CN111208482A - Radar precision analysis method based on distance alignment - Google Patents
Radar precision analysis method based on distance alignment Download PDFInfo
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- CN111208482A CN111208482A CN202010128397.8A CN202010128397A CN111208482A CN 111208482 A CN111208482 A CN 111208482A CN 202010128397 A CN202010128397 A CN 202010128397A CN 111208482 A CN111208482 A CN 111208482A
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- G01—MEASURING; TESTING
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Abstract
The invention provides a radar precision analysis method based on distance alignment, which comprises the following steps: the aircraft carries a positioning navigation device to fly back and forth at a constant speed, and the radar obtains target trace information of the aircraft; the radar obtains flight path information of the aircraft and obtains the flight path information recorded by positioning navigation equipment carried by the aircraft; converting the radar base station and the flight path information of the aircraft into a station center coordinate system with the radar as the center of a circle; compensating aircraft track information data obtained by a radar and aircraft track information data obtained by a positioning navigation device; and comparing the compensated radar measured and calculated aircraft track information data with the aircraft real track information data, solving the error value of radar measurement and calculation, and obtaining radar echo calculated track information accurate data by calculating the mean value and the variance of the error. The invention can effectively eliminate the time error caused by echo time delay and system time delay, and achieves the purpose of improving the accuracy rate of radar precision analysis.
Description
Technical Field
The invention belongs to the technical field of radars, and particularly relates to a radar precision analysis method based on distance alignment.
Background
Before the pulse doppler radar is subjected to factory detection, qualitative and quantitative tests are often performed on the performance of the radar, so as to evaluate whether the performance of the radar meets specified requirements, and generally, an important index for evaluating the performance of the pulse doppler radar is the distance precision and the angle precision of the radar. The existing radar precision analysis method is to set an aircraft for flight, GPS information is carried above the aircraft, and after time alignment is carried out on the aircraft track obtained by the GPS and the target track information obtained by the radar, each precision of the radar can be contrastively analyzed.
The invention provides a pulse Doppler radar precision analysis method based on distance information alignment based on the existing problems, and aims to solve the problem of how to effectively eliminate time errors caused by echo time delay and system time delay so as to obtain an accurate radar precision analysis result.
Disclosure of Invention
In order to solve the technical problem, the invention provides a radar precision analysis method based on distance alignment, which comprises the following steps:
the aircraft carries a positioning navigation device to fly back and forth at a constant speed, and the radar receives and processes the echo signal to obtain target trace information of the aircraft;
the radar carries out track initiation, track association and track filtering operations on the obtained target track information to obtain aircraft track information, and obtains track information recorded by positioning navigation equipment carried by the aircraft;
converting the geographic information of the radar base station and the flight path information of the aircraft obtained by the positioning navigation equipment into a station center coordinate system taking the radar as the center of a circle;
compensating aircraft track information data obtained by a radar and aircraft track information data obtained by a positioning navigation device by taking the time and distance information of a turn-back point of the aircraft as a reference;
and comparing the compensated radar measured and calculated aircraft track information data with the aircraft real track information data, solving the error value of radar measurement and calculation, and obtaining radar echo calculated track information accurate data by calculating the mean value and the variance of the error.
In another embodiment of the distance alignment-based radar precision analysis method according to the present invention, the positioning and navigation device carried by the aircraft flies back and forth at a constant speed, and the obtaining of the target trace information of the aircraft by the radar after receiving and processing the echo signal includes:
the aircraft carries positioning navigation equipment to fly back and forth at a constant speed, and the positioning navigation equipment records flight path information of the aircraft;
the normal direction of the array surface erected by the radar is consistent with the north direction, and the radar transmitter transmits radio frequency signals to the aircraft;
the radar receiver receives radio frequency signals reflected by the aircraft, and target trace information of the aircraft is obtained through calculation after frequency mixing, band-pass filtering, low-pass filtering, pulse compression and radar angle measurement processing, wherein the target trace information comprises the distance, the azimuth angle, the pitch angle, the speed, the echo amplitude and the time information of the aircraft and clutter traces.
In another embodiment of the distance alignment-based radar precision analysis method according to the present invention, the obtaining the flight path information of the aircraft by the radar after performing flight path initiation, flight path association, and flight path filtering operations on the obtained target flight path information, and obtaining the flight path information recorded by the positioning navigation device carried by the aircraft includes:
the method for the radar to carry out track starting operation on the obtained target track information comprises one or more of a track starting algorithm based on hough transformation and a track starting algorithm based on maximum and minimum speed;
the method for the radar to carry out track association operation on the obtained target track information comprises one or more of a nearest neighbor track association algorithm, a probability data interconnection algorithm, a comprehensive probability data interconnection algorithm and a joint data probability interconnection algorithm;
the method for the radar to carry out track filtering operation on the obtained target track information comprises one or more of Kalman filtering, wiener filtering and an interactive multi-model-Kalman filtering algorithm.
In another embodiment of the above radar accuracy analysis method based on distance alignment according to the present invention, the converting the radar base station geographic information and the aircraft track information obtained by the positioning and navigation device into a center-of-station coordinate system with the radar as a center of circle includes:
acquiring longitude, latitude and altitude information of a radar base station based on positioning navigation equipment arranged above the radar;
acquiring longitude, latitude and altitude information of a real flight track of the aircraft based on positioning navigation equipment carried by the aircraft;
converting the longitude and latitude height information of the radar base station and the aircraft into a rectangular coordinate system through the conversion relation between a geodetic coordinate system and the rectangular coordinate system;
and calculating the coordinate point of the rectangular coordinate system of the aircraft based on the radar base station, converting the rectangular coordinate system to a polar coordinate, and obtaining the information of the true distance, azimuth angle and pitch angle of the aircraft relative to the radar.
In another embodiment of the above radar precision analysis method based on distance alignment, the compensating the aircraft track information data obtained by the radar and the aircraft track information data obtained by the positioning and navigation device with the time of the turn-back point of the aircraft and the distance information as the reference includes:
when the aircraft flies back and forth at a constant speed, acquiring the coordinates of a radar echo turning point based on a radar echo track;
obtaining the return point coordinates of the real flight of the aircraft according to the actual track information of the aircraft;
obtaining the time delay information of the radar system, and performing time delay compensation on the radar system based on the time delay error;
and obtaining the distance error information of the radar system, and compensating the distance error of the radar system based on the distance error.
In another embodiment of the above radar accuracy analysis method based on distance alignment according to the present invention, the comparing the compensated radar measured and calculated aircraft track information data with the aircraft real track information data, and solving an error value of the radar measurement and calculation, and obtaining radar echo by averaging and calculating a variance of the error, and the calculating the radar accuracy data includes:
comparing the compensated radar measured and calculated aircraft track information data with the actual errors of the aircraft real track information data to obtain the errors of the radar echo track relative to the real track, wherein the errors mainly comprise distance errors, azimuth angle errors and pitch angle errors;
and solving the mean value of the errors to obtain an error mean value, solving the variance of the errors to obtain error variance information, and outputting the error variance information as a radar precision quantitative analysis result.
In another embodiment of the above radar accuracy analysis method based on range alignment according to the present invention, the positioning navigation apparatus includes:
one or more of a GPS positioning navigation system device, a 'big Dipper' positioning navigation system device, a 'Glanass' positioning navigation system device and a 'Galileo' positioning navigation system device.
By adopting the radar precision analysis method based on distance alignment, the time error caused by echo time delay and system time delay is effectively eliminated through the radar echo data and the positioning navigation system information under the condition that time information exists in a time delay condition and the alignment method after compensation is carried out on the actual turning back point of the aircraft, and the purpose of improving the radar precision analysis precision rate is achieved.
Drawings
FIG. 1 is a flowchart of an embodiment of a radar accuracy analysis method based on range alignment according to the present invention;
FIG. 2 is a time-distance relationship diagram of a radar echo turning point and an actual turning point of an aircraft;
FIG. 3 is a comparison graph of the radar echo distance after compensation and the real distance;
FIG. 4 is a comparison graph of the radar echo azimuth angle and the pitch angle after compensation and a real azimuth angle and a true pitch angle;
fig. 5 is a distance, azimuth angle and pitch angle error graph.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The radar accuracy analysis method based on range alignment provided by the invention is described in more detail below with reference to the accompanying drawings and embodiments.
As shown in fig. 1, the radar accuracy analysis method based on distance alignment includes:
10, the aircraft carries a positioning navigation device to fly back and forth at a constant speed, and the radar receives and processes the echo signal to obtain target trace information of the aircraft;
20, the radar performs track initiation, track association and track filtering operations on the obtained target track information to obtain aircraft track information, and obtains track information recorded by positioning navigation equipment carried by the aircraft;
30, converting the geographic information of the radar base station and the flight path information of the aircraft obtained by the positioning navigation equipment into a station center coordinate system with the radar as the center of a circle;
40, compensating aircraft track information data obtained by a radar and aircraft track information data obtained by a positioning navigation device by taking the time and distance information of a turn-back point of the aircraft as a reference;
and 50, comparing the compensated radar measured and calculated aircraft track information data with the aircraft real track information data, solving an error value of the radar measurement and calculation, and obtaining radar echo calculated track information accurate data by calculating a mean value and a variance of the error.
The aircraft carries the positioning navigation equipment to fly back and forth at a constant speed, and the radar receives the echo signal and processes the echo signal to obtain target trace information of the aircraft, wherein the target trace information comprises the following steps:
the aircraft carries positioning navigation equipment to fly back and forth at a constant speed, and the positioning navigation equipment records flight path information of the aircraft;
the normal direction of the array surface erected by the radar is consistent with the north direction, and the radar transmitter transmits radio frequency signals to the aircraft;
the radar receiver receives radio frequency signals reflected by the aircraft, and target trace information of the aircraft is obtained through calculation after frequency mixing, band-pass filtering, low-pass filtering, pulse compression and radar angle measurement processing, wherein the target trace information comprises the distance, the azimuth angle, the pitch angle, the speed, the echo amplitude and the time information of the aircraft and clutter traces.
The radar obtains aircraft track information after performing track initiation, track association and track filtering operations on the obtained target track information, and the obtaining of the track information recorded by the positioning navigation equipment carried by the aircraft comprises the following steps:
the method for the radar to carry out track starting operation on the obtained target track information comprises one or more of a track starting algorithm based on hough transformation and a track starting algorithm based on maximum and minimum speed;
the method for the radar to carry out track association operation on the obtained target track information comprises one or more of a nearest neighbor track association algorithm, a probability data interconnection algorithm, a comprehensive probability data interconnection algorithm and a joint data probability interconnection algorithm;
the method for the radar to carry out track filtering operation on the obtained target track information comprises one or more of Kalman filtering, wiener filtering and an interactive multi-model-Kalman filtering algorithm.
The step of converting the geographic information of the radar base station and the flight path information of the aircraft obtained by the positioning navigation equipment into a station center coordinate system with the radar as the center of a circle comprises the following steps:
acquiring longitude, latitude and altitude information of a radar base station based on positioning navigation equipment arranged above the radar;
acquiring longitude, latitude and altitude information of a real flight track of the aircraft based on positioning navigation equipment carried by the aircraft;
converting the longitude and latitude height information of the radar base station and the aircraft into a rectangular coordinate system through the conversion relation between a geodetic coordinate system and the rectangular coordinate system;
and calculating the coordinate point of the rectangular coordinate system of the aircraft based on the radar base station, converting the rectangular coordinate system to a polar coordinate, and obtaining the information of the true distance, azimuth angle and pitch angle of the aircraft relative to the radar.
The compensation of the aircraft track information data obtained by the radar and the aircraft track information data obtained by the positioning navigation equipment by taking the turn-back point time and distance information of the aircraft as the reference comprises the following steps:
when the aircraft flies back and forth at a constant speed, acquiring the coordinates of a radar echo turning point based on a radar echo track;
obtaining the return point coordinates of the real flight of the aircraft according to the actual track information of the aircraft;
obtaining the time delay information of the radar system, and performing time delay compensation on the radar system based on the time delay error;
and obtaining the distance error information of the radar system, and compensating the distance error of the radar system based on the distance error.
The step of comparing the compensated radar measured and calculated aircraft track information data with the aircraft real track information data, solving the error value of radar measurement and calculation, and obtaining the radar echo calculated track information accurate data by solving the mean value and the variance of the error comprises the following steps:
comparing the compensated radar measured and calculated aircraft track information data with the actual errors of the aircraft real track information data to obtain the errors of the radar echo track relative to the real track, wherein the errors mainly comprise distance errors, azimuth angle errors and pitch angle errors;
and solving the mean value of the errors to obtain an error mean value, solving the variance of the errors to obtain error variance information, and outputting the error variance information as a radar precision quantitative analysis result.
The positioning and navigation device comprises:
one or more of a GPS positioning navigation system device, a 'big Dipper' positioning navigation system device, a 'Glanass' positioning navigation system device and a 'Galileo' positioning navigation system device.
An embodiment of the invention is described in detail below with a GPS positioning navigation system device:
as shown in FIG. 3, when the aircraft flies back and forth at a constant speed, the time-distance function relation should be in the shape of an isosceles triangle, and the radar echo return point coordinate (T) can be obtained from the radar echo trackR,RR) Wherein, TRIndicating the radar turn-back point time, RRRepresenting the distance of the radar detection turning point;
as shown in FIG. 2, the actual trajectory information of the aircraft can obtain the coordinates (T) of the turning point of the real flight of the aircraftU,RU) Wherein, TURepresenting the actual flight turn-back point time, R, of the aircraftURepresenting the distance of the turning point of the actual flight of the aircraft;
obtaining radar system time delay TU-TRAnd performing delay compensation on the radar system based on the delay error;
obtaining a radar system range error RU-RRCompensating the distance error of the radar system based on the distance error;
the compensated radar information is compared with the actual error of the unmanned aerial vehicle to obtain the error of the radar echo track relative to the real track, the error mainly comprises a distance error, an azimuth angle error and a pitch angle error, and the result is shown in figure 5.
It will be evident to those skilled in the art that the embodiments of the present invention are not limited to the details of the foregoing illustrative embodiments, and that the embodiments of the present invention are capable of being embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the embodiments being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. Several units, modules or means recited in the system, apparatus or terminal claims may also be implemented by one and the same unit, module or means in software or hardware. The terms first, second, etc. are used to denote names, but not any particular order.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the embodiments of the present invention and not for limiting, and although the embodiments of the present invention are described in detail with reference to the above preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the embodiments of the present invention without departing from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (7)
1. A radar precision analysis method based on distance alignment is characterized by comprising the following steps:
the aircraft carries a positioning navigation device to fly back and forth at a constant speed, and the radar receives and processes the echo signal to obtain target trace information of the aircraft;
the radar carries out track initiation, track association and track filtering operations on the obtained target track information to obtain aircraft track information, and obtains track information recorded by positioning navigation equipment carried by the aircraft;
converting the geographic information of the radar base station and the flight path information of the aircraft obtained by the positioning navigation equipment into a station center coordinate system taking the radar as the center of a circle;
compensating aircraft track information data obtained by a radar and aircraft track information data obtained by a positioning navigation device by taking the time and distance information of a turn-back point of the aircraft as a reference;
and comparing the compensated radar measured and calculated aircraft track information data with the aircraft real track information data, solving the error value of radar measurement and calculation, and obtaining radar echo calculated track information accurate data by calculating the mean value and the variance of the error.
2. The radar precision analysis method based on distance alignment according to claim 1, wherein the aircraft carries a positioning and navigation device to fly back and forth at a constant speed, and the step of obtaining target trace information of the aircraft after the radar receives and processes the echo signal comprises:
the aircraft carries positioning navigation equipment to fly back and forth at a constant speed, and the positioning navigation equipment records flight path information of the aircraft;
the normal direction of the array surface erected by the radar is consistent with the north direction, and the radar transmitter transmits radio frequency signals to the aircraft;
the radar receiver receives radio frequency signals reflected by the aircraft, and target trace information of the aircraft is obtained through calculation after frequency mixing, band-pass filtering, low-pass filtering, pulse compression and radar angle measurement processing, wherein the target trace information comprises the distance, the azimuth angle, the pitch angle, the speed, the echo amplitude and the time information of the aircraft and clutter traces.
3. The method for analyzing radar precision based on distance alignment according to claim 1, wherein the radar obtains aircraft track information after performing track initiation, track association, and track filtering operations on the obtained target track information, and the obtaining of the track information recorded by a positioning navigation device carried by an aircraft comprises:
the method for the radar to carry out track starting operation on the obtained target track information comprises one or more of a track starting algorithm based on hough transformation and a track starting algorithm based on maximum and minimum speed;
the method for the radar to carry out track association operation on the obtained target track information comprises one or more of a nearest neighbor track association algorithm, a probability data interconnection algorithm, a comprehensive probability data interconnection algorithm and a joint data probability interconnection algorithm;
the method for the radar to carry out track filtering operation on the obtained target track information comprises one or more of Kalman filtering, wiener filtering and an interactive multi-model-Kalman filtering algorithm.
4. The method for radar accuracy analysis based on distance alignment according to claim 1, wherein the step of converting the radar base station geographic information and the aircraft track information obtained by the positioning and navigation device into a center-of-earth coordinate system with the radar as a center comprises the steps of:
acquiring longitude, latitude and altitude information of a radar base station based on positioning navigation equipment arranged above the radar;
acquiring longitude, latitude and altitude information of a real flight track of the aircraft based on positioning navigation equipment carried by the aircraft;
converting the longitude and latitude height information of the radar base station and the aircraft into a rectangular coordinate system through the conversion relation between a geodetic coordinate system and the rectangular coordinate system;
and calculating the coordinate point of the rectangular coordinate system of the aircraft based on the radar base station, converting the rectangular coordinate system to a polar coordinate, and obtaining the information of the true distance, azimuth angle and pitch angle of the aircraft relative to the radar.
5. The method for radar accuracy analysis based on range alignment according to claim 1, wherein the compensating the aircraft track information data obtained by the radar and the aircraft track information data obtained by the positioning and navigation device with the time and the distance information of the turn-back point of the aircraft as the reference comprises:
when the aircraft flies back and forth at a constant speed, acquiring the coordinates of a radar echo turning point based on a radar echo track;
obtaining the return point coordinates of the real flight of the aircraft according to the actual track information of the aircraft;
obtaining the time delay information of the radar system, and performing time delay compensation on the radar system based on the time delay error;
and obtaining the distance error information of the radar system, and compensating the distance error of the radar system based on the distance error.
6. The method for radar accuracy analysis based on range alignment of claim 5, wherein the comparing the compensated radar reckoning aircraft track information data with the aircraft real track information data, and solving the radar reckoning error value, and obtaining the radar echo calculation track information accurate data by averaging and variance of the error comprises:
comparing the compensated radar measured and calculated aircraft track information data with the actual errors of the aircraft real track information data to obtain the errors of the radar echo track relative to the real track, wherein the errors mainly comprise distance errors, azimuth angle errors and pitch angle errors;
and solving the mean value of the errors to obtain an error mean value, solving the variance of the errors to obtain error variance information, and outputting the error variance information as a radar precision quantitative analysis result.
7. The range-alignment-based radar accuracy analysis method according to any one of claims 1 to 6, wherein the positioning navigation apparatus comprises:
one or more of a GPS positioning navigation system device, a 'big Dipper' positioning navigation system device, a 'Glanass' positioning navigation system device and a 'Galileo' positioning navigation system device.
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| CN114485676A (en) * | 2022-02-18 | 2022-05-13 | 四川大学 | Flight path planning method of distributed flight radar platform |
| CN115407284A (en) * | 2021-05-27 | 2022-11-29 | 北京机械设备研究所 | Low-slow small radar performance testing method and system based on RTK unmanned aerial vehicle |
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