CN207096444U - Low slow small unmanned aerial vehicle flight path measuring system - Google Patents
Low slow small unmanned aerial vehicle flight path measuring system Download PDFInfo
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- CN207096444U CN207096444U CN201720712267.2U CN201720712267U CN207096444U CN 207096444 U CN207096444 U CN 207096444U CN 201720712267 U CN201720712267 U CN 201720712267U CN 207096444 U CN207096444 U CN 207096444U
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Abstract
It the utility model is related to radio art, to solve the problems, such as wave beam synchronous scanning in the measurement of the flight path of low-altitude low-velocity flight SUAV target and multistatic radar, the utility model discloses low slow small unmanned aerial vehicle flight path measuring system, including monitoring device, cell site, receiving station, data processing centre and data transmission link, monitoring device number of units M >=2, for measuring radiation signal and the direction of unmanned plane, data processing centre determines the target area of unmanned plane, cell site and receiving station is guided synchronously to point to target area, cell site and receiving station are arranged respectively in the middle part of zone of protection and periphery, one is configured at middle part, in circumferential arrangement at least two, the echo-signal of receiving station reception processing target area, data transmission link completes data, order and reference signal transmission.The utility model can be applied to the key protection such as obstacle free airspace protection zone and large-scale oil depot region.
Description
Technical field
It the utility model is related to radio art, more particularly to a kind of low slow small unmanned aerial vehicle flight path measuring system.
Background technology
In recent years, the quantity of various unmanned planes quickly increases, and potential hazard gradually shows, such as nothing in obstacle free airspace protection zone
Man-machine interference civil aviaton fly event occurs repeatedly, and causes flight to make preparation for dropping, make a return voyage or is delayed, the flight peace of serious threat airline carriers of passengers
Entirely.To successfully manage the ever-increasing practical threat of various unmanned planes, there is an urgent need to carry out flight path to the unmanned plane in guard plot
Measurement, takes with the threat degree of accurate judgement unmanned plane and in time corresponding countermeasure.
More set radio detection equipment can position to unmanned plane, but precision is generally relatively low, and application scenario is limited, at present
Radar detecting equipment mainly is used to unmanned aerial vehicle flight path measurement.
Radar detecting equipment has monostatic radar and the class of multistatic radar two, and monostatic radar mainly uses low-altitude surveillance thunder
Reach, Chinese patent CN201610554144.0 discloses a kind of countermeasure system of SUAV, using the full coherent of KU wave bands, entirely
Solid-state and CW with frequency modulation radar, such radar can be real to " arrogant small ", " low fast small " or " low slow big " unmanned plane
Effective detection is applied, because：To " arrogant small " unmanned plane, the influence of ground clutter is small, and target is cut easily by radar scattering
Area recognition, to " low fast small " unmanned plane, target identifies easily by obvious Doppler frequency shift from ground clutter, to " low
Slowly unmanned plane, target identify easily by larger Radar Cross Section from ground clutter greatly ", but (low to " low slow small "
Empty slower flight is small-sized) unmanned plane, because target and ground clutter are close, Doppler frequency shift unobvious, Radar Cross Section
Small, prior art is difficult to identify target from ground clutter, is the difficult point of radar detection.
Multistatic radar has the special, class of cooperation and noncooperation three according to the configuration of emitter：Dedicated classes refer to emitter
Design and operation are subordinated to multi-static radar system, and cooperation class refers to that emitter designs for other services, but appropriate branch
More bases are held to work and be controlled by it, it is uncontrolled although non-cooperation class refers to the suitable more base work of emitter.
To cooperation class and non-cooperation class multi-static radar system, Chinese patent CN201480029064.2 discloses a kind of use
In positioning mesh calibration method and the multi-static radar system of implementation the method, M >=1 (N is received by means of N >=1 receiver
M >=3) the individual transmitter chance point radio signal launching and be reflected, to determine the position of airflight target, due to
Unmanned plane its Radar Cross Section very little largely occurred at present, echo-signal is extremely weak, and unmanned plane is carried out using this method
Position extremely difficult.To special multi-static radar system, beam Synchronization scanning is that must solve the problems, such as first, when launching and connect
When receipts are narrow beam, beam Synchronization scan method has：When within the sweep time for receiving wave beam one monitor area of completion,
Launching beam is fixed, then one directional diagram width of launching beam stepping, is so circulated until launching beam stepping is inswept whole
Sector is monitored, this method efficiency is very low, few to use；Second, launching beam scans, with multiple while receive wave beam to cover
Sector is monitored, this method needs multibeam antenna, receiver cost rise, complexity increase；Third, launching beam scans, connect
Wave beam pursuit launching beam is received, this method needs phased array antenna to realize that complicated and accurate wave beam controls, and cost is big；And
When being emitted as broad beam irradiation monitoring sector, when reception narrow beam scans in monitoring sector, it is not a problem synchronously, but cost is
Signal to noise ratio reduces, and operating distance diminishes, and can also cause the increase of secondary lobe noise level.
In a word, because " low slow small " unmanned plane and ground clutter are close, Doppler frequency shift unobvious, Radar Cross Section
Small, prior art is difficult to solve.
The content of the invention
The utility model discloses low slow small unmanned aerial vehicle flight path measuring system, it is intended to solves beam Synchronization in multistatic radar and sweeps
Retouch problem, the flight path measurement problem of low-altitude low-velocity flight SUAV target.
Low slow small unmanned aerial vehicle flight path measuring system disclosed in the utility model, including monitoring device, cell site, receiving station,
Data processing centre and data transmission link, monitoring device number of units M >=2, for measuring radiation signal and the side of unmanned plane
To the data processing centre determines the target area of unmanned plane, guides the cell site and the receiving station synchronously to point to mesh
Region is marked, the cell site and the receiving station are arranged respectively in the middle part of zone of protection and periphery, the middle part configure one, institute
Circumferential arrangement at least two is stated, the data transmission link completes data, order and reference signal transmission.
Specifically, the utility model discloses low slow small unmanned aerial vehicle flight path measuring system, including：Cell site, receiving station,
Data processing centre and data transmission link, the cell site include：Transmitting antenna, transmitting turntable, emitter, signal generator
With transmitting communication module, the receiving station includes：Reception antenna, servo control mechanism, receiving channel, processor and reception communication mould
Block, the data processing centre include：Processor, display and center to center communications module；The multi-static radar system is also included extremely
Few two monitoring devices, for monitoring the radiation signal of unmanned plane, and determine by Convergent measurement the target area of unmanned plane, institute
Stating monitoring device includes monitoring aerial, monitoring turntable, monitoring receiver and monitoring communication module, its measurement result transmission number
According to processing center, receive the control of the data processing centre；
The data processing centre determines the target area of unmanned plane according to the Convergent measurement result of the monitoring device, raw
Into the first guiding and control data, and the cell site and the receiving station are guided and control by the data transmission link
It is synchronous to point to target area；
The cell site and the receiving station are arranged respectively in the middle part of zone of protection and periphery, the middle part configure one,
The circumferential arrangement at least two, to ensure that transmitting antenna or reception antenna are in higher elevation state to unmanned plane target, drop
Influence of the low ground clutter to measurement.
The receiving station reception processing has determined that the echo-signal of target area, miscellaneous to filter the atural object of other positions
Ripple, reduces influence of the ground clutter to measurement, and measurement result sends the data processing centre.
The data processing centre calculates the locus of unmanned plane, the guiding of generation second according to the measurement result of receiving station
And control data, guide the receiving station and the cell site synchronously to point to target.
Described low slow small unmanned aerial vehicle flight path measuring system, receiving station's configuration is in the middle part of zone of protection, its reception
Passage way R is at least 2, for receiving the echo-signal reflected through unmanned plane, is carried out by the processor of the receiving station miscellaneous
After ripple offsets, obtain the visual angle of unmanned plane and to the distances of different cell sites and, then after being handled by the data processing centre,
The locus of unmanned plane is obtained, so as to produce the second guiding and control data and send the cell site and the receiving station,
Scanned for the receiving station and cell site's beam Synchronization.
Described low slow small unmanned aerial vehicle flight path measuring system, cell site's configuration are described to connect at the middle part of zone of protection
Receive station and the measurement result each including target and clutter is sent into the data processing centre, enter by the data processing centre
After the processing of row clutter cancellation, obtain visual angle of the different receiving stations to unmanned plane and the distance to cell site and obtain unmanned plane
Locus, so as to produce the second guiding and control data and send to the receiving station and the cell site, connect for described
Receive station and cell site's beam Synchronization scanning.
Described low slow small unmanned aerial vehicle flight path measuring system, when the receiving station configures the middle part in zone of protection, institute
State receiving station and configure a monitoring device, share the servo control mechanism of the receiving station, the monitoring aerial of the monitoring device
Target is pointed to simultaneously with the reception antenna of the receiving station, one or some monitoring devices are arbitrarily set in addition.
Described low slow small unmanned aerial vehicle flight path measuring system, when the receiving station configures the middle part in zone of protection, institute
State monitoring device to fit together with the cell site, share the transmitting turntable of the cell site, the monitoring of the monitoring device
Antenna and the transmitting antenna of the cell site point to target simultaneously.
Described low slow small unmanned aerial vehicle flight path measuring system, it is characterised in that when the cell site is configured in zone of protection
Middle part when, the cell site configures a monitoring device, shares the transmitting turntable of the cell site, the monitoring device
The transmitting antenna of monitoring aerial and the cell site point to target simultaneously, in addition one or some monitoring devices it is any
Set.
Described low slow small unmanned aerial vehicle flight path measuring system, it is characterised in that when the cell site is configured in zone of protection
Middle part when, the monitoring device fits together with the receiving station, share the receiving station servo control mechanism, the monitoring
The monitoring aerial of equipment and the reception antenna of the receiving station point to target simultaneously.
Described low slow small unmanned aerial vehicle flight path measuring system, it is characterised in that the receiving station and the monitoring device are equal
Using phased array antenna and on same front, mechanical scanning is added using electric scanning in orientation, electric scanning is used in pitching.
Described low slow small unmanned aerial vehicle flight path measuring system, it is characterised in that the first guiding data guide the hair
Penetrate station and point to target area using wide antenna radiation pattern, the second guiding data guide the cell site to use narrow antenna
Directional diagram points to target.
The beneficial effects of the utility model are：
The utility model determines target area using the measurement result of monitoring device, guides transmitting antenna and reception antenna same
Step points to target area, avoids multistatic radar search large-scale to zone of protection and the processing consumption to normal target,
Ensure quick discovery and tracking target；Simultaneously because receiver only handles the echo-signal of the target area, other positions are filtered out
The ground clutter put, reduce influence of the ground clutter to measurement.In addition, the utility model is more logical using multistation transmitting, single station
Road receives, or single station transmitting, multistation reception technique scheme, on the one hand ensure transmitting antenna or reception antenna to unmanned plane target at
In higher elevation state, influence of the ground clutter to measurement is reduced；On the other hand multipath reception passage or Duo Tai receiving stations are utilized
Clutter cancellation is carried out, eliminates the influence of ground clutter, ensure that and measurement is tracked to low slow small unmanned plane.The utility model
Behind measurement unmanned plane position, high-precision guiding data are regenerated, guide transmitting antenna and reception antenna synchronously to point to mesh
Mark, realizes the autonomous tracking of multi-static radar system, preferably solves the problem of multistatic radar beam Synchronization scanning.This reality
Problem is measured with the new flight path for solving " low slow small " unmanned plane target with relatively low cost, can be applied to obstacle free airspace protection zone
With the key protection region such as large-scale oil depot.
Brief description of the drawings
Fig. 1 is the multi-static radar system composition schematic diagram that the utility model is used for unmanned aerial vehicle flight path measurement；
Fig. 2 is monitoring device composition schematic diagram；
Fig. 3 is cell site's composition schematic diagram；
Fig. 4 is receiving station's composition schematic diagram；
Fig. 5 is that monitoring device fits together schematic diagram with receiving station；
Fig. 6 is that monitoring device fits together schematic diagram with cell site.
Embodiment
The utility model is in order to solve the problems, such as wave beam synchronous scanning in multistatic radar, first using radio monitoring equipment
The radiation signal of unmanned plane is monitored to find target, the target area of unmanned plane is determined using more monitoring devices progress Convergent measurements
Domain, the cell site and receiving station for guiding multistatic radar synchronously point to target area, after finding and tracking target, according to nobody
The measurement result that seat in the plane is put generates new guiding data, realizes receiving station and the scanning of cell site's beam Synchronization and multistatic radar pair
Unmanned plane target from motion tracking.
Specifically, the utility model discloses low slow small unmanned aerial vehicle flight path measuring system, including：Monitoring device 1, transmitting
Stand 2, receiving station 3, data processing centre 4 and data transmission link 5.
1st, monitoring device 1 (number of units M >=2), including：
Turntable 9 is monitored, for carrying monitoring aerial and being rotated in orientation and pitch orientation；
Monitoring aerial 6, for receiving various radiation signals；
Receipts machine 7 is monitored, for measuring parameter and the direction of radiation signal；
Communication module 8 is monitored, for receiving data, the order of data processing centre, sends and measures to data processing centre
As a result.
2nd, cell site 2 includes：
Launch turntable 13, for carrying transmitting antenna and being rotated in orientation and pitch orientation；
Transmitting antenna 10, for radiating radar signal；
Emitter 11, for amplifying radar signal；
Signal generator 12, for producing radar signal；
Launch communication module 14, for receiving guiding data and the order of data processing centre.
3rd, receiving station 3 includes：
Servo control mechanism 19：For carrying reception antenna, unmanned plane is scanned and tracked in orientation, pitch orientation；
Reception antenna 15：For receiving the echo-signal reflected by cell site's transmitting through unmanned plane；
Receiving channel 16,17：For handling the echo-signal of unmanned plane reflection；
Processor 18：For obtaining the visual angle of unmanned plane, to the distance of corresponding cell site and；
Controller 20：For setting each extension set parameter, each extension set working condition is controlled in real time；
Receive communication module 21：For receiving guiding data, order and the reference signal of cell site of data processing centre,
Measurement result send data processing centre.
4th, data processing centre 4 includes：
Processor：According to the measurement result of monitoring device, unmanned plane target is identified, calculates target general location, generation is drawn
Derivative evidence, control total system cooperate；According to the measurement result of receiving station, the position of unmanned plane is calculated, generates unmanned plane boat
Mark, and guiding data are regenerated according to unmanned aerial vehicle flight path.
Display：For showing monitoring parameters and flight track to unmanned plane；
Center to center communications module：For receiving the measurement result of monitoring device and receiving station, guiding data are sent to cell site
And receiving station, control command is sent to monitoring device, cell site and receiving station.
5th, data transmission link 5, for the data between monitoring device, cell site, receiving station and data processing centre, life
Order and reference signal transmission.
Such scheme can direct measurement unmanned plane target relative to the visual angle of receiving station, target can not to the distance of receiving station
Direct measurement, generally first measure cell site-target-receiving station time delay, obtain distance and, further according to cell site and receiving station
Between baseline length, obtain distance of the target to receiving station by solving bistatic triangle, and then determine the position of target.
The utility model measures problem, the technical measures bag taken to solve low-altitude low-velocity flight unmanned plane target flight path
Include：Raise cell site or receive station antenna to the elevation angle of target, to mitigate the influence of ground clutter, while receiving station is only handled
The echo-signal of target area is determined, masks other apart from upper ground clutter, finally utilizes the single station multichannel of multistation transmitting
Receive, or single station transmitting multistation is received, and the clutter of different receiving channels or different receiving stations is carried out to offset processing, eliminates atural object
The influence of clutter, ensure to be tracked measurement to low slow small unmanned plane.
According to abovementioned technology, the utility model includes two kinds of technical schemes.
First technical scheme
Low slow small unmanned aerial vehicle flight path measuring system, including monitoring device 1, cell site 2, receiving station 3, data processing centre 4
With data transmission link 5, wherein：
Monitoring device number of units M >=2；
Cell site number of units N >=2, around zone of protection periphery cloth station, to raise the irradiating angle to unmanned plane target, reduce
The influence of ground clutter；Cell site receives the guiding data of data processing centre, and its transmitting antenna is pointed into unmanned plane target, and
According to the order of data processing centre radar signal is radiated to unmanned plane.
Receiving station is located at the middle part of zone of protection, its receiving channel way R >=2, can receive the cell site's transmitting of R routes simultaneously
The echo-signal reflected through unmanned plane, the noise signal of processor pair difference receiving channel carry out offseting processing.
It is preferred that one, there is a monitoring device to be fitted together with receiving station, share the servo control mechanism of receiving station, monitoring device
Monitoring aerial and the reception antenna of receiving station point to target simultaneously, in this case, when monitoring device finds target and direction finding
When, the reception antenna of receiving station alignment target region.
It is preferred that two, in above-mentioned preferably one, receiving station uses phased antenna, adds mechanical scanning using electric scanning in orientation,
Electric scanning is used in pitching, because launching beam does not scan, so wave beam control is relatively easy, advantage is can to improve to search
Rope, the speed for capturing target, phased array receiving antenna use adaptive nulling technology, can also form multiple zero points and be directed at strong clutter
Area, systematic function is further improved, monitoring device antenna also uses phased array antenna, and is arranged on together with phased array receiving antenna
On one front.
It is preferred that three, all monitoring devices are combined together with cell site, share the transmitting turntable of cell site, monitoring device
Monitoring aerial and the transmitting antenna of cell site point to target simultaneously, in this case, when monitoring device finds target and direction finding,
The transmitting antenna of cell site alignment target region.
It is preferred that four, the transmitting antenna of cell site has 2 kinds of directional diagram width, and data processing centre sends the first guiding data
When, cell site points to target area using wide antenna radiation pattern, when data processing centre sends the second guiding data, cell site
Target is pointed to using narrow antenna radiation pattern.
Based on the unmanned aerial vehicle flight path measuring method of above-mentioned first technical scheme, comprise the following steps：
Step 11,1 chosen in monitoring device measures to the parameter of the various radiation signals of zone of protection and direction,
Measurement result send data processing centre；
Step 12, data processing centre receives the measurement result of above-mentioned monitoring device, according to the number accumulated when usually monitoring
According to storehouse, when finding emerging radiation signal, generate working frequency and bearing directing data send other monitoring devices, it is other
Monitoring device is operated in corresponding frequency, and measurement result is sent into number after corresponding volume-search coverage target, discovery target
According to processing center, its motion state is simultaneously observed in the target area that data processing centre calculates new radiation signal, when confirming as protecting
During unmanned plane target in region, the guiding data of generation first send receiving station and adjacent two nearest with unmanned plane orientation or
Duo Tai cell sites, while provide target area to receiving station, data processing centre sends measuring command, control total system association in good time
With work；
Step 13, the first guiding data control transmitting antenna that cell site provides according to data processing centre points to unmanned plane
Target, to preferably three, transmitting antenna alignment target, without this guiding data；Cell site according to data processing centre life
Order, launch radar signal, while reference signal is sent into receiving station by data link；
Step 14, the first guiding data that receiving station provides according to data processing centre, control reception antenna point to target
Region, to preferably one, reception antenna alignment target region, without this guiding data；Reception antenna scans according to certain rules
Unmanned plane target is searched for, each receiving channel only handles the echo-signal of the target area provided by data processing centre, masked
It is other apart from upper ground clutter, the measurement result of processor integrated treatment multipath reception passage, and to different receiving channels
Clutter carries out offseting processing, completes the capture of unmanned plane target and from motion tracking, obtain receiving station to the visual angle of unmanned plane and
And, and data processing centre is sent to the distances of different cell sites；
Step 15, data processing centre calculates the position of unmanned plane, generates unmanned plane during flying flight path, and generates the second guiding
Data send cell site and receiving station, realize the autonomous tracking of multi-static radar system, complete to trace into autonomous tracking from guiding
Conversion.To preferably four, the directional diagram of transmitting antenna can be now switched to narrower state, in favor of entering to unmanned plane target
Row high precision tracking.
Second technical scheme
Low slow small unmanned aerial vehicle flight path measuring system, including monitoring device 1, cell site 2, receiving station 3, data processing centre 4
With data transmission link 5, wherein：
Monitoring device number of units M >=2；
Cell site is located at the middle part of zone of protection；
Receiving station's number of units N >=2, around zone of protection periphery cloth station, to raise the receiving angle to unmanned plane target, reduce
The influence of ground clutter.
It is preferred that one, cell site fits together with 1 monitoring device, shares the transmitting turntable of cell site, monitoring device
Monitoring aerial and the transmitting antenna of cell site point to target simultaneously, in this case, when monitoring device finds target and direction finding,
The transmitting antenna of cell site alignment target.
It is preferred that two, all monitoring devices fit together with receiving station, and each monitoring device and receiving station share a servo
Mechanism, the monitoring aerial of monitoring device and the reception antenna of receiving station point to target simultaneously, in this case, when monitoring device is sent out
When existing target and direction finding, the reception antenna of receiving station alignment target.
It is preferred that three, in above-mentioned preferably three, receiving station uses phased array system, adds machine using electric scanning in reception antenna orientation
Tool scans, and use electric scanning in pitching, and because launching beam does not scan, so wave beam controls relatively easy, advantage is can be with
Search, the speed of capture target are improved, phased array receiving antenna uses adaptive nulling technology, can also form multiple zero point alignments
Strong clutter area, systematic function is further improved, monitoring device antenna also uses phased array antenna, and pacifies with phased array receiving antenna
On same front.
It is preferred that four, the transmitting antenna of cell site has 2 kinds of directional diagram width, and data processing centre sends the first guiding data
When, cell site points to target area using wide antenna radiation pattern, when data processing centre sends the second guiding data, cell site
Target is pointed to using narrow antenna radiation pattern.
Based on the unmanned aerial vehicle flight path measuring method of above-mentioned second technical scheme, comprise the following steps：
Step 21,1 set chosen in monitoring device measures to the parameter of the various radiation signals of zone of protection and direction,
Measurement result send data processing centre；
Step 22, data processing centre receives the measurement result of above-mentioned monitoring device, according to the number accumulated when usually monitoring
According to storehouse, when finding emerging radiation signal, generate working frequency and bearing directing data send other monitoring devices, it is other
Monitoring device is operated in corresponding frequency, and measurement result is sent into number after corresponding volume-search coverage target, discovery target
According to processing center, its motion state is simultaneously observed in the target area that data processing centre calculates new radiation signal, when confirming as protecting
During unmanned plane target in region, the guiding data of generation first send cell site and adjacent two nearest with unmanned plane orientation or
Duo Tai receiving stations, while provide the target area of target to receiving station, data processing centre sends measuring command in good time, and control is complete
System synergistic working；
Step 23, the first guiding data control transmitting antenna that cell site provides according to data processing centre points to unmanned plane
Target, to preferably one, transmitting antenna alignment target region, without this guiding data；Cell site is according to data processing centre
Order, launch radar signal, while reference signal sent into receiving station by data link；
Step 24, the first guiding data that receiving station provides according to data processing centre, control reception antenna point to target
Region, to preferably two, reception antenna aligned in general target area, without this guiding data；Reception antenna is according to certain rules
Scanning search unmanned plane target, its receiving channel only handle the echo-signal of the target area provided by data processing centre, screen
Cover other apart from upper ground clutter, the measurement result each including target and clutter is sent the data processing by receiving station
Center.
Step 25, data processing centre receives the measurement result of each receiving station and carries out clutter cancellation processing, obtains different
Visual angle of the receiving station to unmanned plane and the distance to cell site and, the locus of unmanned plane is obtained, so as to produce the second guiding
With control data and transmission is to receiving station and cell site, is scanned for receiving station and cell site's beam Synchronization, realizes more base thunders
Up to the autonomous tracking of system, complete to trace into the conversion independently tracked from guiding., now can be by the side of transmitting antenna to preferably four
Narrower state is switched to figure, in favor of carrying out high precision tracking to unmanned plane target.
Further described below in conjunction with the drawings and specific embodiments, described embodiment is only of the present utility model one
Kind embodiment, rather than whole embodiments.Based on the embodiment in the utility model, those of ordinary skill in the art are not having
The all other embodiment obtained under the premise of creative work is paid, belongs to the scope of protection of the utility model.To be simple
For the sake of, herein below eliminates the technical principle and general technology well known to the technical field.
Specific embodiment 1
As shown in figure 1, low slow small unmanned aerial vehicle flight path measuring system, including monitoring device 1, cell site 2, receiving station 3, data
Processing center 4 and data transmission link 5.
Exemplified by applied to large-scale oil depot guard plot, using above-mentioned first technical scheme, its basic configuration is：Monitoring device
2 sets, 4 sets of cell site, 1 set of receiving station.
Monitoring device is formed as shown in Fig. 2 including monitoring aerial 6, monitoring turntable 9, monitoring receiver 7 and monitoring communication mould
Block 8, monitoring device are located on the higher building roof in guard plot, to realize the comprehensive monitoring to whole guard plot, 2 sets of prisons
Measurement equipment pulls open a certain distance to realize Convergent measurement, and monitoring aerial is multi-channel multi-frequency band antenna, using than phase with than width
The direction finding system being combined, to below 2GHz frequency ranges, direction finding precision is at 2 ° or so, and to 5GHz with super band, direction finding precision is at 1 °
Left and right.
Cell site is formed as shown in figure 3, including transmitting antenna 10, transmitting turntable 13, emitter 11, the and of signal generator 12
14,4 sets of cell sites of communication module are individually positioned in the flat place in oil depot guard plot edge, ensure have to unmanned plane target necessarily
The irradiation elevation angle, and with adjacent two for combination, cover the region centered on oil depot, transmitting antenna is parabola antenna, its
Directional diagram width requirement is 3 times or so of guidance accuracy, to adapt to the direction finding precision of the following frequency ranges of monitoring device 2GHz, launches day
Line directional diagram width is 6 ° or so, while can choose 15GHz to reduce antenna size and weight, its working frequency.
Receiving station form as shown in figure 4, including reception antenna 15, servo control mechanism 19, receiving channel 16/17, processor 18,
Controller 20 and communication module 21 is received, receiving station is located on the higher building roof of central region of oil depot protection zone, day
Line is parabola antenna, and its directional diagram width is 0.5 °, using Monopulse estimation system.The receiving channel of receiving station is 2 tunnels, can
The echo-signal that 2 route cell site transmittings are reflected through unmanned plane is received simultaneously.
Data processing centre includes processor, display and center to center communications module, and processor includes control computer, data
Processing server and database server, processor receive the measurement result of monitoring device by communication module, identify unmanned plane
Target, target area is calculated, the guiding data of generation first, sends guiding and control command to cell site and receiving station, control is complete
System synergistic working, while receive the measurement result of receiving station, the position of unmanned plane is calculated, generate unmanned aerial vehicle flight path, and according to
Unmanned aerial vehicle flight path regenerates the second guiding data, is scanned for receiving station and cell site's beam Synchronization, realizes multistatic radar
System from motion tracking.
It can be special or existing communication net wirelessly or non-wirelessly (coaxial cable, optical fiber etc.) that data transmission link, which can be,
A part for network, reference signal uses data signal, on the basis of a certain cell site, is sent out to receiving station and other 3 cell sites
Send, realize the time synchronized of receiving station and cell site.
Unmanned aerial vehicle flight path measuring method based on above-mentioned technical proposal, its step include：
Step 111, choose in 1 set of monitoring device and the parameter of the various radiation signals of zone of protection and direction measured,
Measurement result send data processing centre；
Step 112, data processing centre receives the measurement result of above-mentioned monitoring device, according to the number accumulated when usually monitoring
According to storehouse, when finding emerging radiation signal, generate working frequency and bearing directing data send other monitoring devices, it is other
Monitoring device is operated in corresponding frequency, and measurement result is sent into number after corresponding volume-search coverage target, discovery target
According to processing center, its motion state is simultaneously observed in the target area that data processing centre calculates new radiation signal, when confirming as protecting
During unmanned plane target in region, the guiding data of generation first send receiving station and adjacent 2 sets nearest with unmanned plane orientation are sent out
Station is penetrated, while provides target area to receiving station, data processing centre sends measuring command, control total system collaboration work in good time
Make；
Step 113, the guiding data control transmitting antenna that cell site provides according to data processing centre points to unmanned plane mesh
Mark, according to the order of data processing centre, launch radar signal, while on the basis of a certain cell site, reference signal is passed through
Data link sends receiving station and other cell sites；
Step 114, the guiding data control reception antenna that receiving station provides according to data processing centre points to target area,
Scanning search unmanned plane target, 2 tunnel receiving channels only handle what is provided by data processing centre to reception antenna according to certain rules
The echo-signal of target area, mask other apart from upper ground clutter, the measurement of the tunnel receiving channel of processor integrated treatment 2
As a result, and to clutter carry out offseting processing, complete the capture of unmanned plane target and from motion tracking, obtain receiving station to unmanned plane
Visual angle and to the distances of different cell sites and, and send data processing centre；
Step 115, data processing centre calculates the position of unmanned plane, unmanned plane during flying flight path is generated, so as to produce second
Guiding and control data are simultaneously sent to receiving station and cell site, are scanned for receiving station and cell site's beam Synchronization, are realized more bases
The autonomous tracking of ground radar system, complete to trace into the conversion independently tracked from guiding.
To preferably one in the first technical scheme, there is 1 set of monitoring device to be fitted together with receiving station, as shown in figure 5, its
Monitoring aerial is arranged on the servo control mechanism of receiving station, points to target simultaneously with the reception antenna of receiving station, and share to receive and lead to
Letter module realizes signal and data transfer, in this case, when monitoring device finds target and direction finding, the reception day of receiving station
Line aligned in general target, data are guided without the first of data processing centre.
To preferably two in the first technical scheme, receiving station uses phased array antenna, adds machinery using electric scanning in orientation
Scan, electric scanning is used in pitching, be advantageous to improve search, the speed of capture target, phased array receiving antenna is using adaptively
Zeroing technology, multiple zero points can be formed and be directed at strong clutter area, further improve systematic function.Monitoring device antenna is also using phased
Array antenna, the frequency range used according to modern unmanned plane mainly near 433MHz, 2.4GHz, 5.8, can choose 400MHz~
The antenna of bis- frequency ranges of 800MHz and 2GHz~6GHz, it is arranged on phased array receiving antenna on same front.
To preferably three in the first technical scheme, all monitoring devices are combined together with cell site, share transmitting turntable,
As shown in fig. 6, the monitoring aerial of monitoring device and the transmitting antenna of cell site point to target simultaneously, it is real to share transmitting communication module
Existing signal and data transfer, in this case, when monitoring device finds target and direction finding, the transmitting antenna of cell site has been aligned
Target, data are guided without the first of data processing centre.
To preferably four in the first technical scheme, the transmitting antenna of cell site has 2 kinds of directional diagram width, such as respectively 6 ° and
3 ° two kinds, when unmanned plane radiation signal be 5GHz with super band, now can be wide using 3 ° of directional diagram because direction finding precision is higher
Degree；In addition, when data processing centre sends the first guiding data, cell site points to target area using 6 ° of antenna radiation pattern
Domain, when data processing centre sends the second guiding data, cell site points to target using 3 ° of antenna radiation pattern, to reduce ground
The influence of thing clutter.
Specific embodiment 2
As shown in figure 1, low slow small unmanned aerial vehicle flight path measuring system, including monitoring device 1, cell site 2, receiving station 3, data
Processing center 4 and data transmission link 5.
Exemplified by applied to obstacle free airspace protection zone, to the second technical scheme, its basic configuration is：2 sets of monitoring device, hair
Penetrate 1 set of station, 4 sets of receiving station.
Monitoring device is formed as shown in Fig. 2 including monitoring aerial 6, monitoring turntable 9, monitoring receiver 7 and monitoring communication mould
Block 8, monitoring device are located on the higher building roof in obstacle free airspace protection zone, to realize the comprehensive prison to whole protection zone
Survey, 2 sets of monitoring devices pull open a certain distance to realize Convergent measurement, and monitoring aerial is multi-channel multi-frequency band antenna, using than
Mutually with the direction finding system being combined than width, to below 2GHz frequency ranges, direction finding precision is at 2 ° or so, and 5GHz is with super band, direction finding essence
Degree is at 1 ° or so.
Cell site is formed as shown in figure 3, including transmitting antenna 10, transmitting turntable 13, emitter 11, the and of signal generator 12
Communication module 14, on the building roof higher positioned at the central region of obstacle free airspace protection zone, avoid blocking for building；Hair
It is parabola antenna to penetrate antenna, and its directional diagram width is 6 °, to avoid the electromagnetic environment to airport from having a negative impact, its work
Frequency can choose 15GHz.
Receiving station's composition includes reception antenna 15, servo control mechanism 19, receiving channel 16/17, processor 18, the and of controller 20
21,4 sets of receiving stations of communication module are individually positioned in place flat near the piece of smooth land of airport, ensure in takeoff and landing section to unmanned plane
Target has certain reception elevation angle, and is combination with adjacent two, covers the emphasis low clearance area centered on runway, and centering is high
Dummy section can realize all standing of whole obstacle free airspace protection zone, and reception station antenna is parabola antenna, and its directional diagram width is
0.5 °, using Monopulse estimation system.
Data processing centre includes processor, display and communication module, and processor includes control computer, data processing
Server and database server, processor receive the measurement result of monitoring device by communication module, identify unmanned plane target,
Target area, the guiding of generation first and control data are calculated, sends guiding and control command to cell site and receiving station, control is complete
System synergistic working, while receive the measurement result of receiving station, the position of unmanned plane is calculated, generate unmanned aerial vehicle flight path, and according to
Unmanned aerial vehicle flight path regenerates the second guiding data, is scanned for receiving station and cell site's beam Synchronization, realizes multistatic radar
System from motion tracking.
It can be special or existing communication net wirelessly or non-wirelessly (coaxial cable, optical fiber etc.) that data transmission link, which can be,
A part for network, reference signal uses data signal, on the basis of cell site, is sent to 4 sets of receiving stations, realizes receiving station and hair
Penetrate the time synchronized at station.
Based on the unmanned aerial vehicle flight path measuring method of above-mentioned second technical scheme, its measuring process is：
Step 221,1 set chosen in monitoring device is surveyed to the parameter of the various radiation signals of zone of protection and direction
Amount, measurement result send data processing centre；
Step 222, data processing centre receives the measurement result of above-mentioned monitoring device, according to the number accumulated when usually monitoring
According to storehouse, when finding emerging radiation signal, generate working frequency and bearing directing data send other monitoring devices, it is other
Monitoring device is operated in corresponding frequency, and measurement result is sent into number after corresponding volume-search coverage target, discovery target
According to processing center, its motion state is simultaneously observed in the target area that data processing centre calculates new radiation signal, when confirming as protecting
During unmanned plane target in region, the guiding data of generation first send cell site and adjacent 2 socket nearest with unmanned plane orientation
Station is received, while provides the target area of target to receiving station, data processing centre sends measuring command, control total system association in good time
With work；
Step 223, the guiding data control transmitting antenna that cell site provides according to data processing centre points to unmanned plane mesh
Mark, according to the order of data processing centre, launch radar signal, while reference signal is sent by data link and received
Stand；
Step 224, the guiding data that each receiving station provides according to data processing centre, control reception antenna point to target area
Domain, reception antenna scanning search unmanned plane target according to certain rules, its receiving channel is only handled to be provided by data processing centre
Target area echo-signal, mask other apart from upper ground clutter, receiving station is by each including target and clutter
Measurement result sends the data processing centre.
Step 225, data processing centre receives the measurement result of each receiving station and carries out clutter cancellation processing, obtains different
Visual angle of the receiving station to unmanned plane and the distance to cell site and, the locus of unmanned plane is obtained, so as to produce the second guiding
With control data and transmission is to receiving station and cell site, is scanned for receiving station and cell site's beam Synchronization, realizes more base thunders
Up to the autonomous tracking of system, complete to trace into the conversion independently tracked from guiding.
To preferably one in the second technical scheme, cell site fits together with 1 monitoring device, shares the hair of cell site
Turntable and transmitting communication module are penetrated, the monitoring aerial of monitoring device and the transmitting antenna of cell site point to target, this feelings simultaneously
Under condition, when monitoring device finds target and during direction finding, the transmitting antenna of transmitting alignment target, without the of data processing centre
One guiding data.
To preferably two in the second technical scheme, all monitoring devices are fitted together with receiving station, and each monitoring device is total to
With the servo control mechanism and reception communication module of receiving station, the monitoring aerial of monitoring device and the reception antenna of receiving station point to simultaneously
Target, in this case, when monitoring device finds target and during direction finding, the reception antenna of receiving station alignment target, without number
Data are guided according to the first of processing center.
To preferably three in the second technical scheme, receiving station uses phased array antenna, adds machinery using electric scanning in orientation
Scan, electric scanning is used in pitching, search can be improved, capture the speed of target, phased array receiving antenna is adjusted using adaptive
Zero technology, multiple zero points can be formed and be directed at strong clutter area, further improve systematic function.The frequency used according to modern unmanned plane
Scope mainly near 433MHz, 2.4GHz, 5.8, can choose bis- frequency ranges of 400MHz~800MHz and 2GHz~6GHz
Antenna, with phased array receiving antenna be arranged on same front on.
To preferably four in the second technical scheme, the transmitting antenna directional diagram width of cell site has two kinds to be available for switching to make
With, such as respectively 6 ° and 3 ° two kinds, when unmanned plane radiation signal be 5GHz with super band, because direction finding precision is higher, can now adopt
With 3 ° of directional diagram width；In addition, when data processing centre sends the first guiding data, cell site uses 6 ° of antenna direction
Figure points to target area, and when data processing centre sends the second guiding data, cell site is pointed to using 3 ° of antenna radiation pattern
Target, to reduce the influence of ground clutter.
Claims (9)
1. low slow small unmanned aerial vehicle flight path measuring system, including：Cell site, receiving station, data processing centre and data transmission link,
Characterized in that, the system also includes：
At least two monitoring devices, the radiation signal for unmanned plane described in Convergent measurement；
The data processing centre, the target area of unmanned plane is determined according to the Convergent measurement result of the monitoring device, generated
First guiding and control data, and guide and control the cell site and the receiving station same by the data transmission link
Step points to target area；
The cell site and the receiving station are arranged respectively in the middle part of zone of protection and periphery, the middle part configuration one, described
Periphery at least configures two；The echo-signal of target area described in the receiving station reception processing, measurement result send described in
Data processing centre；
The data processing centre calculates the locus of unmanned plane, the guiding of generation second and control according to the measurement result of receiving station
Data processed, the receiving station and the cell site is guided synchronously to point to target.
2. low slow small unmanned aerial vehicle flight path measuring system according to claim 1, it is characterised in that receiving station's configuration exists
The middle part of zone of protection, its receiving channel way R are at least 2, for receiving the echo-signal reflected through unmanned plane, by described
After the processor of receiving station carries out clutter cancellation, obtain the visual angle of unmanned plane and to the distances of different cell sites and, then pass through institute
After stating data processing centre's processing, the locus of unmanned plane is obtained, so as to produce the second guiding and control data and send institute
Cell site and the receiving station are stated, is scanned for the receiving station and cell site's beam Synchronization.
3. low slow small unmanned aerial vehicle flight path measuring system according to claim 1, it is characterised in that cell site's configuration exists
The middle part of zone of protection, respective measurement result is sent the data processing centre by the receiving station, at the data
After reason center carries out clutter cancellation processing, obtain visual angle of the different receiving stations to unmanned plane and the distance to cell site and obtain
The locus of unmanned plane, so as to produce the second guiding and control data and send to the receiving station and the cell site, use
Scanned in the receiving station and cell site's beam Synchronization.
4. low slow small unmanned aerial vehicle flight path measuring system according to claim 2, it is characterised in that receiving station's configuration one
Monitoring device described in platform, share the servo control mechanism of the receiving station, the monitoring aerial of the monitoring device and the receiving station
Reception antenna points to target simultaneously, and one or some monitoring devices are arbitrarily set in addition.
5. low slow small unmanned aerial vehicle flight path measuring system according to claim 2, it is characterised in that the monitoring device and institute
State cell site to fit together, share the transmitting turntable of the cell site, the monitoring aerial of the monitoring device and the transmitting
The transmitting antenna stood while point to target.
6. low slow small unmanned aerial vehicle flight path measuring system according to claim 3, it is characterised in that cell site's configuration one
Monitoring device described in platform, share the transmitting turntable of the cell site, the monitoring aerial of the monitoring device and the cell site
Transmitting antenna points to target simultaneously, and one or some monitoring devices are arbitrarily set in addition.
7. low slow small unmanned aerial vehicle flight path measuring system according to claim 3, it is characterised in that the monitoring device and institute
State receiving station to fit together, share the servo control mechanism of the receiving station, the monitoring aerial of the monitoring device and the reception
The reception antenna stood while point to target.
8. the low slow small unmanned aerial vehicle flight path measuring system according to claim 4 or 7, it is characterised in that the receiving station and
The monitoring device using phased array antenna and on same front, adds mechanical scanning, pitching in orientation using electric scanning
It is upper to use electric scanning.
9. the low slow small unmanned aerial vehicle flight path measuring system according to Claims 2 or 3, it is characterised in that first guiding
Data guide the cell site to point to target area using wide antenna radiation pattern, and the second guiding data guide the transmitting
Stand and point to target using narrow antenna radiation pattern.
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| US11656335B2 (en) | 2019-03-05 | 2023-05-23 | Rohde & Schwarz Gmbh & Co. Kg | System and method for detecting aircraft signatures |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US11656335B2 (en) | 2019-03-05 | 2023-05-23 | Rohde & Schwarz Gmbh & Co. Kg | System and method for detecting aircraft signatures |
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