CN104459645A - Radar phase position calibration method based on multi-rotor aircraft - Google Patents
Radar phase position calibration method based on multi-rotor aircraft Download PDFInfo
- Publication number
- CN104459645A CN104459645A CN201410646657.5A CN201410646657A CN104459645A CN 104459645 A CN104459645 A CN 104459645A CN 201410646657 A CN201410646657 A CN 201410646657A CN 104459645 A CN104459645 A CN 104459645A
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- antenna
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- rotor aerocraft
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4026—Antenna boresight
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4026—Antenna boresight
- G01S7/403—Antenna boresight in azimuth, i.e. in the horizontal plane
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4026—Antenna boresight
- G01S7/4034—Antenna boresight in elevation, i.e. in the vertical plane
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention relates to the field of spacecraft measurement and control and provides a radar phase position calibration method based on a multi-rotor aircraft. The method includes the steps that the beacon-mounted multi-rotor aircraft takes off; according to the received GPS position information of the multi-rotor aircraft in real time, the distance between the multi-rotor aircraft and antennae and the azimuth angle and the pitch angle between the antennae and the ground are calculated, and the antennae are guided to point to a beacon; when the distance between the multi-rotor aircraft and the antennae and the angle of elevation between the antennae and the ground at present simultaneously meet far field calibration conditions, the multi-rotor aircraft is controlled to be in a spot hovering mode in the air, and the antennae are controlled to be aligned with the beacon; the azimuth angle or the pitch angle between the antennae and the ground is controlled to be in a positively skewed mode or a negatively skewed mode, and a tracking receiver is utilized to complete radar phase position calibration at a current frequency point; communication frequency points or communication links between the beacon and the antennae are switched to enter the next calibration. According to the radar phase position calibration method based on the multi-rotor aircraft, the capturing speed of the antennae on targets is increased under the premise that the far field calibration conditions are satisfied, phase position calibration on different frequency points is achieved, and calibration accuracy is improved.
Description
Technical field
The present invention relates to spacecraft measurement and control area, particularly a kind of radar phase place Calibration Method based on multi-rotor aerocraft.
Background technology
In order to meet the demand of follow-up survey of deep space task, modern instrumentation control radar have employed higher frequency of operation, its wavelength is shorter, needs farther could meet far field condition to tower distance, but existing calibration tower cannot meet the Distance geometry radar antenna elevation angle condition of far-field phase calibration simultaneously.
In order to overcome the problems referred to above, propose in prior art and adopt the method for release beacon ball to carry out phase place calibration, be fixed on balloon by beacon, allow balloon fly aloft, antenna receives the downgoing signal of beacon and follows the tracks of beacon, in the process of following the tracks of, carry out phase place calibration.But there is the deficiency of the following aspects in the method:
1) each beacon ball can only realize the phase place calibration of a frequency, and ball cannot reclaim, and cost is higher;
2) because radar antenna main lobe is narrower, and cannot obtain the positional information of beacon in real time, beacon ball is released aft antenna and is not easy to find and target acquisition;
3) aloft attitude is uncontrollable for ball, adds the difficulty of phase place calibration, affects calibration precision.
Based on this, prior art needs to be improved really.
Summary of the invention
The technical matters that the present invention need solve is to provide a kind of radar phase place Calibration Method, makes under the prerequisite meeting far field calibration condition, accelerates antenna to the acquisition speed of target, realizes the phase place calibration of different frequent points, and improve calibration precision.
In order to solve the problem, the invention provides a kind of radar phase place Calibration Method based on multi-rotor aerocraft, its technical scheme adopted is as follows:
S1, the multi-rotor aerocraft being mounted with beacon take off according to the direction of presetting;
The GPS position information of S2, real-time reception multi-rotor aerocraft, and according to the GPS position information of multi-rotor aerocraft, calculates multi-rotor aerocraft and the distance of antenna and the position angle on the relative ground of antenna and the angle of pitch;
S3, according to the position angle on the relative ground of antenna and the angle of pitch, guide antenna directional beacon;
S4, judge whether current multi-rotor aerocraft meets far field calibration condition with the distance of antenna and the elevation angle on the relative ground of antenna simultaneously, if so, then perform step S5; If not, then return and perform step S1;
S5, control multi-rotor aerocraft spot hover aloft, and according to the beacon signal that antenna receives, beacon aimed at by control antenna;
The position angle on the relative ground of S6, control antenna or angle of pitch positively biased or negative bias, the radar phase place calibration under utilizing track receiver to complete current frequency;
S7, the communication frequency switching beacon and antenna or communication link, repeat step S1 to S6, complete the radar phase place calibration of different frequent points and link.
Preferably, the far field calibration condition in described step S4 is:
The elevation angle on the relative ground of antenna is not less than 3 degree; The distance R of multi-rotor aerocraft and antenna meets:
Wherein, D represents the diameter of antenna, and λ is the wavelength of beacon emissions signal.
Preferably, described step S5 specifically comprises: control multi-rotor aerocraft spot hover aloft, and antenna is forwarded to track receiver after receiving the signal of beacon transmission;
The position angle on the relative ground of antenna and the angle of pitch are finely tuned, when the angle error voltage that track receiver exports is 0, determines antenna alignment beacon.
Preferably, in described step S6, the position angle on the relative ground of antenna or the angle value of angle of pitch positively biased or negative bias are less than the half of antenna main lobe width.
Preferably, in described step S7, when switching the communication frequency of beacon and antenna, its operation is as follows:
The receive frequency of radar antenna is revised as the frequency treating calibration, and will treats that the frequency of calibration is sent to beacon through several biography, himself transmission frequency of beacon amendment.
The invention has the beneficial effects as follows: a kind of radar phase place Calibration Method based on multi-rotor aerocraft provided by the invention, utilize multi-rotor aerocraft as aerial platform carry beacon, by the GPS position information of real-time reception multi-rotor aerocraft, guide antenna directional beacon, improves the speed of catching beacon greatly; The multi-rotor aerocraft being mounted with beacon conveniently realizes the condition of far field calibration, and multi-rotor aerocraft has the feature of hovering, thus reduces the difficulty of phase place calibration, ensure that calibration precision; In addition, multi-rotor aerocraft can pass by number the frequency changing beacon, makes flight can complete the phase place calibration of multiple frequency; And multi-rotor aerocraft is recyclable repeatedly utilizes, greatly save the cost of phase place calibration.
Embodiment
Below in conjunction with embodiment, the specific embodiment of the present invention is described in further detail.
The invention provides a kind of radar phase place Calibration Method based on multi-rotor aerocraft, comprise the following steps:
S1, the multi-rotor aerocraft being mounted with beacon take off according to the direction of presetting;
Before multi-rotor aerocraft takes off, following preparation need be carried out:
1) multi-rotor aerocraft Installation and Debugging are good, switch on power;
2) shipborne radar TT&C system, center machine, the ship appearance accommodation system boot preheating enough time used of high-ranking officers' phase time;
3) open the phase place Proofreading Software of the track receiver of shipborne radar TT&C system, the initial phase that track receiver is set and slope, set corresponding frequency and link, radar antenna is set and points to the direction that multi-rotor aerocraft will fly in advance.
The GPS position information of S2, real-time reception multi-rotor aerocraft, and according to the GPS position information of multi-rotor aerocraft, calculates multi-rotor aerocraft and the distance of antenna and the position angle on the relative ground of antenna and the angle of pitch;
When realizing this step, the GPS device of multi-rotor aerocraft self can be used to obtain its GPS position information, be sent to the data radio station on ground again through himself data radio station, the data radio station on ground out delivers to center machine afterwards the GPS position information demodulation of multi-rotor aerocraft; Center machine utilizes existing software to calculate multi-rotor aerocraft and the distance of antenna and the position angle on the relative ground of antenna and the angle of pitch; Also carry GPS device that can be extra on multi-rotor aerocraft and data radio station, and GPS device is connected through serial ports with data radio station, accordingly, be deployed with corresponding data radio station on ground simultaneously, be forwarded to the data radio station on ground after being sent to connected data radio station after the GPS device of extra carry obtains the GPS information of aircraft on aircraft, rear a kind of scheme can make the duty of calibration process and aircraft self keep apart.
In addition, when calculating multi-rotor aerocraft and the distance of antenna and the position angle on the relative ground of antenna and the angle of pitch, need in conjunction with ship appearance position information, update information, this computation process is identical with discharging the computing method that beacon ball uses in prior art, repeats no more herein.Described update information is the information such as relativeness and the deformation of hull of GPS location and radar antenna position on ship.
S3, according to the position angle on the relative ground of antenna and the angle of pitch, guide antenna directional beacon;
S4, judge whether current multi-rotor aerocraft meets far field calibration condition with the distance of antenna and the elevation angle on the relative ground of antenna simultaneously, if so, then perform step S5; If not, then return and perform step S1;
Described far field calibration condition comprises the elevation coverage on the relative ground of antenna and the distance of multi-rotor aerocraft and antenna, concrete, and the elevation angle on the relative ground of antenna is not less than 3 degree; The distance R of multi-rotor aerocraft and antenna meets:
wherein, D represents the diameter of antenna, and λ is the wavelength of beacon emissions signal.
S5, control multi-rotor aerocraft spot hover aloft, and according to the beacon signal that antenna receives, beacon aimed at by control antenna; Its concrete operations are as follows:
Control multi-rotor aerocraft spot hover aloft, antenna is forwarded to track receiver after receiving the signal of beacon transmission, and track receiver is according to the signal receiving angle of departure error voltage received;
The position angle on the relative ground of antenna and the angle of pitch are finely tuned, when the angle error voltage that track receiver exports is 0, determines antenna alignment beacon.
The position angle on the relative ground of S6, control antenna or angle of pitch positively biased or negative bias, the radar phase place calibration under utilizing track receiver to complete current frequency;
In this step, can select antenna relative to the position angle positively biased on ground, antenna relative to the position angle negative bias on ground, antenna relative to any one of the angle of pitch positively biased on ground or the angle of pitch negative bias on the relative ground of antenna, the angle value of its positively biased or negative bias should be less than the half of antenna main lobe width.
Utilize track receiver to complete the calibration of radar phase place, belong to prior art, repeat no more herein.
S7, the communication frequency switching beacon and antenna or communication link, repeat step S1 to S6, complete the radar phase place calibration of different frequent points and link.
1) when switching the communication frequency of beacon and antenna, its operation is as follows:
The receive frequency of radar antenna is revised as the frequency treating calibration, and will treats that the frequency of calibration is sent to beacon through several biography, himself transmission frequency of beacon amendment;
2) switch communication links refers to and to switch between the active link and reserve link of radar control system acceptance channel, during handoff links, need not change the transmission frequency of aerial beacon.
The invention has the beneficial effects as follows: a kind of radar phase place Calibration Method based on multi-rotor aerocraft provided by the invention, utilize multi-rotor aerocraft as aerial platform carry beacon, by the GPS position information of real-time reception multi-rotor aerocraft, guide antenna directional beacon, improves the speed of catching beacon greatly; The multi-rotor aerocraft being mounted with beacon conveniently realizes the condition of far field calibration, and multi-rotor aerocraft has the feature of hovering, thus reduces the difficulty of phase place calibration, ensure that calibration precision; In addition, multi-rotor aerocraft can pass by number the frequency changing beacon, makes flight can complete the phase place calibration of multiple frequency; And multi-rotor aerocraft is recyclable repeatedly utilizes, the cost of the phase place calibration of greatly saving.
Above embodiment is only for illustration of the present invention; and be not limitation of the present invention; the those of ordinary skill of relevant technical field; without departing from the spirit and scope of the present invention; can also make a variety of changes and modification; therefore all equivalent technical schemes also belong to category of the present invention, and scope of patent protection of the present invention should be defined by the claims.
Claims (5)
1., based on a radar phase place Calibration Method for multi-rotor aerocraft, it is characterized in that, described method comprises:
S1, the multi-rotor aerocraft being mounted with beacon take off according to the direction of presetting;
The GPS position information of S2, real-time reception multi-rotor aerocraft, and according to the GPS position information of multi-rotor aerocraft, calculates multi-rotor aerocraft and the distance of antenna and the position angle on the relative ground of antenna and the angle of pitch;
S3, according to the position angle on the relative ground of antenna and the angle of pitch, guide antenna directional beacon;
S4, judge whether current multi-rotor aerocraft meets far field calibration condition with the distance of antenna and the elevation angle on the relative ground of antenna simultaneously, if so, then perform step S5; If not, then return and perform step S1;
S5, control multi-rotor aerocraft spot hover aloft, and according to the beacon signal that antenna receives, beacon aimed at by control antenna;
The position angle on the relative ground of S6, control antenna or angle of pitch positively biased or negative bias, the radar phase place calibration under utilizing track receiver to complete current frequency;
S7, the communication frequency switching beacon and antenna or communication link, repeat step S1 to S6, complete the radar phase place calibration of different frequent points and link.
2., as claimed in claim 1 based on the radar phase place Calibration Method of multi-rotor aerocraft, it is characterized in that, the far field calibration condition in described step S4 is:
The distance R of multi-rotor aerocraft and antenna meets:
The elevation angle on the relative ground of antenna is not less than 3 degree;
Wherein, D represents the diameter of antenna, and λ is the wavelength of beacon emissions signal.
3., as claimed in claim 2 based on the radar phase place Calibration Method of multi-rotor aerocraft, it is characterized in that, described step S5 specifically comprises:
Control multi-rotor aerocraft spot hover aloft, antenna is forwarded to track receiver after receiving the signal of beacon transmission;
The position angle on the relative ground of antenna and the angle of pitch are finely tuned, when the angle error voltage that track receiver exports is 0, determines antenna alignment beacon.
4., as claimed in claim 3 based on the radar phase place Calibration Method of multi-rotor aerocraft, it is characterized in that, in described step S6:
The position angle on the relative ground of antenna or the angle value of angle of pitch positively biased or negative bias are less than the half of antenna main lobe width.
5. as claimed in claim 3 based on the radar phase place Calibration Method of multi-rotor aerocraft, it is characterized in that, in described step S7, when switching the communication frequency of beacon and antenna, its operation is as follows:
The receive frequency of radar antenna is revised as the frequency treating calibration, and will treats that the frequency of calibration is sent to beacon through several biography, himself transmission frequency of beacon amendment.
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| CN201410646657.5A CN104459645A (en) | 2014-11-14 | 2014-11-14 | Radar phase position calibration method based on multi-rotor aircraft |
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| CN105070005A (en) * | 2015-07-15 | 2015-11-18 | 合肥佳讯科技有限公司 | Multi-rotor unmanned aerial vehicle and remote measurement and control method |
| CN106505318A (en) * | 2016-11-17 | 2017-03-15 | 中国航空无线电电子研究所 | A kind of Double directional aerial self adaptation is directed at communication means |
| CN106712827A (en) * | 2016-11-17 | 2017-05-24 | 上海卫星工程研究所 | Dynamic beam tracking and testing device and method for satellite-borne digital multi-beam receiving antenna |
| CN106908823A (en) * | 2017-04-18 | 2017-06-30 | 深圳城际快机科技有限公司 | Based on the method and system that GPS information is tracked to unmanned plane |
| CN107817468A (en) * | 2017-10-20 | 2018-03-20 | 广州海格通信集团股份有限公司 | A kind of aircraft aerial location method based on narrow-band beam directional aerial |
| CN108037523A (en) * | 2017-10-26 | 2018-05-15 | 北京航空航天大学 | A kind of electron assistant beam alignment applied to unmanned plane |
| CN109375183A (en) * | 2018-11-22 | 2019-02-22 | 北京遥感设备研究所 | A kind of missile-borne high resolution range radar Dynamic High-accuracy is apart from Calibration System and method |
| CN109765437A (en) * | 2019-03-06 | 2019-05-17 | 鹰视云(深圳)科技有限公司 | A kind of the simulation curved surface calibration system and method for full airspace phased array antenna |
| CN109765532A (en) * | 2018-12-04 | 2019-05-17 | 中国科学院遥感与数字地球研究所 | Remote sensing satellite based on unmanned plane receives the long-range calibration device and method of system |
| CN110068803A (en) * | 2019-04-16 | 2019-07-30 | 北京遥感设备研究所 | A kind of aerial bracketing device and method of radar equipment |
| CN110082766A (en) * | 2019-05-22 | 2019-08-02 | 中国科学院电子学研究所 | A kind of carried SAR data of multiple angles acquisition methods of pinpoint target tracking |
| CN110837095A (en) * | 2019-11-22 | 2020-02-25 | 中国人民解放军63636部队 | Method for calibrating orientation zero offset of telemetering equipment based on small unmanned aerial vehicle and RTK |
| CN111830332A (en) * | 2020-06-29 | 2020-10-27 | 西南电子技术研究所（中国电子科技集团公司第十研究所） | Full-airspace curved-surface-array multi-calibration-area combined calibration method |
| CN111856161A (en) * | 2020-08-18 | 2020-10-30 | 成都爱科特科技发展有限公司 | Unmanned aerial vehicle antenna calibration system and calibration method |
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| CN110837095A (en) * | 2019-11-22 | 2020-02-25 | 中国人民解放军63636部队 | Method for calibrating orientation zero offset of telemetering equipment based on small unmanned aerial vehicle and RTK |
| CN110837095B (en) * | 2019-11-22 | 2021-07-27 | 中国人民解放军63636部队 | Method for calibrating orientation zero offset of telemetering equipment based on small unmanned aerial vehicle and RTK |
| CN111830332A (en) * | 2020-06-29 | 2020-10-27 | 西南电子技术研究所（中国电子科技集团公司第十研究所） | Full-airspace curved-surface-array multi-calibration-area combined calibration method |
| CN111830332B (en) * | 2020-06-29 | 2022-10-28 | 西南电子技术研究所（中国电子科技集团公司第十研究所） | Full-airspace curved-surface-array multi-calibration-area combined calibration method |
| CN111856161A (en) * | 2020-08-18 | 2020-10-30 | 成都爱科特科技发展有限公司 | Unmanned aerial vehicle antenna calibration system and calibration method |
| CN112311478A (en) * | 2020-10-19 | 2021-02-02 | 上海载德信息科技股份有限公司 | Array antenna calibration method, device, equipment and storage medium |
| CN112311478B (en) * | 2020-10-19 | 2023-06-16 | 上海毫微太科技有限公司 | Array antenna calibration method, device, equipment and storage medium |
| CN112363129A (en) * | 2020-11-03 | 2021-02-12 | 江苏省气象探测中心(江苏省(金坛)气象综合试验基地) | Weather radar differential reflectivity factor parameter calibration method |
| WO2022094962A1 (en) * | 2020-11-06 | 2022-05-12 | 深圳市大疆创新科技有限公司 | Hovering method for unmanned aerial vehicle, unmanned aerial vehicle and storage medium |
| CN114217278A (en) * | 2021-12-14 | 2022-03-22 | 齐鲁空天信息研究院 | Dynamic target-based amplitude and phase calibration method and system for phased array radar |
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