CN116755089A - Missile-borne radar SAR mode self-adaption method based on inertial navigation information and detection point position - Google Patents

Missile-borne radar SAR mode self-adaption method based on inertial navigation information and detection point position Download PDF

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CN116755089A
CN116755089A CN202310361191.3A CN202310361191A CN116755089A CN 116755089 A CN116755089 A CN 116755089A CN 202310361191 A CN202310361191 A CN 202310361191A CN 116755089 A CN116755089 A CN 116755089A
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missile
pitch
detection point
inertial navigation
radar
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党腾飞
丁金闪
王伟
田斌
牟聪
梁晓宇
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Xidian University
Xian Electronic Engineering Research Institute
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Xidian University
Xian Electronic Engineering Research Institute
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
    • G01S13/90—Radar or analogous systems specially adapted for specific applications for mapping or imaging using synthetic aperture techniques, e.g. synthetic aperture radar [SAR] techniques
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • 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
    • G01S13/883—Radar or analogous systems specially adapted for specific applications for missile homing, autodirectors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
    • G01S13/90—Radar or analogous systems specially adapted for specific applications for mapping or imaging using synthetic aperture techniques, e.g. synthetic aperture radar [SAR] techniques
    • G01S13/904—SAR modes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
    • G01S13/90—Radar or analogous systems specially adapted for specific applications for mapping or imaging using synthetic aperture techniques, e.g. synthetic aperture radar [SAR] techniques
    • G01S13/904—SAR modes
    • G01S13/9052—Spotlight mode
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
    • G01S13/90—Radar or analogous systems specially adapted for specific applications for mapping or imaging using synthetic aperture techniques, e.g. synthetic aperture radar [SAR] techniques
    • G01S13/904—SAR modes
    • G01S13/9054—Stripmap mode

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  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

The invention relates to a missile-borne radar SAR mode self-adaption method based on inertial navigation information and detection point positions, and belongs to the technical field of radar SAR. Firstly, judging whether the missile-borne platform enters a steady motion state according to inertial navigation information; secondly, calculating distance information of the missile-borne platform and the detection point, and selecting a corresponding SAR mode according to the distance; the SAR working mode can be selected by the missile-borne radar in a self-adaptive mode according to inertial navigation information and the position of the detection point in the whole process, and the method is simple and reliable by tightly combining engineering practice according to the characteristics of the execution task of the missile-borne platform.

Description

Missile-borne radar SAR mode self-adaption method based on inertial navigation information and detection point position
Technical Field
The invention belongs to the technical field of radar SAR, and relates to a missile-borne radar SAR mode self-adaptive method based on inertial navigation information and detection point positions, which is applied to radar system resource scheduling, synthetic Aperture Radar (SAR) imaging application, unmanned platform task planning and the like.
Background
Radar imaging generally uses synthetic aperture imaging (SAR) techniques that use a small antenna to move along the trajectory of a long array and radiate coherent signals, record the received signals and process them appropriately to obtain a high resolution in azimuth, which is equivalent to a long array. The conventional airborne radar SAR modes include a stripe mode and a beam-focusing mode, and parameters of radar entering the stripe SAR mode generally include: resolution (the pattern of stripes is typically divided into a number of sub-patterns according to resolution), range, sideways direction, target altitude, ideal track angle. The parameters for entering the beam-forming mode are typically: resolution (generally, beam-forming modes are divided into a plurality of beam-forming sub-modes according to resolution), target longitude, target latitude, and target altitude. When the radar is carried on an unmanned aerial vehicle or an unmanned aerial vehicle, an operator is often required to select a corresponding radar imaging mode according to the motion state of the unmanned aerial vehicle, the position of a route, the direction and distance of a target position relative to a missile-borne platform and the like.
Before the missile-borne platform flies, a route and an area for executing a detection task are generally planned, and once the missile-borne platform flies, the missile-borne platform is automated and intelligent as much as possible in the flying process, so that a radar is required to automatically select an SAR mode according to the flying condition of the platform and the position of a target detection point.
The key point of the SAR technology is motion compensation, so that the motion stability of a carried platform is ensured as much as possible when the radar performs an imaging task. The missile-borne platform generally has an inertial navigation system (inertial navigation for short), and the flying state of the missile-borne platform is transmitted to the radar in real time through a high-speed port, wherein the flying state generally comprises longitude, latitude, altitude high speed, east speed, north speed, sky speed, earth speed, east acceleration, north acceleration, sky acceleration, roll angle, pitch angle, time (precision millisecond level) and the like of the missile-borne platform. Therefore, by analyzing the inertial navigation data, when the inertial navigation data meet certain conditions, the missile-borne platform is considered to fly stably, and the radar can enter the SAR working mode.
When the radar works in the SAR stripe mode (see figure 1), the radar antenna is unchanged in pointing direction, an imaging object is a ground stripe parallel to the moving direction of the radar carrying platform, imaging widths are often different under different resolutions, and in general, the higher the resolution is, the narrower the imaging width is, and the closer the imaging distance is. The imaging has two modes of oblique view and front side view, the radar antenna is called oblique view when the direction of the radar antenna is not perpendicular to the moving direction of the platform, and the radar antenna is called front side view when the radar antenna is perpendicular to the moving direction of the platform. When the radar works in a beam focusing mode (also called a fixed-point imaging mode, see figure 2), the beam is always intensively irradiated in a ground target range by adjusting the beam direction of the azimuth antenna. Therefore, the working mode can be entered as long as the distance between the missile-borne platform and the detection point is calculated in real time and meets the condition of each SAR mode.
Disclosure of Invention
The technical problems to be solved by the invention are as follows:
when the radar is carried on an unmanned aerial vehicle or an unmanned aerial vehicle, the conventional SAR radar mode is selected (see figure 3), the motion state of the carrier is monitored in real time by an operator, the distance between the carrier and a detection point is measured, and corresponding parameters are input by the operator according to the relative position and distance information of the carrier and the detection point, so that the radar enters a corresponding working mode. However, the manual operation mode has some problems, firstly, operators judge through vision, and the objectivity is lost; secondly, the operator manually inputs corresponding parameters, and a certain time delay exists; thirdly, errors exist in manual measurement, and correct judgment is affected; fourth, the requirement on operators is relatively high, and the radar working foundation is provided; the manual selection mode in the prior art is slow, complex to operate and inaccurate.
In order to avoid the defects of the prior art and realize the self-adaption of the SAR mode of the radar, the invention provides a missile-borne SAR mode self-adaption method based on inertial navigation information and detection point positions.
In order to solve the technical problems, the invention adopts the following technical scheme:
the missile-borne radar SAR mode self-adaption method based on inertial navigation information and detection point positions is characterized by comprising the following steps of:
step 1: the radar receives inertial navigation data in real time, wherein the inertial navigation data comprise longitude, latitude, high altitude, east, north, sky, ground, roll, pitch, course, track and time; analyzing the latest N frames of inertial navigation data, and judging whether the missile-borne platform enters a motion stable state or not;
step 2: calculating the projection distance between the detection point and the line on the horizontal plane, and selecting a corresponding SAR mode according to the distance, wherein the SAR mode comprises a strip mode and a beam focusing mode, and the radar automatically enters the mode.
The invention further adopts the technical scheme that: the N frames are not necessarily the latest continuous inertial navigation data, and N frames of data may be extracted from the latest M frames of data.
The invention further adopts the technical scheme that: judging whether the missile-borne platform enters a motion stable state specifically comprises the following steps: and judging the height, the sky speed, the roll angle, the pitch angle, the ground speed, the course angle, the track angle, the fluctuation threshold and the interval range of each of the pitch angle, the course angle and the track angle in sequence, and when the fluctuation judgment is smaller than or equal to the fluctuation judgment and the interval range is met, enabling the missile-borne platform to enter a stable motion state.
The invention further adopts the technical scheme that: the method for judging the altitude and the sky speed comprises the following steps:
the latest N frame inertial navigation altitude vector is recorded as hei= (HEI (i-n+1), HEI (i-n+2),..hei (i)), and the day speed vector is recorded as v_up= (Vup (i-n+1), vup (i-n+2),..vup (i)), then their standard deviations need to satisfy formulas (1) and (2), and the altitude average needs to satisfy formula (3):
mean(HEI)∈[Hei min ,Hei max ](3)
the upper part of the device is provided with a plurality of grooves,is a threshold value for altitude fluctuations, +.>Is the threshold value of fluctuation of the sky speed, hei min Hei, the minimum of altitude max Is the maximum of altitude.
The invention further adopts the technical scheme that: the judging method of the roll angle and the pitch angle comprises the following steps:
ROLL and PITCH angles are denoted as roll= (ROLL (i-n+1), ROLL (i-n+2), PITCH (i)), pitch= (PITCH (i-n+1), PITCH (i-n+2), PITCH (i)), respectively; the formulas (5), (6), (7) and (8) are required to be satisfied:
mean(PITCH)∈[Pitch min ,Pitch max ] (7)
mean(ROLL)∈[Roll min ,Roll max ] (8)
the upper part of the device is provided with a plurality of grooves,and->Respectively roll and indulgeFluctuation threshold of shake, pitch min Is the minimum value of Pitch angle, pitch max Is the maximum value of pitch angle, roll min Is the minimum value of Roll angle, roll max Is the maximum value of roll angle.
The invention further adopts the technical scheme that: the method for judging the ground speed, the course angle and the track angle comprises the following steps:
when the flying is stable, the ground speed, the course angle and the track angle of the missile-borne platform are stable, and the following formulas (9), (10), (11) and (12) are required to be satisfied:
the upper part of the device is provided with a plurality of grooves,and->The fluctuation threshold is respectively the ground speed, the course angle and the track angle, and Vearth min Is the minimum value of the ground speed, vearth max Is the maximum value of ground speed.
The invention further adopts the technical scheme that: the distance L between the detection point and the projection of the route on the horizontal plane is calculated as follows:
wherein, (X i-N-1 ,Y i-N-1 ,Z i-N-1 )、(X i ,Y i ,Z i )、(X T ,Y T ,Z T ) Respectively P' i-N+1 、P’ i And the T point is transformed from longitude and latitude high coordinates to earth rectangular coordinates.
The invention further adopts the technical scheme that: selecting a stripe mode, further comprising determining a sideways direction, i.e. the detection point is to the right or left of the course; the method comprises the following steps:
regarding the same earth altitude plane as an ordinate range [ -90,90]I.e. latitude, abscissa [ -180,180 []A two-dimensional plane rectangular coordinate system of a longitude range; vector quantityAnd->The formula is as follows:
vector quantityAnd->The outer product is of the formula:
when B is less than 0, the detection point B is on the right side of the navigation line, and the side view direction of the radar is right; when B > 0, the detection point B is on the left side of the navigation line, and the side view direction of the radar is left.
The invention further adopts the technical scheme that: the method also comprises the step of calculating the distance from the horizontal projection of the current position of the flight platform to the vertical point of the detection point on the projection of the route so as to enable the distance to meet the working range of the radar, wherein the distance is expressed as follows:
wherein, (X i 、Y i 、Z i ) Is the coordinate of the radar operation starting point, S T Is a set distance threshold.
A computer system, comprising: one or more processors, a computer-readable storage medium storing one or more programs, wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the methods described above.
The invention has the beneficial effects that:
the invention provides a missile-borne radar SAR mode self-adaptive method based on inertial navigation information and detection point positions, which comprises the steps of firstly judging whether a missile-borne platform enters a steady motion state according to the inertial navigation information; secondly, calculating distance information of the missile-borne platform and the detection point, and selecting a corresponding SAR mode according to the distance; the SAR working mode can be selected by the missile-borne radar in a self-adaptive mode according to inertial navigation information and the position of the detection point in the whole process, and the method is simple and reliable by tightly combining engineering practice according to the characteristics of the execution task of the missile-borne platform.
The method and the device have the advantages that the characteristics of the missile-borne platform are tightly combined, the radar SAR mode self-adaption is realized, manual participation is not needed, the defects of operators are overcome, and the method and the device are quicker and more accurate than manual mode selection.
The method is widely applied, and can also be used for airborne radar SAR mode selection.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, like reference numerals being used to refer to like parts throughout the several views.
FIG. 1 is a schematic diagram of a stripe pattern;
FIG. 2 is a schematic view of a bunching mode;
FIG. 3 is a flow chart of conventional SAR operating mode selection;
FIG. 4 is a flow chart of SAR operational mode selection in accordance with the present invention;
fig. 5 radar SAR pattern geometry.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. In addition, technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
The invention provides a missile-borne radar SAR mode self-adaption method based on inertial navigation information and detection point positions, which comprises the following two parts: 1. judging whether the missile-borne platform enters a stable motion state. 2. And calculating distance information of the missile-borne platform and the detection point, and selecting a corresponding SAR mode according to the distance, wherein the radar automatically enters the mode. The flow chart of the invention is shown in fig. 4, wherein the dark part corresponds to the manual judgment part in the conventional SAR mode selection method.
Step 1: judging whether the missile-borne platform enters a steady motion state
Assume that inertial navigation system of missile-borne platform is denoted as f gd The Hz reports the flight state of the radar to the radar, wherein the flight state comprises longitude, latitude, altitude high speed, east speed, north speed, sky speed, ground speed, roll angle, pitch angle, course angle, track angle and time (precision millisecond level), and the ith frame flight state is recorded as follows:
g(i)＝[Lon(i),Lat(i),Hei(i),Veast(i),Vnorth(i),Vup(i),Vearth(i),Roll(i),Pitch(i),Course(i),Track(i),Tms(i)]
in order to judge the flight state of the missile-borne platform, the latest N frames of data are required to be stored, the size of N is required to be selected according to the actual conditions such as inertial navigation frequency, the conventional flight speed of the missile-borne platform and the like, but the N frames are not necessarily the latest continuous inertial navigation data, and the N frames of data can be extracted from the latest M frames of data and recorded as
G＝[g(i-N-1),g(i-N+2),...,g(i)]。
In the method, N is too large, the instantaneity of the radar selection mode is poor, N is too small, and the movement state of the missile-borne platform is difficult to accurately reflect. Therefore, in engineering practice, a proper value of N should be selected by a designer according to practical situations such as the flying speed and the inertial navigation frequency of the missile-borne platform.
(1) When the missile-borne platform stably flies, firstly, the altitude of the missile-borne platform is stable, namely, the natural speed of the missile-borne platform is also stable. The newest N frame inertial navigation altitude vector is recorded as hei= (HEI (i-n+1), HEI (i-n+2),..hei (i)), and the sky speed vector is recorded as v_up= (Vup (i-n+1), vup (i-n+2),..vup (i)), and then their standard deviation is required to satisfy formulas (1) and (2), and the altitude average is required to satisfy formula (3).
mean(HEI)∈[Hei min ,Hei max ](3)
In the aboveThe altitude fluctuation threshold value is required to be used for a designer to analyze inertial navigation data when the missile-borne platform flies stably, and an experience value is set according to the standard deviation of the altitude during stable flying. (2) In->Is a threshold value of fluctuation of the sky speed, and (2) is a supplement to the formula (1) and is a judging condition for judging whether the altitude is stable or not. Because when the altitude is stable, the speed of the day is also stable. (3) The formula is because the radar is operated in SAR mode, generally has the requirement to the interval of altitude, is not in the corresponding interval scope, and SAR imaging effect is not good.
(2) ROLL angle, PITCH angle of the missile-borne platform are stable when the flight is stabilized, and ROLL and PITCH vectors are denoted as roll= (ROLL (i-n+1), ROLL (i-n+2), PITCH (i)), pitch= (PITCH (i-n+1), PITCH (i-n+2), PITCH (i)). The formulas (5), (6), (7) and (8) are required to be satisfied:
mean(PITCH)∈[Pitch min ,Pitch max ] (7)
mean(ROLL)∈[Roll min ,Roll max ] (8)
on the upper partAnd->The value setting method is similar to the threshold setting method of (1) and (2) for the roll and pitch fluctuation thresholds, respectively. (7) And (8) because of the range of roll and pitch angles of the missile-borne platform over which the radar is suitably operated.
(3) When the flying is stable, the ground speed, course angle and track angle of the missile-borne platform are stable, and the formulas (9), (10), (11) and (12) are required to be satisfied.
mean(V_EARTH)∈[Vearth min ,Vearth max ] (12)
On the upper partAnd->The value setting method is similar to the threshold setting method of (1) and (2) for the fluctuation threshold of the ground speed, the course angle and the track angle respectively. (12) The formula is because the radar is suitable for the range of the ground speed of the missile-borne platform.
Step 2: selecting radar SAR mode based on range
The action distance of the stripe mode is generally the length of the projection of the image center and the missile-borne platform connecting line in the horizontal direction at the imaging moment. In fig. 1, L is the acting distance of the band mode. The range of the beaming mode is typically the length of the projection of the beaming point (also the image center point. In general, the beaming point coordinates input are the probe point coordinates, and therefore the probe point) to the vertical of the course in the horizontal direction. In fig. 2, the connection line between the beam focusing point and the point O is perpendicular to the route, and L is the acting distance of the beam focusing mode.
Assuming that the radar has a stripe pattern with 2 resolutions and a beam focusing pattern with 2 resolutions, the working distances are L respectively 1 、L 2 And L S1 、L S2 As shown in FIG. 5, the intervals satisfy L respectively 1 ∈[l 3 ,l 4 )、L 2 ∈[l 4 ,l 5 ) And L S1 ∈[l 1 ,l 2 )、L S2 ∈[l 2 ,l 3 )。
(1) First, the distance L from the detection point to the projection of the course on the horizontal plane is calculated.
The latest N-frame flight platform longitude and latitude high coordinates are lon= (LON (i-n+1), LON (i-n+2),., LON (i)), lat= (LAT (i-n+1), LAT (i-n+2),., LAT (i)), hei= (HEI (i-n+1), HEI (i-n+2),., HEI (i)). In FIG. 5, the missile-borne platform positions at the ith-N+1 frames and the ith frame are denoted by P i-N+1 (Lon (i-N+1), lat (i-N+1), hei (i-N+1)) and P i (Lon (i), lat (i), hei (i)), the probe points are T (t_lon, t_lat, t_hei). P (P) i-N+1 And P i The projection points of the points on the horizontal plane are respectively marked as P' i-N+1 (Lon (i-N+1), lat (i-N+1), T_hei) and P' i (Lon (i), lat (i), t_hei). Will P' i-N+1 、P’ i And turning the T point to the earth rectangular coordinate system. The longitude and latitude high coordinates are converted into the earth rectangular coordinates as shown in formula (13).
L t 、B t 、H t The warp and weft heights of the points, e 1 ＝(a 2 -b 2 )/a 2 For the first degree of eccentricity the disc drive,a is the earth long half shaft, b is the earth short half shaft, a=6378.137 km, b= 6356.752km.
P’ i-N+1 、P’ i And the coordinates of the T point after (13) conversion are respectively marked as (X) i-N+1 ,Y i-N+1 ,Z i-N+1 )、(X i ,Y i ,Z i )、(X T ,Y T ,Z T ) The distance L from the probe point to the route is:
and selecting a corresponding SAR mode according to the distance interval where L is located. For example, when L.epsilon.l 3 ,l 4 ) When, then stripe 1 mode is selected. If in stripe mode, track (i) is taken as the ideal heading angle.
(2) The detection point is judged to be on the right or left side of the route.
In this step, the same plane of the earth altitude is regarded as a vertical coordinate range [ -90,90](latitude range), abscissa range [ -180,180 [ -180 ]]A two-dimensional planar rectangular coordinate system (longitude range). Vector quantityAnd->See formula (15).
Vector quantityAnd->The outer product is shown in formula (16).
When B is less than 0, the detection point B is on the right side of the navigation line, and the side view direction of the radar is right; when B > 0, the detection point B is on the left side of the navigation line, and the side view direction of the radar is left. Since L is in the distance zone in the above step, the case of b=0 does not occur.
(3) In the engineering, the distance from P 'to O' in fig. 5 cannot be too long because the radar should intensively detect the area near the detection point in consideration of the power consumption of the missile-borne platform, the storage space of the radar, and the like. In combination with equation (14), the distance from P 'to O' needs to satisfy equation (17).
In FIG. 5, the point P (i) radar starts to operate, the connection between the point O and the detection point T is perpendicular to the course, and the point C radar stops operating, generally causing L P(i)O ＝L OC Thus L P’O’ ＝L O’C’ 。
While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made without departing from the spirit and scope of the invention.

Claims (10)

1. The missile-borne radar SAR mode self-adaption method based on inertial navigation information and detection point positions is characterized by comprising the following steps of:
step 1: the radar receives inertial navigation data in real time, wherein the inertial navigation data comprise longitude, latitude, high altitude, east, north, sky, ground, roll, pitch, course, track and time; analyzing the latest N frames of inertial navigation data, and judging whether the missile-borne platform enters a motion stable state or not;
step 2: calculating the projection distance between the detection point and the line on the horizontal plane, and selecting a corresponding SAR mode according to the distance, wherein the SAR mode comprises a strip mode and a beam focusing mode, and the radar automatically enters the mode.
2. The adaptive method of missile-borne radar SAR pattern based on inertial navigation information and detection point position of claim 1, wherein the N frames are not necessarily the latest continuous inertial navigation data, and N frames of data can be extracted from the latest M frames of data.
3. The adaptive method of missile-borne radar SAR mode based on inertial navigation information and detection point positions according to claim 1, wherein the judging whether the missile-borne platform enters a steady state of motion is specifically as follows: and judging the height, the sky speed, the roll angle, the pitch angle, the ground speed, the course angle, the track angle, the fluctuation threshold and the interval range of each of the pitch angle, the course angle and the track angle in sequence, and when the fluctuation judgment is smaller than or equal to the fluctuation judgment and the interval range is met, enabling the missile-borne platform to enter a stable motion state.
4. The adaptive method of missile-borne radar SAR mode based on inertial navigation information and detection point positions according to claim 3, wherein the method for determining altitude and antenna speed is as follows:
the latest N frame inertial navigation altitude vector is recorded as hei= (HEI (i-n+1), HEI (i-n+2),..hei (i)), and the day speed vector is recorded as v_up= (Vup (i-n+1), vup (i-n+2),..vup (i)), then their standard deviations need to satisfy formulas (1) and (2), and the altitude average needs to satisfy formula (3):
mean(HEI)∈[Hei min ,Hei max ](3) The upper part of the device is provided with a plurality of grooves,is a threshold value for altitude fluctuations, +.>Is the threshold value of fluctuation of the sky speed, hei min Hei, the minimum of altitude max Is the maximum of altitude.
5. The adaptive method of missile-borne radar SAR mode based on inertial navigation information and detection point positions according to claim 3, wherein the determination method of roll angle and pitch angle is as follows:
ROLL and PITCH angles are denoted as roll= (ROLL (i-n+1), ROLL (i-n+2), PITCH (i)), pitch= (PITCH (i-n+1), PITCH (i-n+2), PITCH (i)), respectively; the formulas (5), (6), (7) and (8) are required to be satisfied:
mean(PITCH)∈[Pitch min ,Pitch max ] (7)
mean(ROLL)∈[Roll min ,Roll max ] (8)
the upper part of the device is provided with a plurality of grooves,and->Roll and Pitch, respectively, fluctuation thresholds, pitch min Is the minimum value of Pitch angle, pitch max Is the maximum value of pitch angle, roll min Is the minimum value of Roll angle, roll max Is the maximum value of roll angle.
6. The adaptive method of missile-borne radar SAR mode based on inertial navigation information and detection point positions according to claim 3, wherein the determination method of ground speed, course angle and track angle is as follows:
when the flying is stable, the ground speed, the course angle and the track angle of the missile-borne platform are stable, and the following formulas (9), (10), (11) and (12) are required to be satisfied:
mean(V_EARTH)∈[Vearth min ,Vearth max ] (12)
the upper part of the device is provided with a plurality of grooves,and->The fluctuation threshold is respectively the ground speed, the course angle and the track angle, and Vearth min Is the minimum value of the ground speed, vearth max Is the maximum value of ground speed.
7. The method for adaptive SAR model of airborne radar based on inertial navigation information and detection point position as set forth in claim 1, wherein the distance L from the detection point to the projection of the course on the horizontal plane is calculated as follows:
wherein, (X i-N+1 ,Y i-N+1 ,Z i-N+1 )、(X i ,Y i ,Z i )、(X T ,Y T ,Z T ) Respectively P' i-N+1 、P’ i And the T point is transformed from longitude and latitude high coordinates to earth rectangular coordinates.
8. The adaptive method of airborne radar SAR mode based on inertial navigation information and detection point position according to claim 1, wherein selecting the stripe mode further comprises determining a sideways direction, i.e. detection point to the right or left of the course; the method comprises the following steps:
regarding the same earth altitude plane as an ordinate range [ -90,90]I.e. latitude, abscissa [ -180,180 []A two-dimensional plane rectangular coordinate system of a longitude range; vector quantityAnd->The formula is as follows:
vector quantityAnd->The outer product is of the formula:
when B is less than 0, the detection point B is on the right side of the navigation line, and the side view direction of the radar is right; when B > 0, the detection point B is on the left side of the navigation line, and the side view direction of the radar is left.
9. The adaptive method of missile-borne radar SAR model based on inertial navigation information and detection point position as claimed in claim 1, further comprising calculating the distance from the horizontal projection of the current position of the flying platform to the vertical point of the detection point on the course projection so as to meet the radar operable interval, wherein the following formula is as follows:
wherein, (X i 、Y i 、Z i ) Is the coordinate of the radar operation starting point, S T Is a set distance threshold.
10. A computer system, comprising: one or more processors, a computer-readable storage medium storing one or more programs, wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of claim 1.
CN202310361191.3A 2023-04-07 2023-04-07 Missile-borne radar SAR mode self-adaption method based on inertial navigation information and detection point position Pending CN116755089A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117968680A (en) * 2024-03-29 2024-05-03 西安现代控制技术研究所 Inertial-radar integrated navigation limited frame measurement variable weight updating method

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117968680A (en) * 2024-03-29 2024-05-03 西安现代控制技术研究所 Inertial-radar integrated navigation limited frame measurement variable weight updating method

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