CN102384755B - High-accuracy method for measuring instant navigational speed of airborne phased array whether radar - Google Patents
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Abstract
" high-accuracy method for measuring instant navigational speed of airborne phased array whether radar " belongs to airborne navigation field, is directly used in the measurement of speed of a ship or plane parameter in airborne radar weather radar navigational parameter.In order to obtain meteorological target travel information, airborne radar weather radar needs high-precision instantaneous speed of a ship or plane data.For this reason, the independently integrated navigation scheme that inertial navigation adds Doppler range rate measurement is proposed; And propose inertial navigation " aligning " and overcome the solution of error " drift "; Solve the fuzzy problem that tests the speed existed when airborne radar weather radar " is measured " over the ground.The core content of invention is: propose dipulse repetition frequency detection (DPRF) technology that airborne radar " is measured " over the ground, and give universal calculation equation.Adopt this technology can realize airborne weather radar to ground without fuzzy velocity survey, to improve the measuring accuracy of the instantaneous speed of a ship or plane.
Description
One, technical field
This method belongs to airborne navigation field; Be directly used in the measurement of speed of a ship or plane parameter in airborne radar weather radar navigational parameter; Doppler's guiding combination is added and the navigational system higher to instantaneous speed of a ship or plane accuracy requirement also has reference value for employing inertial navigation.
Two, background technology
Airborne radar weather radar needs the scattering strength, the information such as translational speed and speed spectrum width that obtain meteorological target.Only have the aircraft speed of a ship or plane to measure accurately, the measurement of the meteorological target speed of guarantee is accurate.The Measurement accuracy speed of a ship or plane is the prerequisite obtaining meteorological target travel information.And when a certain beam direction detection, in order to ensure that aircraft displacement is very little, residence time is very short, can say that the detection on a certain beam direction completes instantaneously.Therefore, the detection of airborne radar weather radar has higher accuracy requirement to the instantaneous speed of a ship or plane especially.
Airmanship has several large class of inertial navigation, satellite navigation and Doppler navigation.Every class has respective technical characterstic and measuring accuracy.Satellite navigation provides positional information, does not provide aspect information.Speed of a ship or plane information by two not position in the same time calculate, be the average velocity in a period of time.And the precision of average velocity is subject to the restriction of positioning precision, and positioning precision is proportional for integration time with satellite-signal again.By the accumulation of long period, satellite navigation can obtain the average velocity of degree of precision.But the computational accuracy of instantaneous velocity does not often reach the detection requirement of airborne radar weather radar.In addition, satellite navigation belongs to the navigation of non-autonomous formula, the dark restriction being subject to satellite and satellite signal quality.General only when mounting condition allows, assisting navigation equipment can be classified as.
Inertial navigation (INS, be called for short inertial navigation) is a kind of autonomic navigation system not relying on external information, also not externally emittance; The complete navigation information such as speed, position, crab angle and attitude can be provided.It by acceleration measurement, and is carried out integration to the time by inertial navigation, obtains velocity information.Velocity survey equation can be expressed as:
wherein, a (t) is measured acceleration.Inertial navigation can obtain high-precision instantaneous speed of a ship or plane information, but prerequisite is: " initial alignment " is very accurate, and the measurement of acceleration also will have very high precision.Initial alignment is a very strict job.Initial Alignment Error will become the systematic error of inertial navigation.If not from the correction of other navigation datas, depend merely on inertial navigation equipment and cannot eliminate this error.Topmost problem is the diversity of acceleration analysis error.As can be seen from its equation that tests the speed: the slight error of acceleration analysis, along with the lengthening of integral time, can cause larger velocity error, integral time is longer, error is larger.This measuring error in time Divergent Phenomenon also referred to as " drift " phenomenon.Therefore, require higher occasion in rate accuracy, need to revise inertial navigation measurement result.
Doppler navigation utilizes aircraft self-contained (having Doppler range rate measurement function) radar to measure over the ground, obtains speed of a ship or plane information according to Doppler range rate measurement principle.Although Doppler navigation only provides speed of a ship or plane information, Doppler range rate measurement has the advantage that real-time is good, precision is high.And pass through the increase (being equivalent to increase Measuring Time) of pulse accumulation number of times, rate accuracy can also be improved further.
But Doppler range rate measurement generally can run into the fuzzy problem that tests the speed.Doppler range rate measurement equation can be expressed as:
wherein, V
dactual doppler velocity,
it is the measured value of actual doppler velocity.M is fuzzy number of times (being without fuzzy measurement during m=0).V
nthe fuzzyyest speed (also referred to as Nyquist speed).In radar wavelength λ mono-timing, V
nsize depend on that (its pass is pulse repetition rate: V
n=± λ × PRF/4, PRF is pulse repetition rate).Work as V
dbe greater than V
ntime, measured value is not equal to actual speed, namely occurs blooming.
Three, summary of the invention
The technical matters solved:
Because need the movable information detecting meteorological target, so airborne radar weather radar has higher accuracy requirement to instantaneous speed of a ship or plane measurement.Adopt which kind of navigation scheme with the detection meeting airborne radar weather radar require be first needs consider technical matters.
Because inertial navigation can provide the navigation information that attitude, the speed of a ship or plane etc. are complete, no matter so take which kind of navigation scheme, inertial navigation system is all the navigational system of airborne radar weather radar indispensability.But there is error Divergent Phenomenon in navigation.So how revising ins error is the key technical problem that airborne radar weather radar must solve.
Doppler range rate measurement has the advantages that real-time is good, precision is high, and passes through the increase of pulse accumulation number of times, can also improve rate accuracy further.These technology meet the requirement that airborne radar weather radar is measured the speed of a ship or plane especially just.Airborne radar weather radar is expected to obtain the high-precision instantaneous speed of a ship or plane by measuring over the ground.But, because the aircraft speed of a ship or plane is higher, so Doppler range rate measurement blooming certainly will be there is when measuring over the ground.Can overcome the fuzzy problem that tests the speed be the key technical problem that can airborne radar weather radar adopt Laser Doppler Technique For Measuring Velocity, is also core content of the present invention.
In order to solve the fuzzy problem that tests the speed when aircraft is measured over the ground, according to measuring characteristic, perfect dipulse repetition frequency velocity measuring technique (DPRF), and give general-purpose algorithm.
The technical scheme that technical solution problem adopts:
Solve the problems of the technologies described above the main contents that taked overall technological scheme comprises following three aspects:
1. adopt inertial navigation to add the independently integrated navigation system of Doppler range rate measurement
Consider various airmanship feature, airborne radar weather radar Detection Techniques condition and aerological sounding requirement, adopt inertial navigation to add the independently integrated navigation scheme of Doppler navigation.Wherein, inertial navigation system needs the two problems of solution: one is error drift phenomenon, and two is " alignings "; " aligning " comprises initial alignment and aims in real time.Doppler range rate measurement needs solution to test the speed fuzzy problem.In addition, when mounting condition allows, satellite navigation can be considered to be classified as assisting navigation equipment.
2. by Doppler range rate measurement data, inertial navigation system is carried out " aligning ", and inertial guidance data is periodically revised, speed of a ship or plane measuring error is controlled all the time within accuracy requirement
Airborne radar weather radar is measured over the ground, obtain speed of a ship or plane data accurately, for the aligning of inertial navigation system and the correction of inertial guidance data.
Before carrying out aerological sounding, the speed of a ship or plane data can measuring acquisition over the ground by radar are carried out initially " aligning " inertial navigation system." aligning " is operated in aerological sounding process and carries out in real time, depending on length and the acquisition environment of detection time.
Airborne radar is measured over the ground can increase Measuring Time undoubtedly.In order to existing higher rate accuracy, increase again the burden of airborne radar not too much, taking periodically to revise to inertial navigation is rational scheme.So just range rate error can be limited within accuracy requirement all the time.The correction cycle need according to aerological sounding to the accuracy requirement of testing the speed, aerological sounding cycle and ins error over time rule determine.
3. overcome the fuzzy problem that tests the speed when detecting over the ground by DPRF technology
3.1 dipulse repetition frequency velocity measuring technique (DPRF) principle and algorithms
DPRF technology expands the practical technique of the scope that tests the speed in Doppler range rate measurement.DPRF technology adopts two different pulse repetition meeting certain proportion relation successively to detect, according to two test the speed result and difference reckoning actual speeds thereof.
Two pulse repetition raties are designated as PRF from high to low respectively
1and PRF
2, the fuzzyyest speed of their correspondences is designated as V respectively
n1and V
n2, the scope of testing the speed is respectively ± V
n1with ± V
n2, two measurement results are designated as respectively
with
both differences are designated as
when adopting DPRF velocity measuring technique, PRF
1and PRF
2demand fulfillment relation:
PRF
1∶PRF
2＝q∶(q-1)(1)
Wherein, q=3,4,5 ... positive integer.After adopting DPRF velocity measuring technique, the scope of testing the speed expands to ± qV
n2, the fuzzyyest speed expanded is:
V
N＝qV
N2＝(q-1)V
N1(2)
The scope of testing the speed like this is equivalent to monopulse repetition frequency PRF=qPRF
2=(q-1) PRF
1effect on Detecting.
When radar is measured over the ground, velocity reversal only have come to.When the direction of tested speed is two-way, the not fuzzy ranges that tests the speed is ± qV
n2, the fuzzyyest speed is qV
n2.When the direction of tested speed is unidirectional, the not fuzzy ranges that tests the speed is 0 ~ 2qV
n2, the fuzzyyest speed is 2qV
n2.So, when DPRF is used for measuring over the ground, need to make some amendments.Analysis below only considers that velocity reversal is unidirectional situation.
When measuring over the ground by dipulse repetition frequency, according to
with
and difference
difference, can by the not fuzzy velocity range 0 ~ 2qV of DPRF
n2be divided into 2q speed interval.The standard that speed interval divides is: in each interval, have identical difference DELTA V.2q of division like this interval, and its width is not quite similar, but interval width is about qV
n2point symmetry.
By right
with the analysis of Δ V, judge measurement result (
with
) fall which speed interval, then calculate actual radial velocity with the general calculation method that this method provides:
Wherein, Int () represents rounding operation, and i represents speed interval sequence number, i=1,2 ..., 2q.
Although
may be fuzzy, but interval by correctly judging which they fall, still can recover actual speed.
3.2PRF
1: PRF
2the DPRF example of=5: 4
Below with PRF
1: PRF
2the DPRF of=5: 4 is that example further illustrates test the speed scope principle and speed interval of DPRF expansion and divides.In Fig. 1, solid line represents PRF
1measurement result curve, dotted line represents PRF
2measurement result curve.
with
pRF respectively
1and PRF
2measurement result.According to
with
difference, by 0 ~ 10V
n2velocity range be divided into 10 speed intervals.The data of table 1 are obtained by Fig. 1 analysis.As can be seen from table 1 also,
one to one with Δ V and speed interval.Therefore, even if
with
be fuzzy, by the speed interval that correctly judges, original actual speed can be recovered.Above example has ubiquity, and the situation for other ratio has similar analysis method.
The speed interval of table 1:DPRF and corresponding speed (PRF
1: PRF
2=5: 4)
3.3 ensure the effective two problems of DPRF
Field angle problem
When measuring over the ground, ground is relevant with the speed of a ship or plane and field angle relative to the radial velocity of aircraft.Field angle refer to beam direction and antenna method between angle.In order to ensure that DPRF is in without fuzzy measurement, field angle large as far as possible should be adopted.
PRF
1and PRF
2select permeability
Because when measuring over the ground with DPRF, the fuzzyyest speed is 2qV
n2=2 (q-1) V
n1.DPRF is to the extended capability of the scope of testing the speed and PRF
1with PRF
2relative value and absolute value have relation.The difference of two pulse repetition raties is less, and the effect expanding the scope that tests the speed is better.PRF
1with PRF
2the V selecting higher, corresponding
n1and V
n2larger, the scope that tests the speed of expansion is larger.
But when practical application DPRF technology, the size of pulse repetition rate and the ratio of two pulse repetition raties are all restricted.Pulse repetition rate, by the restriction of transmitter, can not unrestrictedly increase.Because the existence of measuring error, two pulse repetition raties can not be unrestrictedly close.Because the existence of measuring error, two pulse repetition raties are more close, judge with Δ V
with
corresponding speed interval time easily judge by accident, cause DPRF technical failure.In fact, along with two pulse repetition raties are more and more close, DPRF detection will change in quality into the detection of monopulse repetition frequency.
When measuring over the ground with Doppler's principle, range rate error is relevant with the flat characteristic of underlying surface.Underlying surface is more smooth, and range rate error is less.In addition, range rate error is relevant with pulse accumulation number of times.Integration time is longer, and this part error is less.This part error
can be expressed as:
Wherein, N
pbe pulse accumulation number of times, λ is radar wavelength.The planarization of underlying surface is the main source of measuring error over the ground.The range rate error relevant with pulse accumulation number of times
be can analyze, controllable, usually very little.
So, PRF
1with PRF
2selection will from expansion test the speed scope and ensure DPRF effective two aspects compromise consider.On the one hand, PRF
1with PRF
2ratio DPRF will be made to be without fuzzy measurement.On the other hand, PRF
1with PRF
2speed corresponding to difference be greater than 2 times
guarantee DPRF is effective.
Such as: measure over the ground with 45 ° of field angles with X-band radar (getting radar wavelength λ=3cm).Two pulse repetition rate PRF
1with PRF
2get 1500Hz and 1200Hz respectively.The fuzzyyest speed that 1200Hz is corresponding is 9m/s, uses PRF
1: PRF
2after the DPRF technology of=5: 4, the fuzzyyest speed can expand to 90m/s, and the corresponding speed of a ship or plane up to 127m/s, can meet detection requirement.In addition, the speed of two pulse repetition rate difference correspondences is δ V=λ δ F/2=0.03 × (1500-1200)/2=4.5 (m/s).
If adopt N
pthe pulse accumulation of=64, then
can ensure that DPRF's is effective.
Beneficial effect
The technical program is a kind of navigation scheme of autonomous type, and without the need to increasing other navigator, such as satellite navigation, can simplify the navigational system of airborne weather radar.
Adopt the technical program can realize airborne radar over the ground without fuzzy measurement, and the measuring accuracy of the instantaneous speed of a ship or plane can be improved to greatest extent.Speed of a ship or plane precision is mainly relevant with the factor such as attitude angle error, Doppler range rate measurement error.After adopting technical scheme, speed error will depend primarily on the measuring accuracy of attitude angle.If coordinate high-precision inertial navigation system, obtain high-precision attitude angle data, can greatly improve speed of a ship or plane precision, to meet the requirement of airborne weather radar to velocity survey.
The effect adopting DPRF technology is described with example here.Two pulse repetition rate PRF
1and PRF
2get 1500Hz and 1200Hz respectively, two pulse repetition raties form PRF
1: PRF
2the DPRF detection of=5: 4.The fuzzyyest speed corresponding to two pulse repetition raties is respectively V
n1=11.25m/s and V
n2=9m/s.
For X-band radar (getting radar wavelength λ=3cm), the fuzzyyest speed that 900Hz is corresponding is 9m/s, adopts PRF
1: PRF
2after the DPRF technology of=5: 4, the fuzzyyest speed expanded is 90m/s.The scope that tests the speed like this can meet the requirement that airborne weather radar is measured over the ground completely.
Suppose, when aircraft is put down and flown, measure over the ground with field angle 45 °, two measurement results are respectively
with
so, interval i=8, by
calculate, ground is 70.71m/s relative to the speed of the wave beam radial direction of aircraft, and amounting to speed over ground is 100m/s.
Four, accompanying drawing explanation
Fig. 1: DPRF measuring principle figure (PRF
1: PRF
2=5: 4)
Figure is the explanation of scope principle of testing the speed to DPRF technological expansion.DPRF technology successively adopts two pulse repetition raties to test the speed, by reaching with calculating the object expanding the scope that tests the speed to the analysis of two results that test the speed.Wherein, PRF
1and PRF
2represent two pulse repetition raties respectively, V
n1and V
n2the fuzzyyest speed of their correspondences respectively, ± V
n1with ± V
n2the not fuzzy ranges that tests the speed of their correspondences respectively.In figure, solid line represents PRF
1corresponding experiment curv, dotted line represents PRF
2corresponding experiment curv.Two measurement results are designated as respectively
with
both differences are designated as
PRF
1and PRF
2represent two pulse repetition raties respectively, V
n1and V
n2the fuzzyyest speed of their correspondences respectively, ± V
n1with ± V
n2the not fuzzy ranges that tests the speed of their correspondences respectively.In figure, solid line represents PRF
1corresponding experiment curv, dotted line represents PRF
2corresponding experiment curv.Two measurement results are designated as respectively
or
both differences are designated as
can by 10V according to Δ V
n2be divided into 10 speed intervals, Δ V and speed interval one_to_one corresponding.According to speed interval and measurement result (
with
) just can recover actual speed.
Five, embodiment
1. determine two pulse repetition rate ratios of DPRF
According to roughly speed of a ship or plane V
a, field angle θ scope, the transmitter pulse repetition frequency PRF that can the change technical indicator such as scope, range rate error that can change, determine two pulse repetition raties ratio: PRF of DPRF
1: PRF
2=q: (q-1).In two pulse repetition rate ratios, q is worth determining demand fulfillment two conditions once:
qV
N2＞V
acosθ(5)
Wherein, V
n2pRF
2the fuzzyyest corresponding speed, δ V is two pulse repetition rate difference PRF
1-PRF
2corresponding doppler velocity.
that the Doppler range rate measurement error corresponding with pulse accumulation number of times is (by formula
determine).
2. determine speed interval number and the velocity contrast of DPRF
According to the above-mentioned q value determined, determine speed interval number, interval number is 2q.Then, be similar to table 1, determine the velocity contrast that each speed interval is corresponding, Δ V
i, i=1,2 ..., 2q.
3. carry out DPRF measurement to obtain
with
4. differentiate
with
the speed interval at place
Ask
with
difference, and to be designated as
calculate
the Doppler range rate measurement error corresponding with pulse accumulation number of times.Will
with the velocity contrast Δ V determined according to 2
icompare one by one, and Δ V
iimmediate speed interval i is
with
place speed interval.
5. the calculating of actual speed
According to the speed interval i determined above, by the actual radial velocity of formulae discovery ground the following relative to radar.
Wherein V
rbe the radial velocity of ground relative to radar, the meaning of other each symbol is with identical above.
6. the calculating of speed over ground
According to field angle θ, ground relative to the radial velocity V of radar
r, calculate the instantaneous speed of a ship or plane.
7. inertial navigation is aimed at and is revised
According to the instantaneous speed of a ship or plane data that said method obtains, inertial guidance data is aimed at and correcting process.
Claims (1)
1. high-accuracy method for measuring instant navigational speed of airborne phased array whether radar, it is characterized in that, to test the speed scope by dipulse repetition frequency DPRF technological expansion, with realize when airborne radar weather radar carries out velocity survey to ground without fuzzy measurement, by the high precision of the DPRF technical limit spacing instantaneous speed of a ship or plane data inertial navigation system aimed at and revise;
Wherein, the expansion scope that tests the speed adopts dipulse repetition frequency DPRF technology, and adopts
judge speed interval, use that two measurement results are corresponding
calculate the method for ground relative to the radial velocity of radar, wherein i represents DPRF speed interval sequence number, △ V
ithat DPRF is theoretical poor,
that DPRF measurement is poor,
the range rate error relevant with pulse accumulation number of times, V
rthe radial velocity of ground relative to radar, V
n2lower in two pulse repetition raties corresponding the fuzzyyest speed,
be the measured value of lower in two pulse repetition raties, Int () represents rounding operation.
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| CN102384775A (en) * | 2011-09-22 | 2012-03-21 | 艾欧史密斯(中国)热水器有限公司 | Dirty-resisting type water level sensing device and solar water heater adopting same |
| FR3043469B1 (en) * | 2015-11-10 | 2019-10-18 | Safran Electronics & Defense | METHOD FOR DETECTING PARASITE MOVEMENTS DURING STATIC ALIGNMENT OF AN INERTIAL POWER PLANT, AND DETECTION DEVICE THEREOF |
| CN108121003A (en) * | 2017-12-26 | 2018-06-05 | 湖南迈克森伟电子科技有限公司 | Integrated navigation precise positioning system |
| CN109932700B (en) * | 2019-03-28 | 2021-02-19 | 北京润科通用技术有限公司 | Method and device for resolving ambiguity of Doppler velocity |
| US11630203B2 (en) | 2019-06-25 | 2023-04-18 | Raytheon Company | Ground station sensing of weather around an aircraft |
| CN112166341B (en) * | 2019-08-23 | 2024-04-05 | 深圳市大疆创新科技有限公司 | Speed determination method, apparatus and storage medium |
| CN113534066B (en) * | 2021-06-23 | 2023-06-20 | 北京遥感设备研究所 | Method and system for eliminating landing measurement radar altitude multi-reflection wild value |
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| US5109230A (en) * | 1987-11-17 | 1992-04-28 | Litef Gmbh | Method for aircraft velocity error detection with a Doppler radar |
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