CN103176477A - Airborne SAR (synthetic aperture radar) flying route arrangement method based on dynamic wind speed and direction adjustment - Google Patents
Airborne SAR (synthetic aperture radar) flying route arrangement method based on dynamic wind speed and direction adjustment Download PDFInfo
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Abstract
The invention discloses an airborne SAR (synthetic aperture radar) flying route arrangement method based on dynamic wind speed and direction adjustment. Airspeed and route direction are adjusted in real time to improve SAR imaging effect. The method includes: initializing a route of an aerial carrier and related parameters of an SAR system, acquiring wind speed of the current aerial carrier flying at a certain height to execute a task according to actually measured ground speed and airspeed, and dynamically adjusting the airspeed and the route direction according to vector relation among the airspeed, the ground speed and the wind speed so that the aerial carrier obtains optimal ground speed and drift angle for imaging of the airborne SAR system. Operating angle range of the SAR system in the stable platform azimuth is satisfied, and the effect of wind disturbance on imaging of the airborne SAR system is eliminated. The effect of the aerial carrier responding to real-time change of upper wind upon imaging of the airborne SAR system is increased effectively, and imaging effect is improved effectively while the SAR hardware system is not complicated.
Description
Technical field
The present invention relates to remote sensing, observation, imaging system such as the carried SAR system, be specifically related to a kind of carrier aircraft based on actual measurement wind speed and direction SAR imaging, adjust in real time air speed size and course-and-bearing, carry out the air route layout, thereby improve the method for imaging effect.
Background technology
Airborne synthetic aperture radar (Synthesis Aperture Radar is called for short SAR) is a kind of advanced person's active microwave remote sensor, utilizes and makes the small-bore antenna of relative motion with target and adopt the method that signal is processed to obtain the high resolving power coherent imaging.SAR uses on aircraft or spacecraft, have observation wide, provide that information is fast, the characteristics of clear picture, all weather operations, and can effectively identify camouflage, have the recognition capability of penetrating, therefore be widely used in the military and civilian field, as: disaster prevention, military surveillance etc.
Synthetic-aperture radar has a high-resolution imaging radar as a kind of, and its principle is to utilize the motion of carrier of radar to simulate wide aperture antenna, thereby obtains the radar image data of high orientation explanation.Compare with optical sensor, the function of its real time imagery has the characteristic of round-the-clock, round-the-clock, remote, wide drafting band, has greatly improved the information obtaining ability of radar.Development and raising along with the SAR technology, its resolution is more and more higher, approach or surpass at present the resolution of optical imagery, thereby be widely used in the fields such as earth remote sensing, oceanographic observation, resource exploration, forecast of natural calamity and military surveillance, Aero-Space remote sensing.
System moves to form the virtual-antenna of radar by flight carrier due to carried SAR, thereby obtains radar image data, as shown in Figure 1.Fig. 1 provided positive side-looking SAR system attitude to the distance to schematic diagram, flight carrier flies along the line of flight, launch simultaneously the pulse of radar bearing wave beam, motion along with flight carrier, band is is namely surveyed and drawn in the zone that has formed a radar bearing wave beam irradiation, and has obtained the radar image data in the mapping band.Therefore, there is strict requirement in the carried SAR system to the state of flight of carrier aircraft: suppose that generally zone that radar is imaged relatively does the linear uniform motion of level.But, in practical flight, due to the desired maneuverability impact of equipment performance, driving technology, air draught and military task, the actual flight state of carrier aircraft tends to depart from the uniform velocity linear translational motion state, this will produce very important impact to the imaging work of SAR system, even can not imaging when serious.
According to the image-forming principle of carried SAR system, carrier aircraft and the relative motion that is imaged between the zone are to obtain the orientation to high-resolution key.In practical flight, due to the impact of air-flow and the restriction of carrier aircraft performance, the actual flight state of carrier aircraft often can not satisfy the at the uniform velocity strict like this requirement of linear translational motion, especially the body when carrier aircraft is less, flying height is low, and when flying speed was slow, air draught can produce a very large impact speed, the drift angle of carrier aircraft, make carrier aircraft depart from Desired Track, produce the kinematic error on position, speed, attitude angle.At this moment, the robust motion of carrier aircraft is difficult to control to the desired ideal movements state of SAR system imaging.
Traditional carried SAR system utilizes the angular motion of stable platform isolation carrier aircraft, eliminates the kinematic error of carrier aircraft course and attitude angle, provides simultaneously that carrier aircraft departs from the site error of ideal trajectory and along the speed of ideal trajectory.But, usually be subject to the disturbance of extraneous enchancement factor when flying in atmosphere due to carrier aircraft, particularly the body when carrier aircraft is less, and flying height is low, and when flying speed was slow, the impact that carrier aircraft is subject to air draught was larger, departed from the linear uniform motion state.For example, under quiet landscape condition, the air speed of carrier aircraft overlaps with ground velocity, and head points to the direction in current course line, the normal operation of SAR system; When if crosswind (wind speed, wind direction are in the wind disturbance resistance kinetic force scope of carrier aircraft) is arranged in the air, if carrier aircraft adopts is that flight-path angle is controlled rather than crab angle when controlling, carrier aircraft is along airline operation, but its head will depart from predetermined flight path direction; Because the crosswind impact, will there be an angle in the head of carrier aircraft and ground velocity, and namely head departs from the angle of flight path, and this angle is called drift angle.If the orientation that described drift angle exceeds SAR system stability platform is during to working range, the SAR system is difficult to normal operation, even can't imaging.
For the impact of crosswind on carried SAR system imaging effect, traditional method often can only overcome wind that accurate forecast is arranged or less normal value Wind effect, for wind that can not accurate forecast or larger wind, caused random perturbation and the impact that produces often can not overcome.Simultaneously, traditional method often can not be adjusted the flight of carrier aircraft in real time according to the actual wind speed wind direction, when if this just makes in advance the wrong or carrier aircraft of the weather data that obtains meet with fluctuating wind when executing the task, imaging characteristic due to the SAR system, the state of flight of carrier aircraft can not satisfy the imaging requirements of SAR system, the SAR system possibly can't normal imaging, even can't work.
Summary of the invention
The objective of the invention is effectively to overcome larger crosswind to the impact of carried SAR system imaging effect in order to solve described classic method, a kind of carried SAR flight air route method of combination of dynamically adjusting based on wind speed and direction has been proposed, the method can real-time online ground adjust the motion of carrier aircraft and the direction in course line, thereby effectively improve wind to the impact of carried SAR system imaging.
A kind of carried SAR flight air route method of combination of dynamically adjusting based on wind speed and direction comprises the following steps:
Step 1: the correlation parameter of the course line of initialization carrier aircraft and SAR system;
The correlation parameter of SAR system comprises: the minimum value V of carrier aircraft air speed
KminWith maximal value V
Kmax, the best ground velocity value V of carried SAR system imaging
Dbest, best ground-speed range [v
Dbestmin, V
DbestmaxL and ground velocity are adjusted threshold value V
d0, and SAR system stability platform orientation to operating angle scope [η
max, η
max] and drift angle adjustment threshold value η
0
Step 2: the ground velocity V that reads in real time the actual measurement of carrier aircraft upper sensor
dWith air speed V
kSize and direction, wherein, the direction of ground velocity is consistent with the direction in current course line, the direction of air speed is consistent with the crab angle of carrier aircraft; According to air velocity vector
Ground vector
And wind vector
Three's relation:
Obtain the wind speed of current carrier aircraft on the flying height of executing the task
Step 3: judgement ground velocity V
dSize whether at best ground velocity pre-adjustment scope [(V
DbeStmin+ V
d0), (V
Dbestmax-V
d0)] in, if not, execution in step four, otherwise, execution in step five;
Step 4: adjust the carrier aircraft air speed, specifically: according to air velocity vector
Ground vector
And wind vector
Three's relation is at scope [V
Kmin,, V
Kmax] the interior air speed V that adjusts
kSize, make ground velocity V
dSize equal the described best ground velocity value V of step 1
Dbest;
Step 5: air speed and the ground velocity current according to carrier aircraft, obtain drift angle η, and judge whether drift angle η exceeds pre-adjustment the scope [(η of drift angle
max-η
0), (η
max-η
0)], if, execution in step six, otherwise, keep current course-and-bearing, execution in step seven;
Step 6: adjust course-and-bearing, specifically: keep the big or small constant of the current ground velocity of carrier aircraft, adjust the size and Orientation of course-and-bearing, air speed, make the size of drift angle η equal 0 degree, in the process of adjusting course-and-bearing, make ground velocity direction and course-and-bearing remain consistent; Then turning step 3 carries out;
Step 7: judging whether current carrier aircraft is completed executes the task, and return to if not step 2 and continue to carry out, if, method ends.
Advantage and the good effect of the carried SAR flight air route method of combination of dynamically adjusting based on wind speed and direction of the present invention are:
(1) to be applicable to carrier aircraft be the less aircraft of body, unmanned plane and other small aircraft to the inventive method, the particularly requirement because executing the task, when carrier aircraft need to be carried out low latitude, low-speed operations, can effectively improve the real-time change of the aerial wind of carrier aircraft reply to the impact of its carried SAR system imaging, effectively improve imaging effect, and can not cause the complicated of SAR hardware system;
(2) for not obtaining in advance the situation of wind speed, wind direction data accurately, using the inventive method can be according to the sporting flying state of the adjustment carrier aircraft of the wind speed of real-time calculating, wind direction data real-time online, improve the imaging effect of carried SAR system, eliminate wind disturbance to the impact of carried SAR system imaging, for the normal imaging of carried SAR system provides safeguard.
Description of drawings
Fig. 1 is the geometric relationship schematic diagram of carried SAR system imaging;
Fig. 2 is the schematic diagram that air speed adjustment in the inventive method and course-and-bearing are adjusted;
Fig. 3 is air speed, ground velocity and wind vector and graph of a relation;
Fig. 4 is the process flow diagram of carried SAR of the present invention flight air route method of combination.
Embodiment
Below in conjunction with example and accompanying drawing, the present invention is described in further detail.
a kind of carried SAR flight air route method of combination of dynamically adjusting based on wind speed and direction provided by the invention, according to the best ground-speed range of carried SAR system imaging and antenna stabilization platform of airborne SAR orientation to the operating angle scope, utilize air speed, vector correlation between ground velocity and wind speed three, wind speed and direction according to actual measurement, dynamically adjust air speed size and course-and-bearing, make carrier aircraft reach best ground velocity and the drift angle of carried SAR system imaging, and satisfy SAR system stability platform orientation to the operating angle scope, to guarantee the imaging effect of carried SAR system, eliminate wind disturbance to the impact of carried SAR system imaging, to obtain best imaging effect.Fig. 2 is that air speed adjustment of the present invention and course-and-bearing are adjusted schematic diagram, and at first the below illustrates the thinking of the inventive method in conjunction with Fig. 2.
As shown in Figure 2, at first according to the wind vector that calculates in real time
Course-and-bearing MN with current makes ground velocity V
dDirection consistent with course-and-bearing, utilize air speed V
k, ground velocity V
dWith wind speed V
wThree's vector relation is at air speed V
kSpan in, adjust its size, make ground velocity V
dSatisfy best ground-speed range.Known current wind vector
If aircraft flies to M from N along current course line, when air speed is got minimum value V
KminThe time, the value of ground velocity is V
d1, corresponding drift angle size is η
max, when air speed is got maximal value V
KmaxThe time, the value of ground velocity is V
d2, corresponding drift angle size is η
min, when air speed is got certain suitable value V
kThe time, ground velocity is best ground velocity value V
DbestOtherwise,, if aircraft flies to N from M, in like manner.According to the air speed V after adjusting
kWith ground velocity V
d, determine drift angle η, and judge η whether satisfy SAR system stability platform orientation to the operating angle scope, if satisfy, keep current course-and-bearing MN; If do not satisfy, adjusting course-and-bearing is M ' N ', make drift angle satisfy SAR system stability platform orientation to the operating angle scope.
The invention provides the carried SAR flight air route method of combination of dynamically adjusting based on wind speed and direction, as shown in Figure 4, realize by following step:
Step 1: the correlation parameter of the course line of initialization carrier aircraft and SAR system;
Carry out the requirement of imaging task according to carrier aircraft, the setting course line of initialization carrier aircraft; Set carrier aircraft air speed V
kMinimum value V
KminWith maximal value V
Kmax; Set the best ground velocity value V of carried SAR system imaging
Dbest, best ground-speed range: [V
Dbestmin, V
Dbestmax] and ground velocity adjustment threshold value V
d0, V
DbestmintRepresent best ground velocity minimum value, V
DbestmaxRepresent best ground velocity maximal value; Set SAR system stability platform orientation to the operating angle scope: [η
max, η
max] and drift angle adjustment threshold value η
0, η
maxExpression SAR system stability platform orientation to the maximum functional angle.
Step 2: Real-time Obtaining wind speed and direction data;
Read in real time the ground velocity V of carrier aircraft upper sensor actual measurement
dWith air speed V
kSize and direction, wherein, the direction of ground velocity is consistent with the direction in current course line, the direction of air speed is consistent with the crab angle of carrier aircraft, according to the size of the ground velocity that reads and air speed, according to air velocity vector as shown in Figure 3
Ground vector
And wind vector
Three's relation is determined the wind vector on flying height that carrier aircraft executes the task
This wind speed and direction should in the wind disturbance resistance kinetic force scope of carrier aircraft, satisfy Safety of Flight Requirements.
Step 3: judge current ground velocity V
dSize | V
d| whether in best ground velocity pre-adjustment scope.
Initial parameter described according to step 1, in best ground velocity pre-adjustment scope, whether namely set up by formula (2) for the size that judges ground velocity:
|Vd|∈[(V
dbestmin+V
d0)，(V
dbestmax-V
d0)] (2)
Wherein, ground velocity is adjusted threshold value V
d0Be traditionally arranged to be 5m/s, ground velocity is set, and to adjust the benefit of threshold value be just to plan adjustment when having avoided ground velocity to arrive critical value, arrange best ground velocity pre-adjustment scope can effectively reduce because of ground velocity go beyond the scope cause that the SAR system is inoperable may.
If current ground velocity size does not satisfy fast pre-adjustment scope best, enter step 4, the adjustment mode of planning carrier aircraft air speed; If satisfy best ground velocity pre-adjustment scope, enter step 5, judge whether the size of drift angle surpasses the pre-adjustment scope of drift angle.
Step 4: adjust the carrier aircraft air speed, then execution in step five.
Therefore change at short notice very littlely for wind disturbance, suppose that wind speed and direction is constant at short notice, the wind vector result of calculation that initial parameter described according to step 1 and step 2 are obtained
Utilize the relation of the described air speed of formula (1), ground velocity and wind vector, adjust air speed V
kSize | V
k|, air speed V
kSize | V
k| between the minimum value and maximal value of the air speed described in step 1, namely satisfy formula (3):
|V
k|∈[V
kmin，V
kmax] (3)
Make ground velocity V
dSize equal or near best ground velocity value V
Dbest
According to the wind speed and direction data of real-time calculating, when the ground velocity size of surveying when the carrier aircraft sensor exceeded best ground-speed range, the air speed of carrier aircraft was adjusted in planning, makes the size of ground velocity satisfy best ground-speed range, and near best ground velocity value; This is conducive to reduce the adjustment number of times of air speed, thereby makes unmanned plane keep stabilized flight.
Step 5: judge whether the size of drift angle surpasses the pre-adjustment scope of drift angle, if exceed this scope, execution in step six, if do not exceed this scope, keep current course-and-bearing, execution in step seven.
According to air speed and the ground velocity of current carrier aircraft, the η that takes a drift, and judge whether the size of drift angle η exceeds the setting range of drift angle, namely whether satisfy:
η∈[-(η
max-η
0)，(η
max-η
0)] (4)
Equally, drift angle is adjusted threshold value η
0Be traditionally arranged to be 3 °, drift angle is set, and to adjust the benefit of threshold value be just to plan adjustment when having avoided drift angle to arrive critical value, arrange drift angle pre-adjustment scope can effectively reduce because of drift angle go beyond the scope cause that the SAR system is inoperable may.
In this step, in current ground velocity is in best ground-speed range, judge whether the size of drift angle exceeds the setting range of drift angle, if exceed, enter step 6 and adjust course-and-bearing; The setting range of drift angle less than SAR system stability platform orientation to the operating angle scope, this is conducive to guarantee the normal operation of SAR system.
Step 6: adjust course-and-bearing, then turn step 3 and carry out.
Adjust course-and-bearing, keep the big or small constant of current ground velocity, adjust the size and Orientation of course-and-bearing, air speed, make the size of drift angle η equal or spend near 0; In the process of adjusting course-and-bearing, make ground velocity direction and course-and-bearing be consistent.
Step 7: judging whether current carrier aircraft is completed executes the task, and if not, returns to step 2 and continues to carry out, in real time the calculation of wind speed wind direction; If, method ends.
Carrier aircraft is in the process of executing the task, by step 2 to step 7, repeatedly judge and adjust, wind speed and direction data according to actual measurement, real-time online is adjusted described air speed size and course-and-bearing, reach best ground velocity and drift angle, to guarantee the imaging effect of carried SAR system, eliminate wind disturbance to the impact of carried SAR system imaging.
Embodiment:
Below further illustrate the method for adjusting based on actual measurement wind speed and direction real-time course line provided by the invention by specific embodiment and data.
The present invention is applied to the carried SAR system imaging of certain unmanned spacecraft, the orientation of the SAR radar stable platform that this unmanned plane loads is ± 18 ° to the operating angle scope, its certain carry out imaging task flying height be 1500m, when calm, ground velocity equates with air speed, be Vd=Vk=60m/s, the concrete steps of using the inventive method are:
Step 1: the correlation parameter of the course line of initialization carrier aircraft and SAR system;
According to the execution imaging task requirement of this unmanned plane, the initializing set course line, the direction in course line is 0 °, the parallel specified course zone of entering begins flight, this unmanned plane air speed V
kMinimum value V
Kmin=40m/s and maximal value V
Kmax=80m/s, the best ground velocity value of carried SAR system imaging is V
Dbest=60m/s, two end values of best ground-speed range are V
Dbestmin=40m/s, V
Dbestmax=80m/s, ground velocity is adjusted threshold value V
d0=5m/s and η
maxBe 18 °, drift angle is adjusted threshold value η
0=3 °, namely SAR system stability platform orientation to the pre-adjustment scope be ± 15 °.
Step 2: Real-time Obtaining wind speed and direction
Read the ground velocity V of this unmanned plane upper sensor actual measurement
dSize is 43.3m/ and air speed V
kSize is 58.6m/s, and the direction of ground velocity is consistent with course-and-bearing is 0 °, and the size that the direction of air speed equals crab angle is 14.6 °; According to air speed V
k, ground velocity V
dWith wind speed V
wThree's vector relation:
Step 3: judge that ground velocity is whether in best ground velocity pre-adjustment scope;
According to the ground velocity 43.3m/s of this unmanned plane upper sensor actual measurement, judge that current ground velocity size whether in the described best ground velocity pre-adjustment scope of step 1, has:
Step 4: adjust the carrier aircraft air speed.
Change at short notice very little for wind disturbance, therefore suppose that wind speed and direction is constant at short notice, according to the described initial parameter of step 1 and the described wind vector result of calculation of step 2, the size of wind speed is 19.9m/s, wind direction be 132 ° according to the vector relation of air speed, ground velocity and wind speed, at air speed V
kAvailable setting range in, that is:
| V
k| ∈ [40,80]; Make ground velocity V
dThe scope that satisfies the described best ground velocity of step 1, that is:
| V
d| ∈ [45,75]; In the present embodiment, as ground velocity V
dSize be V
DbestDuring=60m/s, air speed V
kSize be 74.9m/S.
Step 5: judge whether the size of drift angle surpasses the pre-adjustment scope of drift angle;
In the present embodiment, according to air speed and the ground velocity after step 4 planning, the η that takes a drift=11.4 ° also judge that whether drift angle η exceeds the pre-adjustment scope of drift angle, has:
11.4 ° ∈ [15 °, 15 °]; Do not exceed this scope, keep current course-and-bearing, enter step 7, adjust the motion of carrier aircraft according to program results;
Step 7: judging whether current carrier aircraft is completed executes the task, if method ends if not, is returned to step 2 and continued to carry out.
Current carrier aircraft is not finished the work, and continues execution in step two.
Step 2: real-time calculation of wind speed wind direction
Read the ground velocity size of this unmanned plane upper sensor actual measurement | V
d|=65.3m/s and current air speed size | V
k|=74.9m/s, the direction of ground velocity is consistent with course-and-bearing, and the size that the direction of air speed equals crab angle is 9.4 °; According to air speed V
k, ground velocity V
dWith wind speed V
wThree's vector correlation:
The wind vector on the current carrier aircraft flying height of executing the task
Wherein, the wind speed size is 14.9m/s, and wind direction is 125 °.
Step 3: judge that ground velocity is whether in best ground velocity pre-adjustment scope;
Ground velocity V according to this unmanned plane upper sensor actual measurement
dSize 65.3m/s judges that current ground velocity size whether in best ground velocity pre-adjustment scope, has:
[45,751: current ground velocity size satisfies best ground velocity pre-adjustment scope to 653 ∈, enters step 5, judges whether the size of drift angle surpasses the pre-adjustment scope of drift angle;
Step 5: judge whether the size of drift angle surpasses the pre-adjustment scope of drift angle;
In the present embodiment, according to air speed and ground velocity, the η that takes a drift=9.4 °, and judge that whether drift angle η exceeds the pre-adjustment scope of drift angle, has:
9.4 ° ∈ [15 °, 15 °]; Do not exceed this scope, keep current course-and-bearing, enter step 7;
Step 7: judging whether current carrier aircraft is completed executes the task, if method ends if not, is returned to step 2 and continued to carry out.
Claims (3)
1. a carried SAR flight air route method of combination of dynamically adjusting based on wind speed and direction, is characterized in that, comprises following step:
Step 1: the correlation parameter of the course line of initialization carrier aircraft and SAR system; The correlation parameter of SAR system comprises: the minimum value V of carrier aircraft air speed
KminWith maximal value V
Kmax, the best ground velocity value V of carried SAR system imaging
Dbest, best ground-speed range [V
Dbestmin, V
Dbestmax] and ground velocity adjustment threshold value V
d0, and SAR system stability platform orientation to operating angle scope [η
max, η
maxAdjust threshold value η with drift angle
0;
Step 2: the ground velocity V that reads in real time the actual measurement of carrier aircraft upper sensor
dWith air speed V
kSize and direction, wherein, the direction of ground velocity is consistent with the direction in current course line, the direction of air speed is consistent with the crab angle of carrier aircraft; According to air velocity vector
Ground vector
And wind vector
Three's relation:
Obtain the wind vector of current carrier aircraft on the flying height of executing the task
Step 3: judgement ground velocity V
dSize whether at best ground velocity pre-adjustment scope [(V
Dbestmin+ V
d0), (V
Dbestmax-V
d0)] in, if, execution in step five, otherwise, execution in step four;
Step 4: adjust the carrier aircraft air speed, specifically: according to air velocity vector
Ground vector
And wind vector
Three's relation is in scope
Interior adjustment air speed V
kSize, make ground velocity V
dSize equal the described best ground velocity value V of step 1
Dbest:
Step 5: according to current air speed and ground velocity, determine drift angle η, and judge whether drift angle η exceeds a pre-adjustment scope [(η of drift angle
max-η
0), (η
max-η
0)], if, execution in step six, otherwise, keep current course-and-bearing, execution in step seven;
Step 6: adjust course-and-bearing, specifically: keep the big or small constant of current ground velocity, adjust the size and Orientation of course-and-bearing, air speed, make the size of drift angle η equal 0 degree, in the process of adjusting course-and-bearing, make ground velocity direction and course-and-bearing remain consistent; Then turning step 3 carries out;
Step 7: judging whether current carrier aircraft is completed executes the task, and return to if not step 2 and continue to carry out, if, method ends.
2. the carried SAR flight air route method of combination of dynamically adjusting based on wind speed and direction according to claim 1, is characterized in that, the ground velocity described in step 1 is adjusted threshold value V
d0Be set to 5m/s.
3. the carried SAR flight air route method of combination of dynamically adjusting based on wind speed and direction according to claim 1, is characterized in that, the drift angle described in step 1 is adjusted threshold value η
0Be set to 3 °.
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| CN107960122A (en) * | 2015-05-22 | 2018-04-24 | 飞鲸公司 | Aircraft and the method for stablizing aircraft |
| CN106454228A (en) * | 2016-09-20 | 2017-02-22 | 朱海燕 | Human face identification based video monitor intelligentizing network system |
| WO2020062166A1 (en) * | 2018-09-29 | 2020-04-02 | 深圳市大疆创新科技有限公司 | Control method of unmanned aerial vehicles and unmanned aerial vehicles |
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