CN117872373B - Miniature SAR system of real-time processing towards light unmanned aerial vehicle - Google Patents
Miniature SAR system of real-time processing towards light unmanned aerial vehicle Download PDFInfo
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Abstract
The invention provides a miniature SAR system for real-time processing of a light unmanned aerial vehicle, and belongs to the field of electronic radar systems. The system comprises a miniature SAR radar unit realized by adopting chip high-integration packaging, and radar signal receiving, transmitting, collecting and preprocessing are completed; an FPGA is adopted as a core processing unit to realize a real-time processing unit, and SAR real-time imaging and image output are completed; the unmanned aerial vehicle provides information such as power supply, navigation and the like required by the miniature SAR by using a GNSS antenna, an inertial navigation measuring unit, a battery and the like of the unmanned aerial vehicle. The system forms unmanned aerial vehicle and load integration, does not need additional supporting equipment, greatly reduces the system volume, and meets the real-time SAR imaging requirement of the unmanned aerial vehicle.
Description
Technical Field
The invention relates to the field of electronic radar systems, and particularly provides a miniature SAR system for real-time processing of a light unmanned aerial vehicle.
Background
With the development of Unmanned Aerial Vehicle (UAV) technology, a light unmanned aerial vehicle has become a powerful means for quick response and short-distance detection in a complex environment due to the advantages of good maneuvering performance, no casualties and the like. Aiming at the requirement of the mapping of the light and small unmanned aerial vehicle on the miniature SAR (synthetic aperture radar) load, the invention provides a light miniature SAR system capable of being processed on line and in real time, can finish the rapid imaging processing on the unmanned aerial vehicle, and has wide application prospect.
At present, a light and small unmanned aerial vehicle carrying a micro optical and infrared sensing system has been widely applied, but is easily influenced by cloud, rain and natural light radiation sources, so that a small microwave load with all-weather sensing capability becomes a research hot spot in recent years, and has wide application requirements in aspects of high-resolution imaging, investigation, target detection, environment monitoring, movement tracking and the like. However, the light and small unmanned aerial vehicle puts more strict requirements on the volume, weight, power consumption and the like of the SAR load, and the mode of the SAR system formed by the traditional discrete modules through cable splicing is difficult to improve the integration level; meanwhile, the board card box type SAR real-time processor is difficult to be carried on a light small unmanned aerial vehicle, and the limitation of the design method of the existing SAR system is gradually revealed.
The traditional SAR design scheme comprises an antenna unit, a radio frequency unit, a digital unit, matched equipment and the like, wherein the radio frequency unit and the digital unit comprise a plurality of component modules, the scheme is complex in structure and high in power consumption, and the requirement of a light-weight low-power-consumption radar load for a light-weight small unmanned aerial vehicle is difficult to meet.
Disclosure of Invention
In order to solve the technical problems, the invention provides a real-time processing miniature SAR system for a light small unmanned aerial vehicle, which adopts chip high-integration packaging to realize a miniature SAR radar unit and completes radar signal receiving, transmitting, collecting and preprocessing; an FPGA is adopted as a core processing unit to realize a real-time processing unit, and SAR real-time imaging and image output are completed; the unmanned aerial vehicle and load integrated system is formed by providing information such as power supply, navigation and the like required by the miniature SAR by using a GNSS antenna, an inertial navigation measuring unit, a battery and the like of the unmanned aerial vehicle, and does not need additional matched equipment, so that the system volume is greatly reduced.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
a lightweight unmanned aerial vehicle-oriented real-time processing miniature SAR system, comprising:
The radar unit is used for receiving, transmitting, collecting and preprocessing radar signals, and the radar unit adopts chip high-integration packaging to realize a miniature SAR radar unit;
The processing unit is used for processing the data of the miniature SAR radar unit to realize SAR real-time imaging and image output, and the processing unit takes the FPGA as a core processing unit to realize data real-time processing;
The unmanned aerial vehicle is used for providing navigation information and power supply required by the miniature SAR radar unit by utilizing a GNSS antenna, an inertial navigation measuring unit and a battery of the unmanned aerial vehicle;
The processing unit comprises a real-time processor, a real-time dynamic differential system, a positioning and orientation computing system and a wireless data transmission module; the real-time processor is used for receiving the radar signal preprocessing data and the real-time integrated navigation data of the positioning and orientation computing system, completing SAR real-time imaging, motion compensation computing and real-time image compression, and outputting image data; the real-time dynamic differential system is used for solving the carrier phase integer ambiguity through intra-system differential processing, obtaining the accurate position information of the mobile station according to the correlation between the mobile station and the reference station, and inputting the accurate position information into the positioning and orientation calculation system; the positioning and orientation computing system is used for receiving the accurate position information of the real-time dynamic differential system and the attitude information of the inertial navigation measuring unit, generating real-time combined navigation data by applying a Kalman filter and feedback error control iterative operation, and inputting the real-time combined navigation data into the real-time processor for motion compensation computation; the wireless data transmission module transmits the output image data of the real-time processor to the ground control unit through space.
The invention has the beneficial effects that:
1) According to the SAR radar unit, the SAR radar unit is formed by means of chipping and high-density three-dimensional integration, the processing resources are effectively saved through reasonable data processing resource allocation and novel integrated navigation data generation, the lightweight real-time processing unit is formed, and the SAR supporting equipment is reduced by sharing the battery, the IMU and other equipment with the unmanned aerial vehicle. The new design thought can greatly reduce the volume weight and the power consumption of SAR load, and is beneficial to the mounting and the application of the light unmanned aerial vehicle.
2) The invention provides a technical scheme of an SAR radar unit suitable for chipping and high-density three-dimensional integration, wherein the core unit of the scheme consists of a phase-locked linear frequency modulation source chip, a receiving and transmitting channel chip, an intermediate frequency receiving chip, an acquisition and preprocessing chip and a high-isolation receiving and transmitting antenna, and the radar unit is formed by three-dimensional high-density integration, so that compared with the traditional SAR radar scheme, the volume weight and the power consumption can be reduced by orders of magnitude.
3) According to the technical scheme, according to the characteristic that effective echo data only has a certain specific frequency band and azimuth position, a large amount of redundant data is cut off through preprocessing, so that the data rate is reduced by more than 20 times, the resource requirement of rear-end real-time processing is greatly reduced, further, the FPGA is utilized to carry out SAR real-time imaging processing by adopting an omega-k algorithm, the 4k image processing time can be compressed at the second level, and the unmanned aerial vehicle real-time SAR imaging requirement is met.
4) The invention provides a technical scheme for generating SAR integrated navigation data based on a cellular mobile network, which uses a continuous operation reference base station as a differential position base station to carry out RTK position calculation with an on-board GNSS mobile station, can obtain centimeter-level positioning accuracy, and meanwhile, does not need to erect a traditional GNSS ground receiving base station, so that the unmanned aerial vehicle is more flexible to apply.
Drawings
Fig. 1 is a schematic structural diagram of a real-time processing miniature SAR system for a light-weight unmanned aerial vehicle according to the present invention;
FIG. 2 is a schematic diagram of signal isolation of a transceiver antenna of a radar unit according to the present invention;
FIG. 3 is a flowchart of RTK calculation for a processing unit according to the present invention;
Fig. 4 is a PCS resolving flowchart of the processing unit of the present invention.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of a miniature SAR system for real-time processing of a light unmanned aerial vehicle according to the present invention; the miniature SAR system comprises: the radar unit is used for receiving, transmitting, collecting and preprocessing radar signals, and the radar unit adopts chip high-integration packaging to realize a miniature SAR radar unit; the processing unit is used for processing the data of the miniature SAR radar unit to realize SAR real-time imaging and image output, and the processing unit adopts the FPGA as a core processing unit to realize data real-time processing; the unmanned aerial vehicle is used for providing navigation information and power supply required by the miniature SAR radar unit by utilizing a GNSS antenna, an inertial navigation measuring unit and a battery of the unmanned aerial vehicle;
the radar unit comprises a phase-locked linear frequency modulation source, a receiving and transmitting channel, a transmitting antenna, a receiving antenna, an intermediate frequency receiving channel and a digital acquisition and preprocessing unit;
the processing unit comprises a real-time processor, a real-time dynamic differential system RTK, a positioning and orientation computing system PCS and a wireless data transmission module;
The unmanned aerial vehicle comprises a cellular communication antenna, a GNSS antenna, an inertial navigation measurement unit (IMU) and a battery. The radar unit, the processing unit and the unmanned aerial vehicle accessory equipment are described in further detail below according to the accompanying drawings.
(1) Radar unit
Referring to fig. 1-2, the radar unit mainly generates radar transmitting signals, and radiates through a transmitting antenna after transmitting frequency conversion and power amplification; the receiving antenna receives the target small signal echo, and after filtering and amplifying, the target small signal echo is converted into a digital signal through digital acquisition, and preprocessing is carried out to reduce the data volume. The radar unit works in millimeter wave band and adopts frequency modulation continuous wave system to reduce the whole size.
The radar unit mainly comprises a phase-locked linear frequency modulation source, a receiving and transmitting channel, a receiving and transmitting antenna (a receiving antenna and a transmitting antenna), an intermediate frequency receiving channel, a digital acquisition unit, a control unit, a preprocessing unit and the like. Wherein,
The phase-locked linear frequency modulation source generates a linear frequency modulation signal of a baseband;
The receiving and transmitting channel is responsible for up-conversion and power amplification of radar signals and low-noise reception and down-conversion of echo signals; the receiving and transmitting antenna is responsible for the radiation and the reception of radar signals;
the intermediate frequency receiving channel is responsible for filtering amplification and gain control of echo signals after down-conversion;
The digital acquisition and preprocessing are used for carrying out the analog-to-digital conversion of radar signals, and the preprocessing is used for preprocessing the acquired signals to reduce the data volume so as to reduce the data pressure of the real-time processing of the rear end and simultaneously take charge of the control of a radar system.
The unit differs from a conventional radar unit in that:
1) The fractional frequency divider of the fast modulation phase-locked loop can be controlled digitally, and the phase-locked loop can be used for generating linear frequency modulation signals with high frequency, large bandwidth and good linearity on the premise of not adding extra devices. The traditional phase-locked loop can only generate point frequency or frequency stepping signals and is generally used as a variable-frequency local oscillator. The generation of the linear frequency modulation signal needs to use DAC or DDS, but the system has high complexity and larger power consumption;
2) Because the volume limitation causes that the receiving and transmitting antenna is relatively close in distance, the traditional receiving and transmitting antenna has relatively strong direct wave interference, and the receiving and transmitting antenna adopts an electromagnetic field band gap (Electromagnetic Band Gap, EBG) isolation belt (shown in figure 2) structure, so that the plane feed-in direct wave signal of the antenna is reduced; meanwhile, isolation walls (namely metal partition walls) are adopted to restrain the antenna space from feeding direct wave signals, wherein the EBG isolation belt and the metal partition walls are both positioned on the antenna radiation surface layer, and the feed network is positioned on the lower layer of the antenna radiation surface. The isolation degree of the receiving and transmitting antenna can be greatly improved by the two means;
3) And carrying out digital acquisition and preprocessing, namely carrying out distance extraction and azimuth interception on SAR echo signals with high data rate according to the gathering areas of radar echoes in the distance direction and the azimuth direction, so that the data rate is greatly reduced, and transmitting compressed data to a processing unit through a gigabit network. The traditional radar needs to transmit original data to a back-end processor through optical fibers and the like, so that the data caching, operation and processing resources are high in consumption and the volume weight is high;
4) Besides the transmitting and receiving antenna, each functional module of the radar unit can realize the chip formation, and meanwhile, compared with the traditional pulse system radar and the functional modules thereof, the radar unit adopts the frequency modulation continuous wave system, and the volume weight and the power consumption of the radar unit are greatly reduced.
(2) Processing unit
Referring to fig. 1, 3-4, the processing unit performs further processing on the radar unit received signal, and performs motion compensation in combination with the combined navigation data to complete SAR real-time imaging.
The processing unit mainly comprises a Real-time processor, a Real-time dynamic differential system (Real-TIME KINEMATIC, RTK), a positioning and orientation computing system (Positioning and orientation Computing System, PCS) and a wireless data transmission module. Wherein:
The RTK module is used as an on-board GNSS receiving mobile station, a continuous operation reference base station is used as a reference station, base station information from the reference station is received through mobile cellular signals, meanwhile, GNSS signals are received through satellite navigation signals and are used as on-board mobile station information, carrier phase signal difference is carried out through processing the base station and the mobile station information in the system, the carrier phase whole-cycle ambiguity is solved, space coordinate conversion and error correction are carried out on the mobile station and the base station, accurate position information output of the mobile station is obtained according to the correlation between the mobile station and the reference station, and the accurate position information is input into the PCS module as one type of data of combined navigation;
The PCS module mainly receives RTK real-time differential information on a receiver and IMU real-time inertial information (namely gesture information) of an inertial navigation measurement unit (Inertial measurement unit, IMU) of the unmanned aerial vehicle, generates navigation information and initial position change information through a strapdown inertial navigator, fuses data of a plurality of sensors by using a Kalman filter to obtain error information, and carries out feedback error control iteration and other operations through an error controller to eliminate errors, outputs accurate position and gesture information, and inputs the accurate position and gesture information into the real-time processor to carry out SAR motion compensation;
the real-time processor mainly comprises an FPGA processing chip, an ARM controller and the like, receives radar preprocessing data and combined navigation data of the PCS module, completes SAR real-time processing, motion compensation calculation and real-time image compression, and outputs image data;
And the wireless data transmission module transmits SAR image data output by the real-time processor to the ground control unit through space.
The processing unit differs in that:
1) The RTK module adopts a continuous operation reference base station as a reference station, and can receive reference data by moving a cellular communication antenna and a receiver, so that the centimeter-level positioning precision is obtained. The traditional RTK needs to erect a GNSS receiving station on the ground to serve as a reference station, data cannot be transmitted to an onboard mobile station in real time, and real-time high-precision position information is difficult to obtain;
2) The PCS module adopts a DSP as a core computing unit, and utilizes high-precision position and gesture information to perform real-time calculation to generate combined navigation data. After the traditional integrated navigation data generation is completed, the position information of a GNSS base station and an on-board mobile station and the IMU attitude information are extracted on the ground, and are processed and generated by a computer, so that the real-time processing requirement is difficult to meet;
3) The real-time processor adopts an FPGA as a core computing unit, performs imaging processing on SAR data by using an omega-k algorithm, and uses an ARM core as a processing parameter configuration and flow controller. The traditional SAR real-time processor generally adopts GPU or DSP and other computing cores due to larger data processing amount, has larger power consumption, and is difficult to apply to a small unmanned aerial vehicle.
(3) Unmanned aerial vehicle unit
Referring to fig. 1, the unmanned aerial vehicle unit mainly serves as a carrying platform to complete SAR imaging flight, and provides necessary energy and data support for the SAR radar unit.
The portions of the drone unit that are relevant to SAR radar mainly include GNSS antennas and cellular communication antennas, inertial navigation measurement units (IMUs), and batteries. The GNSS antenna and the cellular communication antenna transmit satellite navigation signals and base station information to the RTK module for differential processing; an inertial navigation measurement unit (IMU) measures attitude information of the unmanned aerial vehicle platform and transmits the attitude information to a PCS module to generate combined navigation data; the battery provides 12V dc power for the SAR radar.
The unmanned aerial vehicle unit is different in that:
1) The GNSS antenna is shared by the unmanned aerial vehicle and the SAR, so that space and weight are saved, and the load of the support platform is integrated;
2) The IMU module is shared by the drone and the SAR radar. The traditional SAR needs high-precision IMU to perform attitude measurement, but the weight is generally 1-3 kg, and the SAR is difficult to apply to a light unmanned aerial vehicle. In the scheme, the self-focusing of the high-precision image is realized by using the self-carried low-precision IMU of the unmanned aerial vehicle and adopting a phase difference method of triangular wave waveforms through innovative radar wave design, so that the requirement on the measurement precision of the IMU is greatly reduced, the methods of IMU real-time temperature compensation, bidirectional Kalman filtering and the like are further combined, the problem of high-precision motion compensation of the low-precision IMU is solved, the space and the weight are saved, and the load of a support platform are integrated;
3) The battery is shared by the drone and the SAR radar. Each module of the unified SAR radar is powered by a single-path voltage, the unmanned aerial vehicle battery is utilized for carrying out primary voltage conversion and providing the primary voltage conversion for the SAR radar, additional battery power supply is not needed, space and weight are saved, and the load of the support platform is integrated.
The foregoing description of the embodiments has been provided for the purpose of illustrating the general principles of the invention, and is not meant to limit the invention thereto, but to limit the invention thereto, and any modifications, equivalents, improvements and equivalents thereof may be made without departing from the spirit and principles of the invention.
Claims (1)
1. A lightweight unmanned aerial vehicle-oriented real-time processing miniature SAR system, comprising:
The radar unit is used for receiving, transmitting, collecting and preprocessing radar signals, and the radar unit adopts chip high-integration packaging to realize a miniature SAR radar unit;
The processing unit is used for processing the data of the miniature SAR radar unit to realize SAR real-time imaging and image output, and the processing unit takes the FPGA as a core processing unit to realize data real-time processing;
The unmanned aerial vehicle is used for providing navigation information and power supply required by the miniature SAR radar unit by utilizing a GNSS antenna, an inertial navigation measuring unit and a battery of the unmanned aerial vehicle;
The processing unit comprises a real-time processor, a real-time dynamic differential system, a positioning and orientation computing system and a wireless data transmission module; the real-time processor is used for receiving the radar signal preprocessing data and the real-time integrated navigation data of the positioning and orientation computing system, completing SAR real-time imaging, motion compensation computing and real-time image compression, and outputting image data; the real-time dynamic differential system is used for solving the carrier phase integer ambiguity through differential processing, obtaining the accurate position information of the mobile station according to the correlation between the mobile station and the reference station, and inputting the accurate position information into the positioning and orientation calculation system; the positioning and orientation computing system is used for receiving accurate position information input by the real-time dynamic differential system and attitude information of the inertial navigation measuring unit, generating real-time combined navigation data by applying a Kalman filter and feedback error control iterative operation, and inputting the real-time combined navigation data into the real-time processor for motion compensation computation; the wireless data transmission module transmits the output image data of the real-time processor to the ground control unit through space;
The radar unit comprises a phase-locked linear frequency modulation source, a receiving and transmitting channel, a transmitting antenna, a receiving antenna, an intermediate frequency receiving channel and a digital acquisition and preprocessing unit, wherein the phase-locked linear frequency modulation source is used for generating linear frequency modulation signals of a baseband; the receiving and transmitting channel is used for up-conversion and power amplification of radar signals and low-noise receiving and down-conversion of radar signals; the transmitting antenna and the receiving antenna are responsible for the radiation and the reception of radar signals; the intermediate frequency receiving channel is responsible for filtering amplification and gain control of echo signals; the digital acquisition and preprocessing unit performs radar signal analog-to-digital conversion, performs preprocessing on echo signals to reduce the data rate, and is responsible for radar unit control;
The receiving antenna and the transmitting antenna comprise EBG isolation belts for reducing antenna plane feed direct wave signals and isolation walls for inhibiting antenna space feed direct wave signals.
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| CN111679278A (en) * | 2020-06-19 | 2020-09-18 | 八院云箭(北京)航天技术研究院有限公司 | FPGA-based real-time imaging system of W-waveband unmanned aerial vehicle synthetic aperture radar |
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| WO2023015623A1 (en) * | 2021-08-13 | 2023-02-16 | 复旦大学 | Segmented aperture imaging and positioning method of multi-rotor unmanned aerial vehicle-borne synthetic aperture radar |
| CN116879888A (en) * | 2023-02-20 | 2023-10-13 | 应急管理部国家自然灾害防治研究院 | Fault deformation measuring method and system based on light small unmanned aerial vehicle SAR system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111679278A (en) * | 2020-06-19 | 2020-09-18 | 八院云箭(北京)航天技术研究院有限公司 | FPGA-based real-time imaging system of W-waveband unmanned aerial vehicle synthetic aperture radar |
| CN112379370A (en) * | 2020-09-30 | 2021-02-19 | 中国科学院空天信息创新研究院 | SAR system based on full silicon-based chip |
| WO2023015623A1 (en) * | 2021-08-13 | 2023-02-16 | 复旦大学 | Segmented aperture imaging and positioning method of multi-rotor unmanned aerial vehicle-borne synthetic aperture radar |
| CN116879888A (en) * | 2023-02-20 | 2023-10-13 | 应急管理部国家自然灾害防治研究院 | Fault deformation measuring method and system based on light small unmanned aerial vehicle SAR system |
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