CN207965139U - A kind of area outlook radar system that can obtain target pitch angle - Google Patents
A kind of area outlook radar system that can obtain target pitch angle Download PDFInfo
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- CN207965139U CN207965139U CN201820153069.1U CN201820153069U CN207965139U CN 207965139 U CN207965139 U CN 207965139U CN 201820153069 U CN201820153069 U CN 201820153069U CN 207965139 U CN207965139 U CN 207965139U
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Abstract
The utility model provides a kind of area outlook radar system that can obtain target pitch angle, including：Radar, video camera, control terminal and power supply system, the radar, video camera and control terminal are connect with power supply system respectively, and the radar, video camera are also connect with control terminal respectively；The video camera, radar are by supporting mast to be mounted on monitoring regional center；Radar include level angle with apart from acquisition module and locating module；Control terminal includes：Hypsographic map data memory module, target longitude and latitude calculate that module, target point elevation information acquisition module, target pitch angle calculate module.In identical radar cost, volume, the utility model can be well solved radar can not guide camera pitch angle problem due to not having under pitch angle information state, and not increase cost.
Description
Technical field
The utility model is related to a kind of area outlook radar systems that can obtain target pitch angle, belong to Radar Technology neck
Domain.
Background technology
Area outlook radar system is operate on the short range moving target surveillance radar system of ISM band, existing region
Surveillance radar element is made of radar, video camera, display control terminal, support mast, power supply system.Whole system is divided into interior
Part and outdoor section, indoor section include display control terminal, power supply system, and outdoor section includes video camera, radar, support
Mast, wherein video camera, radar are by supporting mast mounted on the central point for needing monitoring area.
After system starts work, radar can carry out around 360 ° or a sector to continue scanning, after finding moving target,
It carries out continuing tracking.Radar guides camera after obtaining the level angle of moving target, distance, and camera is according to thunder
The tracking to dynamic object is completed up to the level angle of offer, range information adjust automatically holder angle, camera focal length.
Existing area outlook radar system does not have due to cost, volumetric constraint and provides dynamic object pitch angle letter
Full automation is not accomplished in the ability of breath, the control so as to cause video camera pitch angle, and there are two types of common solution party at present
Case：1, level angle automatically controls, pitch angle is adjusted manually by user；2, a suitable pitch angle is preset, but it is this
Scheme is constant due to pitch angle in use, and the zoom magnification of camera is limited, and may be led when focal length is big
Target is caused to lose.
On how to obtain or many domestic and foreign reports of adjusting pitch angle：
Documents 1：CN203561793U disclose it is a kind of it is counter observe formula Radar Calibration sighting device, including lens barrel, rotation reflect
Mirror, stationary mirror, object lens, graduation mirror assembly and eyepiece component, rotation speculum is with stationary mirror with horizontal direction at 45
Angle is symmetrical arranged, and graduation mirror assembly carries LED light source, and eyepiece component is identical as the observation window opening direction, in calibration orientation
When counter can observe aiming, do not need the bulky radar antenna of large rotation angle, rotation speculum has adjusts rotating function manually,
The landmarker of low pitch angle can be demarcated, the big function of field of view.Using with manual regulatory function in this programme
Rotation speculum object is aimed at, but its be applied to radar sight.
Documents 2：CN103885039A provides a kind of channel multiplexing pitching angle measuring system based on panorama search radar,
On the basis of existing three-dimensional radar equipment mutually sweeps state of the art using the search of orientation machinery, pitching, by increasing microwave switch,
It realizes that gun parallax, pitching difference signal share a receiving channel, and segment processing side is cleverly used at Radar Signal Processing end
Formula within the frame signal time, while reporting orientation, pitch angle information using amplitude and poor Monopulse estimation method, realizes
Existing three-dimensional radar pitching high precision angle-measuring.This programme is the pitching Angle Information that radar is realized by increasing microwave switch.
The utility model is quasi- to provide a kind of area outlook that target pitch angle can be obtained using map elevation information auxiliary
Radar system.
Utility model content
The technical problem to be solved by the present invention is to provide a kind of area outlook radars that can obtain target pitch angle
System, the system assist obtaining the pitch angle of dynamic object by using map elevation information, and video camera is adjusted with this
Pitch angle, realization accurately track dynamic object.
In order to solve the above-mentioned technical problem, the utility model uses following technical scheme：
The utility model provides a kind of area outlook radar system that can obtain target pitch angle, including：Radar, camera shooting
Machine, control terminal and power supply system, the radar, video camera and control terminal are connect with power supply system respectively, and the radar is taken the photograph
Camera is also connect with control terminal respectively；The video camera, radar are by supporting mast to be mounted on monitoring regional center；
The radar include level angle with apart from acquisition module and locating module；The level angle with apart from obtain mould
Block is for obtaining the real-time level angle information of target and range information；The locating module is for obtaining the warp being currently installed on a little
Latitude information；
The control terminal includes：
Hypsographic map data memory module, for storing hypsographic map data；
Target longitude and latitude calculates module, for according to the longitude and latitude of installation point, the level angle information of target point and distance
Information extrapolates the longitude and latitude of dynamic object；
Target point elevation information acquisition module, for calculating the longitude and latitude of acquisition target in module from target longitude and latitude and leading
Enter hypsographic map data and obtains target point elevation information；
Target pitch angle calculates module, for obtaining target point height letter from target point elevation information acquisition module
Breath, extrapolates the pitch angle of target point and camera.
Further,
The top of the support mast is equipped with holder, and video camera is fixed on the top of support mast by holder；The cloud
Platform is connect with control terminal.
Further,
The holder includes Level tune motor and vertical adjusting motor；The vertical adjusting motor is used for basis and extrapolates
Pitch angle adjust camera pitch angle.
Further,
The locating module is high-precision GPS locating module or big-dipper satellite locating module.
As other preferred embodiments,
The locating module uses external high accuracy positioning instrument, the high accuracy positioning instrument to be connect with control terminal.
Further,
The power supply system is ups power.(Uninterruptible Power System, hereinafter referred to as UPS electricity
Source), i.e. uninterruptible power supply is that one kind containing energy storage device, using inverter as the uninterrupted of the constant voltage constant frequency of chief component
Power supply.
The operation principle of this system is as follows：
System can obtain the longitude and latitude of installation point during the installation process, and with importing the elevation put centered on installation point
Figure；System opens work, and radar scanning, when detecting dynamic object, output target is to install the level angle of origin
And range information, system extrapolate target longitude and latitude according to target level angle and range information, then pass through target longitude and latitude
Longitude and latitude inquiry obtains target elevation information, finally according to installation point longitude and latitude and the conversion video camera pitching of target point elevation information
Angle.
The method that above-mentioned zone surveillance radar element obtains target pitch angle, is to assist obtaining by map elevation information
It takes the pitch angle of target, and video camera pitch angle is guided with this, specifically comprise the following steps：
S1, installation point latitude and longitude information and elevation measuring map datum are obtained
Video camera and radar are installed in monitoring regional center, the locating module of radar obtains installation point warp during the installation process
During latitude information is simultaneously transferred to control terminal, and importing is with installation point in the hypsographic map data memory module of control terminal
The hypsographic map data of heart point；
S2, target level orientation angles and distance are obtained
Radar scanning dynamic object, when detecting target, the level angle of radar with apart from acquisition module obtain target with
Installation point be origin level angle information and range information and export to control terminal；
S3, the current longitude and latitude of target is calculated
The level angle information and range information of the target longitude and latitude reckoning module reception target point of control terminal, and according to
The latitude and longitude information of installation point extrapolates the longitude and latitude of dynamic object using longitude and latitude prediction equation；
S4, target point elevation information is obtained
The target point elevation information acquisition module of control terminal calculates the longitude and latitude that target is obtained in module from target longitude and latitude
It spends and elevation measuring map datum obtains target point elevation information；
S5, pitch angle is calculated
The target pitch angle of control terminal calculates that module obtains target point height from target point elevation information acquisition module
Journey information, and extrapolate according to pitch angle prediction equation the pitch angle of target point and video camera.
Further,
In step S3：Longitude and latitude prediction equation is as follows：
Jt=Jb+(R*sin(A*π/180))/(111*cos(Wb*π/180))
Wt=Wb+(R*cos(A*π/180))/111
In formula：JbRepresent installation point longitude, WbInstallation point latitude is represented, A represents horizontal plane relative to direct north up time
The angle in needle direction, R represent distance objective point and arrive the distance between installation point, JtRepresent target point longitude, WtRepresent target point latitude
Degree.
Further,
In step S5：Pitch angle calculates that calculation formula is as follows：
B=arcos (R/ (H-h))
In formula：B represents the pitch angle of target and video camera, and H represents equipment mounting height, and h is object height, R generations
Table distance objective point arrives the distance between installation point.
Further,
The method further includes：
Step S6, the pitch angle of video camera is adjusted
Control terminal outputs signal to the vertical direction motor of holder, and vertical direction motor in step S5 according to extrapolating
Pitch angle adjusts the pitch angle of video camera, realizes the tracking to dynamic object.
Further,
Locating module in the method is high-precision GPS locating module or big-dipper satellite locating module.
The beneficial effects of the utility model：In identical radar cost, volume, the utility model can be well solved
Radar can not guide camera pitch angle problem due to not having under pitch angle information state, and not increase cost.
Description of the drawings
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, other drawings may also be obtained based on these drawings.
Fig. 1 is the overall structure diagram of 1 area outlook radar system of the utility model embodiment；
Fig. 2 is the method flow schematic diagram of the utility model embodiment 2；
Fig. 3 is that the pitch angle of 2 method of the utility model embodiment calculates schematic diagram.
Above-mentioned reference numeral：
100, control terminal；200, radar；300, video camera；400, power supply system；101, hypsographic map data store mould
Block；102, target longitude and latitude calculates module；103, target point elevation information acquisition module；104, target pitch angle calculates mould
Block；201, level angle with apart from acquisition module；202, locating module.
Specific implementation mode
Utility model is further illustrated with reference to embodiment and attached drawing, but is not limited to the model of the utility model
It encloses.
1 system embodiment of embodiment
As shown in Figure 1, the present embodiment provides a kind of area outlook radar systems that can obtain target pitch angle, including：
Radar 200, video camera 300, control terminal 100 and power supply system 400, radar 200, video camera 300 and control terminal 100 are distinguished
It is connect with power supply system 400, radar 200, video camera 300 are also connect with control terminal 100 respectively；Video camera 300, radar 200
By supporting mast to be mounted on monitoring regional center；
Radar 200 is including level angle and apart from acquisition module 201 and locating module 202；Level angle with apart from acquisition
Module 201 is for obtaining the real-time level angle information of target and range information；Locating module 202 is currently installed on for obtaining
The latitude and longitude information of point；
Control terminal 100 includes：
Hypsographic map data memory module 101, for storing hypsographic map data；
Target longitude and latitude calculate module 102, for according to the longitude and latitude of installation point, the level angle information of target point and away from
From information, the longitude and latitude of dynamic object is extrapolated using longitude and latitude prediction equation；
Target point elevation information acquisition module 103, for calculating the longitude and latitude for obtaining target in module from target longitude and latitude
And elevation measuring map datum obtains target point elevation information；
Target pitch angle calculates module 104, for obtaining target point height from target point elevation information acquisition module
Information, and extrapolate according to pitch angle prediction equation the pitch angle of target point and camera；
The top of the support mast is equipped with holder, and video camera 300 is fixed on the top of support mast by holder；It is described
Holder is connect with control terminal 100.Holder includes Level tune motor and vertical adjusting motor；The vertical adjusting motor is used for
The pitch angle of video camera 300 is adjusted according to the pitch angle extrapolated.
Locating module 202 uses high-precision GPS locating module in the present embodiment；As other preferred embodiments, north can be used
The satellite positioning module that struggles against replaces or uses external high accuracy positioning instrument, the high accuracy positioning instrument to connect with control terminal 100
It connects.
Power supply system 400 uses ups power.
2 embodiment of the method for embodiment
It is specifically a kind of to pass through map the present embodiment provides the method that system described in embodiment 1 obtains target pitch angle
Elevation information assists obtaining the pitch angle of target, and with this come the method that guides video camera pitch angle,
The method specifically comprises the following steps：
S1, installation point latitude and longitude information and elevation measuring map datum are obtained
Video camera 300 and radar 200 are installed in monitoring regional center, during the installation process the locating module 202 of radar 200
It obtains installation point latitude and longitude information and is transferred to control terminal 100, and in the hypsographic map data memory module of control terminal 100
The hypsographic map data put centered on installation point are imported in 101；
S2, target level orientation angles and distance are obtained
Radar 200 scans dynamic object, when detecting that target, the level angle of radar 200 obtain with apart from acquisition module 201
Target is taken using installation point as the level angle A of origin and distance R and is exported to control terminal 100；
S3, the current longitude and latitude of target is calculated
The level angle A and distance R of the target longitude and latitude reckoning reception target point of module 102 of control terminal 100, and according to
Longitude and latitude (the J of installation pointb、Wb), the longitude and latitude (J of dynamic object is extrapolated using longitude and latitude prediction equationt、Wt)；Longitude and latitude pushes away
It is as follows to calculate formula：
Jt=Jb+(R*sin(A*π/180))/(111*cos(Wb*π/180))
Wt=Wb+(R*cos(A*π/180))/111
S4, target point elevation information is obtained
The target point elevation information acquisition module 103 of control terminal 100 is calculated in module 102 from target longitude and latitude and is obtained
Longitude and latitude (the J of targett、Wt) and elevation measuring map datum obtain target point elevation information, the i.e. height (h) of target；
S5, pitch angle is calculated
The target pitch angle of control terminal 100 calculates that module 104 is obtained from target point elevation information acquisition module 103
Target point height (h) is taken, and extrapolates the pitch angle B of target point and camera according to pitch angle prediction equation；Pitch angle
The reckoning calculation formula for spending B is as follows：
B=arcos (R/ (H-h))
As shown in figure 3, by taking target one as an example, the pitch angle B1=arcos (R1/ (H-h1)) of target one, R1 passes through upper
Stating step S2 can obtain, and h1 can be obtained by step S4, and H is known altitude.
By taking target two as an example, the pitch angle B2=arcos (R2/ (H-h2)) of target two, S2 can through the above steps by R2
To obtain, h2 can be obtained by step S4, and H is known altitude.
S6, the pitch angle for adjusting video camera 300
Control terminal 100 outputs signal to the vertical direction motor of holder, and vertical direction motor is calculated according in step S5
The pitch angle B gone out adjusts the pitch angle of video camera 300, realizes the tracking to dynamic object.
In identical radar cost, volume, the utility model can be well solved radar due to not having pitch angle
Camera pitch angle problem can not be guided under information state, and does not increase cost.
Basic principles, main features, and advantages of the present invention has been shown and described above.One's own profession
The technical staff of industry is it should be appreciated that the present utility model is not limited to the above embodiments, described in above embodiments and description
Only illustrate the principles of the present invention, the utility model can also on the premise of not departing from the spirit and scope of the utility model
There are various changes and modifications, these various changes and improvements fall within the scope of the claimed invention.The utility model is wanted
Protection domain is asked to be defined by appended claims and its equivalent.
Claims (5)
1. a kind of area outlook radar system that can obtain target pitch angle, which is characterized in that including：
Radar, video camera, control terminal and power supply system, the radar, video camera and control terminal connect with power supply system respectively
It connects, the radar, video camera are also connect with control terminal respectively；The video camera, radar are by supporting mast to be mounted on monitoring
Regional center；
The radar include level angle with apart from acquisition module and locating module；The level angle is used with apart from acquisition module
In the real-time level angle information of acquisition target and range information；The locating module is for obtaining the longitude and latitude being currently installed on a little
Information；
The control terminal includes：
Hypsographic map data memory module, for storing hypsographic map data；
Target longitude and latitude calculates module, is used for according to the longitude and latitude of installation point, the level angle information of target point and range information,
Extrapolate the longitude and latitude of dynamic object；
Target point elevation information acquisition module, for calculating the longitude and latitude of acquisition target in module from target longitude and latitude and importing height
Journey map datum obtains target point elevation information；
Target pitch angle calculates module, for obtaining target point elevation information from target point elevation information acquisition module, pushes away
Calculate the pitch angle of target point and camera.
2. a kind of area outlook radar system that can obtain target pitch angle according to claim 1, which is characterized in that
The locating module is high-precision GPS locating module or big-dipper satellite locating module.
3. a kind of area outlook radar system that can obtain target pitch angle according to claim 1 or 2, feature exist
In,
The top of the support mast is equipped with holder, and video camera is fixed on the top of support mast by holder；The holder with
Control terminal connects.
4. a kind of area outlook radar system that can obtain target pitch angle according to claim 3, which is characterized in that
The holder includes Level tune motor and vertical adjusting motor；The vertical adjusting motor is used to be bowed according to what is extrapolated
Face upward the pitch angle of angular adjustment camera.
5. a kind of area outlook radar system that can obtain target pitch angle according to claim 1 or 2, feature exist
In,
The power supply system is ups power.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111103899A (en) * | 2018-10-25 | 2020-05-05 | 杭州海康威视数字技术股份有限公司 | Holder positioning method and device |
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2018
- 2018-01-30 CN CN201820153069.1U patent/CN207965139U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111103899A (en) * | 2018-10-25 | 2020-05-05 | 杭州海康威视数字技术股份有限公司 | Holder positioning method and device |
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| GR01 | Patent grant | ||
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Denomination of utility model: Can obtain regional warning radar system of target every single move angle Effective date of registration: 20191121 Granted publication date: 20181012 Pledgee: Bank of Changsha Co.,Ltd. Kaifu sub branch Pledgor: CHANGSHA SENSINTEL INFORMATION TECHNOLOGY CO.,LTD. Registration number: Y2019430000045 |
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Date of cancellation: 20201208 Granted publication date: 20181012 Pledgee: Bank of Changsha Co.,Ltd. Kaifu sub branch Pledgor: CHANGSHA SENSINTEL INFORMATION TECHNOLOGY Co.,Ltd. Registration number: Y2019430000045 |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: A regional surveillance radar system that can obtain target pitch angle Effective date of registration: 20201215 Granted publication date: 20181012 Pledgee: Bank of Changsha Co.,Ltd. Kaifu sub branch Pledgor: CHANGSHA SENSINTEL INFORMATION TECHNOLOGY Co.,Ltd. Registration number: Y2020980009278 |
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Date of cancellation: 20211223 Granted publication date: 20181012 Pledgee: Bank of Changsha Co.,Ltd. Kaifu sub branch Pledgor: CHANGSHA SENSINTEL INFORMATION TECHNOLOGY CO.,LTD. Registration number: Y2020980009278 |
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Denomination of utility model: An area warning radar system capable of obtaining target pitch angle Effective date of registration: 20211228 Granted publication date: 20181012 Pledgee: Bank of Changsha Co.,Ltd. Kaifu sub branch Pledgor: CHANGSHA SENSINTEL INFORMATION TECHNOLOGY CO.,LTD. Registration number: Y2021430000100 |
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Date of cancellation: 20230707 Granted publication date: 20181012 Pledgee: Bank of Changsha Co.,Ltd. Kaifu sub branch Pledgor: CHANGSHA SENSINTEL INFORMATION TECHNOLOGY CO.,LTD. Registration number: Y2021430000100 |
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