CN109507662B - Low-cost high-precision radar azimuth measurement method - Google Patents
Low-cost high-precision radar azimuth measurement method Download PDFInfo
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- CN109507662B CN109507662B CN201811590758.XA CN201811590758A CN109507662B CN 109507662 B CN109507662 B CN 109507662B CN 201811590758 A CN201811590758 A CN 201811590758A CN 109507662 B CN109507662 B CN 109507662B
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/68—Radar-tracking systems; Analogous systems for angle tracking only
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Abstract
The invention discloses a low-cost high-precision radar azimuth measurement method, which comprises the following steps: configuring a photoelectric code disc: the method comprises the following steps of sequentially arranging a plurality of blades at intervals on the outer edge of a code disc, forming windows for light to pass through among the blades, and configuring the angle: determining an angle value A corresponding to each blade according to the number of the blades of the code disc; and orientation measurement: respectively recording the appearance angle values C of the targetsinAnd the vanishing angle value CoutAnd further confirming the accurate angle C of the target according to the intermediate angle of the angles of the appearance and disappearance of the targetT. The method combines simple code disc photoelectric signals for adjusting the rotating speed of the radar, reduces the azimuth error under the condition of not increasing the hardware cost, and improves the target azimuth precision; this enables an angular resolution of 1 ° or even higher to be achieved even with low-cost components. In addition, the actually measured azimuth precision of the method is greatly improved through the setting of the code wheel division value and the collection subdivision frequency.
Description
Technical Field
The invention belongs to the field of radar target positioning, and particularly relates to a low-cost high-precision radar azimuth measurement method.
Background
Radar, which is the transliteration of the english Radar, means "radio detection and ranging", that is, finding objects and measuring their spatial positions by radio method; therefore, radar is also referred to as "radiolocation". The radar is an electronic device that detects a target using an electromagnetic wave, and emits the electromagnetic wave to irradiate the target and receives an echo thereof, thereby obtaining information such as a distance from the target to an electromagnetic wave emission point, a distance change rate (radial velocity), an azimuth, and an altitude.
In the current radar, only loose connection exists between the radar orientation and the direction of the target signal, and the direction of the target is usually estimated by using the zero position and the rotating speed, so that the direction of the target in radar imaging has a certain angular deviation, and the distance between the targets is also stretched or compressed. Therefore, the detection result obtained finally has larger difference with the actual value, and the detection precision is influenced.
In order to solve this problem, people in the prior art attempt to overcome this problem by changing the wavelength of the radar or adding dedicated analysis software to analyze and process the radar wave.
However, the implementation cost and technical complexity of these solutions are significantly increased compared to the conventional radar, and therefore, they cannot be widely applied, and only have applications in specific fields together, and cannot be comprehensively popularized.
Disclosure of Invention
The invention aims to provide a low-cost and high-precision radar azimuth measuring method for improving target azimuth precision by using a simple code disc.
In order to achieve the purpose, the invention adopts the scheme that:
a low-cost and high-precision radar azimuth measurement method is characterized by comprising the following steps:
configuring a photoelectric code disc, wherein a plurality of blades are sequentially arranged at intervals on the outer edge of the code disc, and a window for light to pass through is formed between the blades; the center of the code wheel is concentrically fixed with the rotating shaft of the radar antenna, so that the code wheel and the antenna rotate synchronously. And a light source and a sensor are respectively arranged above and below the code disc, so that the blade is positioned between the two.
The step of angle configuration, the angle value corresponding to each blade is determined according to the number of the blades of the code disc, the finer the indexing of the code disc is, the higher the precision is, and the subdivided angle A is as follows:
A＝360°/N
where N is the code wheel index, which is twice the number of blades.
A step of azimuth measurement, which respectively records the appearance angle value C of the targetinAnd the vanishing angle value CoutCan be regarded as a radar beamWith fixed angles, we can use the intermediate angle between the angles at which the target appears and disappears to further confirm the precise angle C of the targetT，CTComprises the following steps:
CT＝(Cin+Cout)/2
wherein, CinFor the angle of occurrence of the target, CoutThe target extinction angle.
Preferably, the step of angular configuration further comprises the step of angular subdivision, i.e. sampling a number of times in a code wheel index, subdividing the angle again and multiplying the actual index value; such a subdivision can be considered approximately uniform, since the radar antenna speed varies less in a shorter time. The angle B after the subdivision is:
B＝A/Ns
where Ns is the number of samples (i.e., the subdivision value) within each a angle, which is a natural number.
Further, the detail value is 2-6. More preferably, the index value of the code disc is 50-150. The code disc arranged in this way has better practicability, the actual measurement precision can meet the measurement requirement, and the equipment and calculation cost is not too high.
Preferably, the coded disc is a simple coded disc.
Preferably, the code wheel is a code wheel with a zero position, the whole code wheel is circular, the center of the circle is fixed with the rotating shaft of the antenna, and the edge of the code wheel is provided with a blade and a window.
Preferably, the vanes and windows are evenly distributed and the size of the vanes and windows are the same, so that the waveform produced by the code wheel has the best resolution.
The method mainly realizes the measurement of the azimuth by using the simple code disc, the realization cost is low, and meanwhile, the algorithm of the azimuth measurement is optimized to improve the measurement precision; in short, the invention provides a radar azimuth measuring method with low cost and high precision.
The method combines simple code disc photoelectric signals for adjusting the rotating speed of the radar, reduces the azimuth error under the condition of not increasing the hardware cost, and improves the target azimuth precision; this enables an angular resolution of 1 ° or even higher to be achieved even with low-cost components. In addition, the actually measured azimuth precision of the method is greatly improved through the setting of the code wheel division value and the collection subdivision frequency. Compared with the traditional method, the hardware cost of the measuring method of the invention is increased by less than 5%, but the measuring precision can achieve the level of 0.1 degrees.
Drawings
FIG. 1 is a schematic diagram of the actual orientation and angle of a target at a measurement;
FIG. 2 is a schematic diagram of a band error display occurring in the prior art method of FIG. 1;
FIG. 3 is a schematic structural diagram of the simple code wheel of the present invention;
FIG. 4 is a schematic view of the angle subdivision of the optical-electrical signal by the code wheel of the present invention;
FIG. 5 is a schematic diagram of further subdividing the angles by a high sampling rate on the basis of FIG. 4;
FIG. 6 is a schematic view of the orientation of the target as it appears during measurement;
FIG. 7 is a schematic view of the orientation of the target when it disappears during measurement;
FIG. 8 is a schematic representation of the steps of the method of the present invention.
Detailed Description
In order that those skilled in the art will better understand the invention and thus more clearly define the scope of the invention as claimed, it is described in detail below with respect to certain specific embodiments thereof. It should be noted that the following is only a few embodiments of the present invention, and the specific direct description of the related structures is only for the convenience of understanding the present invention, and the specific features do not of course directly limit the scope of the present invention. Such alterations and modifications as are made obvious by those skilled in the art and guided by the teachings herein are intended to be within the scope of the invention as claimed.
A radar azimuth accuracy measuring method is a method for improving target azimuth accuracy by using a simple code disc, and comprises the following steps:
configuring a photoelectric code disc, wherein a plurality of blades are sequentially arranged at intervals on the outer edge of the code disc, and a window for light to pass through is formed between the blades; the center of the code wheel is concentrically fixed with the rotating shaft of the radar antenna, so that the code wheel and the antenna rotate synchronously. And a light source and a sensor are respectively arranged above and below the code disc, so that the blade is positioned between the two. Optimally, the vanes and windows are evenly distributed.
The step of angle configuration, the angle value corresponding to each blade is determined according to the number of the blades of the code disc, the finer the indexing of the code disc is, the higher the precision is, and the subdivided angle A is as follows:
A＝360°/N
where N is the code wheel index, which is twice the number of blades.
Preferably, the code disc is a code disc with a zero position, and a more accurate angle range of the current target can be obtained through a signal waveform generated in photoelectric detection.
Preferably, the step of angular allocation further comprises the step of angular subdivision, i.e. sampling for a plurality of times in a code wheel graduation, subdividing the angle again and multiplying the division value; since the radar antenna rotation speed changes less in a shorter time, we can approximately consider such subdivision to be uniform. The angle B after the subdivision is:
B＝A/Ns
where Ns is the number of samples per angle a, which is a natural number.
A step of azimuth measurement, which respectively records the appearance angle value C of the targetinAnd the vanishing angle value CoutWe believe that the radar beam angle is fixed, we can use the intermediate angle between the angles at which the target appears and disappears to further confirm the precise angle C of the targetT，CTComprises the following steps:
CT＝(Cin+Cout)/2
wherein, CinFor the angle of occurrence of the target, CoutThe target extinction angle.
The method mainly realizes the measurement of the azimuth by using the simple code disc, the realization cost is low, and meanwhile, the algorithm of the azimuth measurement is optimized to improve the measurement precision; in short, the invention provides a radar azimuth measuring method with low cost and high precision.
The specific implementation process of the method is illustrated as follows:
a code wheel, a light source and a light receiving sensor are arranged on the radar antenna, so that the code wheel and the antenna rotate together, and the light source and the light receiving sensor are matched with blades of the code wheel, so that the code wheel generates a waveform photoelectric signal through a photoelectric detection device (as shown in fig. 4).
The code wheel with the zero position is adopted, and the division value is determined according to the number of the blades of the code wheel, so that the angle value A of each division, namely the angle value corresponding to each waveform, for example, the waveform of each angle value A of 1 degree shown in FIG. 4, is obtained through calculation.
And configuring sampling time, averagely dividing the angle value A of each graduation into a plurality of sampling points, and performing data acquisition once at each sampling point to judge whether a target signal exists or not. Therefore, the actual measurement graduation of the method can be multiplied on the basis of the original graduation value, and the integral precision of the method is greatly improved.
Calculating the target azimuth, respectively recording the appearance angle value Cin and the disappearance angle value Cout of a certain target, calculating the accurate angle CT of the target according to the following formula,
CT＝(Cin+Cout)/2
wherein, CinFor the angle of occurrence of the target, CoutIs the target disappearance angle; more precisely, CinIs the angle value, C, of the tail of the radar scan widthoutIs the angle value of the radar swath header.
The method combines simple code disc photoelectric signals for adjusting the rotating speed of the radar, reduces the azimuth error under the condition of not increasing the hardware cost, and improves the target azimuth precision; this enables an angular resolution of 1 ° or even higher to be achieved even with low-cost components. In addition, the actually measured azimuth precision of the method is greatly improved through the setting of the code wheel division value and the collection subdivision frequency. Compared with the traditional method, the hardware cost of the measuring method of the invention is increased by less than 5%, but the measuring precision can achieve the level of 0.1 degrees.
Claims (5)
1. A low-cost high-precision radar azimuth measurement method is characterized by comprising the following steps:
configuring a photoelectric code disc, wherein a plurality of blades are sequentially arranged at intervals on the outer edge of the code disc, and a window for light to pass through is formed between the blades; the blades and the windows are uniformly distributed, and the sizes of the blades and the windows are the same;
and (3) angle configuration, namely determining an angle value corresponding to each blade according to the number of the blades of the code disc, wherein the subdivided angle A is as follows:
A＝360°/N；
wherein N is the code disc graduation which is twice the number of the blades;
a step of azimuth measurement, which respectively records the appearance angle value C of the targetinAnd the vanishing angle value CoutAnd further confirming the accurate angle C of the target according to the intermediate angle of the angles of the appearance and disappearance of the targetT，
CT＝(Cin+Cout)/2
Wherein, CinFor the angle of occurrence of the target, CoutIs the target disappearance angle;
the step of angular configuration further comprises the step of angular subdivision,
the angle subdivision also comprises subdivision values, and the subdivision values are multiplied by sampling for multiple times in the graduation of a code disc; the angle B after the subdivision is:
B＝A/Ns
wherein, the subdivision value Ns is the sampling times in each A angle.
2. The method according to claim 1, wherein the refinement value is 2 to 6.
3. The method according to claim 1 or 2, characterized in that the index value of the code wheel is 50-150.
4. The method of claim 1, wherein the code wheel is a dumb code wheel.
5. The method of claim 1, wherein the code wheel is a zero code wheel having a circular shape with a center fixed to the antenna rotation axis and a periphery provided with a blade and a window.
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