to the target simulator host through the equipment cable, the radar signal is mixed and amplified in the target simulator host and then becomes an intermediate frequency signal, the intermediate frequency signal is converted into a digital signal through analog-to-digital conversion, and the digital signal is converted into a baseband signal through digital down conversion;
the equipment host modulates the amplitude, the speed and the distance of the baseband signal to generate a corresponding baseband target analog signal, the baseband target analog signal is converted into an intermediate frequency analog signal after digital up-conversion and digital-to-analog conversion, the intermediate frequency analog signal is converted into a radio frequency signal after frequency mixing and amplification, and the radio frequency signal is sent into a transmitting antenna through a radio frequency cable to be aimed at a radar to be measured for radiation, so that a required analog target signal is generated on the radar to be measured.
The invention has the technical effects and advantages that:
(1) According to the invention, a target simulator is carried on a low-cost unmanned plane platform, high-precision calibration of radar three-dimensional power diagram is realized in a scaling measurement mode, the cost is low, a complex radar flight detection test flow is avoided, and a large amount of radar use data accumulation is not needed;
(2) The invention provides a radar cross-sectional area calibration method of a target simulator, which has high precision and simple operation;
(3) The radar Weizhu calibration method provided by the invention can be used for checking the overall performance index of the radar, so that technicians can know the performance state of the radar in time, and can be used for developing practical training and improving the operation proficiency and technical level of radar operators.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
FIG. 1 is a schematic diagram of radar cross-sectional area of an off-line calibration target simulator provided by an embodiment of the invention;
FIG. 2 is a schematic diagram of a relative positional relationship between a radar and a target simulator according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a single-altitude-layer flight trajectory of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a multi-altitude layer flight path of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a three-dimensional wizard calibration device based on an unmanned aerial vehicle target simulator according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It can be appreciated that, based on the defects in the background technology, the embodiment of the invention provides a three-dimensional power map calibration method based on an unmanned aerial vehicle target simulator, specifically as shown in fig. 1-4, the three-dimensional power map calibration steps are as follows:
step one: calibrating radar scattering sectional area of a target simulator in an off-line manner;
in the embodiment of the invention, the radar scattering cross section of the off-line calibration target simulator specifically comprises:
step a: placing the target simulator in a distance vector network analyzer R m The output port of the vector network analyzer is connected with a standard horn antenna to transmit signals;
step b: the target simulator stores samples of the received signals, and the vector network analyzer stops transmitting signals;
step c: connecting a standard horn antenna to a receiving port of the vector network analyzer;
in the embodiment of the invention, the connection of the standard horn antenna to the receiving port of the vector network analyzer is realized by detaching the standard horn antenna from the output end of the loss network and then connecting the standard horn antenna to the input end of the loss network.
Step d: enabling the target simulator to start transmitting the target simulation signal which is not subjected to amplitude modulation;
step e: observing the power E of the signal from the vector network analyzer 1 ；
Specifically, in step e: according to the radar equation, the signal power E received by the vector network analyzer 1 The method comprises the following steps:
wherein P is l Is the signal transmitting power of the vector network analyzer; g l Is the standard horn antenna gain; m is the link gain of the target simulator, which is adjustable; r is R m Is the distance between the receiving horn antenna and the simulator; sigma (sigma) er Is the equivalent radar cross-sectional area of the target simulated by the target simulator; a is that e Is the receive aperture of a standard horn antenna; lambda is the signal wavelength; a, a l The radio frequency cable insertion loss from the antenna port to the vector network analyzer can be measured in advance to obtain a numerical value.
Step f: calculating the equivalent radar cross-sectional area as Nm 2 When in use, the target simulator is arranged in the distance vector network analyzer R m When in position, the power E of the signal received by the off-line network is lost 2 ；
It should be noted that radar cross-sectional area N may be 1.2.3.4. …. For ease of understanding, in the embodiment of the present invention, the radar cross-sectional area is set to 1m 2 An exemplary description is made. Calculating the equivalent radar cross-sectional area; according to the radar equation, the equivalent scattering cross-sectional area of the radar can be 1m 2 The power received by the standard horn antenna and the vector network analyzer is that
Wherein,,expressed as constants; p (P) l Is the signal transmitting power of the vector network analyzer; g l Is the standard horn antenna gain; r is R m Is the distance between the receiving horn antenna and the simulator; a, a l The radio frequency cable insertion loss from the antenna port to the vector network analyzer can be measured in advance to obtain a numerical value.
Step g: the target simulator resumes sending the target analog signal, and observes from the vector network analyzer by adjusting the target simulator link gain such that E 1 ＝E 2 ；
Step h: recording the link gain setting value m at the moment, namely R is the radar distance target simulator m When the target simulator sets the link gain to be m, the equivalent radar scattering cross section area of the simulated target echo signal is 1m 2 At this time, the radar cross-sectional area of the target simulated by the target simulator is 1m 2 And (5) finishing off-line calibration.
The radar cross-sectional area of the target simulated by the target simulator includes, but is not limited to, 1m 2 Specifically, the device can be arbitrarily arranged according to actual needs. In the embodiment of the invention, the radar cross-sectional area is 1m 2 An exemplary description is made.
Step two: the unmanned aerial vehicle carries a target simulator to lift off, hovers after flying to a set position, and at the moment, the radial distance is R, and the radar and the target simulator are started to enter a standby state;
step three: adjusting the attitude of the unmanned aerial vehicle to enable the radar and the main lobe of the simulator to be mutually aligned;
step four: operating the radar and the target simulator to enter a working state, receiving radar signals by the target simulator, and generating target simulation signals to aim at radar emission;
step five: observing a radar detection result from a radar screen; at this time, the radar screen observes two targets, one of which is a real composite echo of the unmanned aerial vehicle and the target simulator, and the other is a simulated echo, and the simulated echo corresponds to a target with a longer distance.
Step six: setting a link gain step down at the target simulator software interface requires that step values representing each link gain step interval (in dB) and step times representing the switching time interval between the two step values be settable.
Step seven: observing the change condition of a simulation target from a radar screen, when the simulation target is from existence to nonexistence, corresponding to the radar detection power limit, recording a link gain value n on a current target simulator, and calculating the radar detection power limit of the current position and direction according to the following method;
the radar scattering cross section area corresponding to the link gain value n is
In the above, sigma m The equivalent cross section area corresponding to the set value of the link gain of the target simulator is n, and m is the link gain of the target simulator and is adjustable.
According to the radar distance formula, under the detection limit condition, the radar scattering cross section area is 1m 2 The power of the target transmitting signal reaching the radar is as follows:
wherein P is t Is radar transmitting power; g t Is the radar antenna gain; r is R max Is the detection power of the radar in the current direction.
According to the radar distance equation, the power of the current simulation target reaching the radar is as follows:
the current simulation target simulates the condition when the radar reaches the limit detection distance by adjusting the radar scattering sectional area value, namely scaling simulation, at the moment, P r ＝P rmin Then calculate to get
The detection limit is:
step eight: controlling radar beam scanning, controlling the unmanned aerial vehicle to fly to a beam pointing position according to a flight track, and repeating the third to seventh steps to measure and record detection limits when the radar points to other azimuth angles, wherein the required azimuth measuring range is larger than the radar azimuth detecting range;
step nine: controlling the unmanned aerial vehicle to change the flying height, and repeating the third to eighth steps to measure the detection power of other high-altitude targets, wherein the height range is required to cover the radar pitching direction detection range;
step ten: after the detection of a plurality of heights is finished, radar detection power in the height direction and the azimuth direction is obtained, and a target radar scattering cross section area Nm is generated according to the recording result 2 Radar three-dimensional Weiqi, radar scattering cross-sectional area is other size according to Nm 2 And (5) scaling the radar three-dimensional power map.
Radar powderThe cross-sectional area N can be 1.2.3.4. …. For ease of understanding, in the embodiment of the present invention, the radar cross-sectional area is set to 1m 2 An exemplary illustration is made.
In addition, the embodiment of the invention also provides radar three-dimensional power icon determination equipment based on the unmanned aerial vehicle target simulator, which is shown in fig. 5 specifically and comprises:
the target simulator mainly comprises a target simulator equipment host, a receiving and transmitting antenna, a data transmission and ground display control part, wherein the receiving and transmitting antenna adopts a single antenna mode shared by receiving and transmitting or a double antenna mode with separated receiving and transmitting;
the unmanned aerial vehicle is provided with the target simulator, and the radar beam and the target simulator beam can be mutually aligned through posture adjustment.
It should be understood that the device in the embodiment of the invention firstly carries a miniaturized radar target simulator on the unmanned plane, so as to realize accurate and dynamic simulation of the scene where the target is located and construct a realistic target environment for the radar and operators.
The target simulator will be described in detail below using a dual antenna system as an example. When the receiving antenna of the target simulator adopts a double antenna mode of receiving and transmitting, namely a receiving antenna and a transmitting antenna, the target simulator equipment host is a core part of the target simulator, the receiving antenna receives a radar signal to be detected and then sends the radar signal to the target simulator host through an equipment cable, and the receiving antenna is mixed and amplified in the target simulator host to become an intermediate frequency signal. The intermediate frequency signal is converted into a digital signal after analog-to-digital conversion, and the digital signal is converted into a baseband signal after digital down-conversion. And a signal processing module in the main case modulates the amplitude, the speed, the distance and the like of the baseband signal according to the software setting parameters to generate corresponding baseband target analog signals. The baseband target analog signal is converted into an intermediate frequency analog signal after digital up-conversion and digital-to-analog conversion, the intermediate frequency analog signal is converted into a radio frequency signal after frequency mixing and amplification, and the radio frequency signal is sent into a transmitting antenna through a radio frequency cable to be aimed at a radar to be tested for radiation, so that a required analog target signal is generated on the radar to be tested.
The target simulator is miniaturized equipment, can be mounted on an unmanned aerial vehicle to work, can cover radar equipment to be tested in a working frequency band, and has the functions of being capable of receiving signals transmitted by the radar equipment, modulating the signals and then aiming at the radar to forward the signals so as to simulate echo signals of the radar. It is required to be able to adjust the power of the retransmitted signal, i.e. to be able to adjust its own link gain.
Specifically, the unmanned aerial vehicle is a low-cost unmanned aerial vehicle and has positioning and posture adjustment functions, and radar beams and target simulator beams can be mutually aligned through posture adjustment.
It should be understood that parts of the specification not specifically set forth herein are all prior art.
In summary, the three-dimensional Weiteh calibration method and the device based on the unmanned aerial vehicle target simulator provided by the embodiment of the invention combine the mobility of the unmanned aerial vehicle platform and the high-precision characteristic of the target simulation target, can simulate the radar detection condition under the real condition, can avoid the complex radar detection and flight test flow, and has the advantages of low cost, high precision and simple operation. Meanwhile, the invention provides a detailed radar cross-sectional area calibration and radar Weizhu calibration scheme and theoretical basis of the target simulator. The radar Weizhu calibration method provided by the invention can be used for checking the overall performance index of the radar so that related personnel can know the performance state of radar equipment in time, and can be used for developing practical training and improving the operation proficiency and technical level of radar operators.
Finally, it should be noted that: the foregoing description is only illustrative of the preferred embodiments of the present invention, and although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements or changes may be made without departing from the spirit and principles of the present invention.
Claims (9)
1. The three-dimensional power icon calibration method based on the unmanned aerial vehicle target simulator is characterized by comprising the following steps of:
step one: calibrating radar scattering sectional area of a target simulator;
step two: the unmanned aerial vehicle carries a target simulator to lift off, hovers after flying to a set position, and the radar and the target simulator enter a standby state;
step three: adjusting the attitude of the unmanned aerial vehicle to enable the radar and the main lobe of the simulator to be mutually aligned;
step four: the radar and the target simulator enter a working state, the target simulator receives radar signals and generates target simulation signals to aim at radar emission;
step five: the radar receives a target analog signal, and a radar screen displays a radar detection result;
step six: the target simulator sets the link gain step reduction;
step seven: the radar monitors the change condition of the simulation target, when the simulation target is from existence to non-existence, namely the radar detection power limit, the link gain value on the current target simulator is recorded, and the radar detection power limit of the current position and direction is calculated;
step eight: controlling radar beam scanning, controlling the unmanned aerial vehicle to fly to a beam pointing position according to a flight track, and repeating the third to seventh steps to measure and record detection limits when the radar points to other azimuth angles, wherein the required azimuth measuring range is larger than the radar azimuth detecting range;
step nine: the unmanned aerial vehicle changes the flying height, and the third to eighth steps are repeated to measure the detection power of other high-altitude targets, so that the range of the height is required to cover the radar pitching direction detection range;
step ten: after the detection of a plurality of heights is finished, radar detection power in the height direction and the azimuth direction is obtained, and a target radar scattering cross section area Nm is generated according to the recording result 2 The radar three-dimensional power map of the radar, and the other radar scattering cross-sectional area is scaled according to the radar three-dimensional power map of the preset target.
2. The three-dimensional power icon determination method based on the unmanned aerial vehicle target simulator according to claim 1, wherein: the radar cross-sectional area of the off-line calibration target simulator comprises:
step a: target simulator is arranged in distance vector network analyzer R m The output port of the vector network analyzer is connected with a standard horn antenna to transmit signals;
step b: the target simulator stores samples of the received signals, and the vector network analyzer stops transmitting signals;
step c: the standard horn antenna is connected to a receiving port of the vector network analyzer;
step d: the target simulator starts to send the target analog signal which is not subjected to amplitude modulation;
step e: calculating the power E of a signal on a vector network analyzer 1 ；
Step f: calculating the equivalent radar cross-sectional area as Nm 2 When in use, the target simulator is arranged in the distance vector network analyzer R m When in position, the power E of the signal received by the off-line network is lost 2 ；
Step g: the target simulator resumes sending the target analog signal, adjusts the target simulator link gain, and displays it on the vector network analyzer such that E 1 ＝E 2 ；
Step h: recording the link gain setting value m at the moment, namely R is the radar distance target simulator m When the target simulator sets the link gain to be m, the radar cross-sectional area of the target simulated by the target simulator is Nm 2 And (5) finishing off-line calibration.
3. The three-dimensional power icon determination method based on the unmanned aerial vehicle target simulator according to claim 2, wherein: in the step E, the power E 1 The expression of (2) is:
wherein P is l Is the signal transmitting power of the vector network analyzer; g l Is the standard horn antenna gain; m is the link gain of the target simulator, which is adjustable; r is R m Is the distance between the receiving horn antenna and the simulator; sigma (sigma) er Is the equivalent radar cross-sectional area of the target simulated by the target simulator; a is that e Is the receive aperture of a standard horn antenna; lambda is the signal wavelength; a, a l The radio frequency cable insertion loss from the antenna port to the vector network analyzer can be measured in advance to obtain a numerical value.
4. The three-dimensional power icon determination method based on the unmanned aerial vehicle target simulator according to claim 2, wherein: in the step f, according to a radar equation, the radar cross-sectional area is Nm 2 The power of the echo signal reflected by the target is that the standard horn antenna and the vector network analyzer receive
Wherein,,expressed as radar cross-sectional area, with a value of 1, P l Is the signal transmitting power of the vector network analyzer; g l Is the standard horn antenna gain; r is R m Is the distance between the receiving horn antenna and the simulator; lambda is the signal wavelength; a, a l The radio frequency cable insertion loss from the antenna port to the vector network analyzer can be measured in advance to obtain a numerical value.
5. The three-dimensional power icon determination method based on the unmanned aerial vehicle target simulator according to claim 1, wherein: in the seventh step, the radar monitors the change condition of the simulation target, when the simulation target is from existence to non-existence, namely the radar detection power limit, records the link gain value on the current target simulator, and calculates the radar detection power limit of the current position and direction, wherein the steps include:
calculating radar scattering sectional area corresponding to the link gain value n;
according to the radar equation, under the condition of solving the detection limit, the radar scattering cross section area is Nm 2 Power of target transmitting signal to radar
Calculating the power Pr of the current simulation target to the radar according to the radar distance equation;
when P r ＝P rmin In this case, a radar detection limit value is obtained.
6. The three-dimensional power icon determination method based on the unmanned aerial vehicle target simulator of claim 5, wherein: the radar cross-sectional area is Nm 2 Target, power P of transmitting signal to radar rmin The method is calculated according to the following formula:
wherein P is t Is radar transmitting power; g t Is the radar antenna gain; r is R max The detection power of the radar in the current direction is as follows; lambda is the signal wavelength.
7. The three-dimensional power icon determination method based on the unmanned aerial vehicle target simulator of claim 5, wherein the calculating the power P of the current simulation target to the radar r The method comprises the following steps:
wherein sigma m Is the equivalent cross-sectional area corresponding to the target simulator when the link gain setting value is n.
8. Three-dimensional power map calibration equipment based on unmanned aerial vehicle target simulator, its characterized in that: comprising the following steps:
the target simulator mainly comprises a target simulator equipment host, a receiving and transmitting antenna, a data transmission and ground display control part, wherein the receiving and transmitting antenna adopts a single antenna mode shared by receiving and transmitting or a double antenna mode with separated receiving and transmitting;
the unmanned aerial vehicle is provided with the target simulator, and the radar beam and the target simulator beam can be mutually aligned through posture adjustment.
9. The three-dimensional wizard calibration apparatus based on an unmanned airborne target simulator of claim 8, wherein: the receiving and transmitting antenna receives a radar signal to be detected, then sends the radar signal to the target simulator host through the equipment cable, mixes and amplifies the radar signal to be detected in the target simulator host to obtain an intermediate frequency signal, converts the intermediate frequency signal into a digital signal after analog-to-digital conversion, and converts the digital signal into a baseband signal after digital down conversion;
the equipment host modulates the amplitude, the speed and the distance of the baseband signals to generate corresponding baseband target analog signals, the baseband target analog signals are converted into intermediate frequency analog signals after digital up-conversion and digital-to-analog conversion, the intermediate frequency analog signals are converted into radio frequency signals after frequency mixing and amplification, and the radio frequency signals are sent into a transmitting antenna through a radio frequency cable to be aligned with a radar to be measured for radiation, so that the required analog target signals are generated on the radar to be measured.
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| CN116990819A (en) * | 2023-09-27 | 2023-11-03 | 成都国营锦江机器厂 | Anti-collision radar starting detection protection method, system and device |
| CN117908026A (en) * | 2024-02-27 | 2024-04-19 | 南京雷电信息技术股份有限公司 | Outfield test method for ground radar power test |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116990819A (en) * | 2023-09-27 | 2023-11-03 | 成都国营锦江机器厂 | Anti-collision radar starting detection protection method, system and device |
| CN116990819B (en) * | 2023-09-27 | 2023-12-15 | 成都国营锦江机器厂 | Anti-collision radar starting detection protection method, system and device |
| CN117908026A (en) * | 2024-02-27 | 2024-04-19 | 南京雷电信息技术股份有限公司 | Outfield test method for ground radar power test |
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