CN112835034B - Dual-channel radar ground height measurement system and method - Google Patents
Dual-channel radar ground height measurement system and method Download PDFInfo
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Abstract
A dual-channel radar ground height measurement system comprises an antenna, a microwave combination, a transmitter, a low-power radio frequency extension and a beam controller; the transmitter filters and amplifies low-power radio frequency transmitting signals and outputs the generated high-power transmitting signals to a microwave combination; the microwave combination outputs the input high-power transmitting signal to the input end of the antenna; the beam controller controls the antenna beam to point to the height measurement area; the antenna converts echo signals of the subarray surfaces of the two antennas into azimuth and channel echo signals and azimuth difference channel echo signals; the low power radio frequency extension generates a low power radio frequency signal, and the sum channel and azimuth difference channel radio frequency echo outputted by the microwave combination is subjected to down-conversion and filtering conversion to be converted into a sum channel and azimuth difference channel echo with low intermediate frequency or zero intermediate frequency, and the sum channel and azimuth difference channel echo is outputted to the signal processing and control extension.
Description
Technical Field
The invention relates to the technical field of information acquisition and processing, in particular to a two-channel radar ground height measurement system and method without line of sight constraint.
Background
The traditional ground height measurement method of the aircraft-mounted radar utilizes the characteristic that wave beams point to the direction of the zenith, so that the echo distance range is compressed and has good height measurement observation capability. For the requirement of forward-oblique height measurement in a flight profile, scientific researchers propose a delay-Doppler height measurement method, and a good application effect is obtained. At present, for the height measurement requirement of the beam deviated from the flight profile, the echo in the antenna beam has two effects of seriously widening the distance and seriously widening the Doppler, so that the traditional height measurement method fails, the radar height measurement technology which is not constrained by the direction cannot be realized, and the two-dimensional widening of the distance Doppler exists under the general conditions of front lower view height measurement, rear lower view height measurement, outside strabismus height measurement and the like in the aircraft flight profile, and the method for extracting the height of the beam center point fails.
Disclosure of Invention
(one) solving the technical problems
The method solves the problem of difficult height measurement caused by beam distance and Doppler broadening under the condition of wide beam strabismus, and realizes the earth height measurement technology which is not constrained by observation sight.
(II) technical scheme
The invention discloses a two-channel radar ground height measurement system, which comprises an antenna, a microwave combination, a transmitter, a low-power radio frequency extension and a beam controller, wherein the antenna is connected with the transmitter; the transmitter filters and amplifies low-power radio frequency transmitting signals and outputs the generated high-power transmitting signals to a microwave combination; the microwave combination outputs the input high-power transmitting signal to the input end of the antenna; the beam controller controls the antenna beam to point to the height measurement area; the antenna converts echo signals of the subarray surfaces of the two antennas into azimuth and channel echo signals and azimuth difference channel echo signals; the low power radio frequency extension generates a low power radio frequency signal, and the sum channel and azimuth difference channel radio frequency echo outputted by the microwave combination is subjected to down-conversion and filtering conversion to be converted into a sum channel and azimuth difference channel echo with low intermediate frequency or zero intermediate frequency, and the sum channel and azimuth difference channel echo is outputted to the signal processing and control extension.
The invention also discloses a method for measuring the height of the ground by the double-channel radar, which comprises the following steps:
a1: the dual-channel radar transmits a typical large-time-bandwidth product signal to the ground height measuring device, and receives a scene echo s (t a T) performing range pulse compression, range migration compensation and coherent accumulation on the echo signals;
a2: performing binary segmentation on the sum channel distance-Doppler image;
a3: performing threshold detection on the amplitude ratio of the sum channel and the azimuth difference channel distance-Doppler image to determine the azimuth difference beam zero depth area;
a4: performing straight line fitting with direction constraint on zero-depth initial detection point tracks passing through a threshold;
a5: performing outlier point rejection on zero-depth initial detection point tracks passing through a threshold;
a6: performing secondary curve fitting on the result of the zero depth detection point set E;
a7: and calculating the altitude of the aircraft by using the distance-Doppler data of the plurality of zero-depth detection points after quadratic curve fitting.
Further, the A1 process is specifically as follows:
a11, calculating range pulse compression and range migration compensation:
S(t a ,R)＝IFFT{FFT[s(t a ,t)]·H 11 (t a ,f r )}
wherein: s (t) a R) is the result of echo range pulse compression and range migration compensation, s (t) a T) is the two-dimensional time domain signal of the echo, t a For azimuth time, r=ct2 is echo receiving distance, c is speed of light, t is distance time, f r For distance to frequency, K r Frequency modulation slope, f, of a transmitted chirp signal for radar c Is the carrier frequency, v is the movement speed of the aircraft, theta L Is a space oblique view angle;
a12: azimuth coherent accumulation is carried out on the double-channel range pulse compression and range migration compensation results to obtain a two-channel range-Doppler image, and the calculation method is as follows:
I(f a ,R)＝FFT[S(t a ,R)]
wherein I (f) d R) is a two-dimensional phase-coherent processed range-Doppler image, f d Is the doppler frequency.
Further, the A2 process is specifically as follows:
a21: the method for calculating the segmentation threshold comprises the following steps:
wherein I is avg For dividing threshold, I Σ (i, j) is the value of the pixel of the ith row and the jth column of the channel distance-Doppler image, N is the number of image rows, and M is the number of image columns;
a22: and the method of channel range-doppler image segmentation is as follows:
wherein I is seg (i, j) is a post-segmentation mask.
Further, the specific method of A3 is as follows:
wherein I is zero (I, j) is the direction difference beam zero depth detection result, which satisfies I zero (I, j) =1 to form a azimuth difference beam zero-depth trace, I Δ (I, j) is a direction difference channel distance-Doppler image, taking I Th ＝15dB。
Further, the specific flow of A4 is as follows:
a41: the Doppler central value of the azimuth difference wave beam zero depth passing the threshold point is estimated, and the specific method is as follows:
wherein f d (n) is the nth range bin azimuth difference beam zero depth center Doppler estimate, f d (k, n) is the Doppler value of the kth row and nth column of the range-Doppler image, and P (k, n) is the ratio of the zero depth of the azimuth beam and the channel amplitude to the azimuth channel amplitude;
a42: the linear parameter fitting with direction constraint is carried out, and the specific method is as follows:
wherein N is N distance units passing through azimuth zero depth detection, R (N) is an inclined distance corresponding to the azimuth difference beam zero depth center of the nth distance unit, and B is a constraint slope of a straight line, which is expressed as follows
Wherein lambda is the working wavelength of the radar, H is the navigation altitude of the aircraft,and->The nominal pointing angles of the beam center in the velocity coordinate system, respectively.
Further, the specific flow of A5 is as follows:
a51: the nearest distance from the zero depth detection point of the azimuth difference wave beam to the fitting straight line is calculated, and the method comprises the following steps:
a52: the method for eliminating the outlier of the zero depth detection output of the azimuth difference wave beam comprises the following steps: deletion of D (n) is not less than D th Obtaining a new M point (M is less than or equal to N) zero depth detection point set E, wherein D th Is performed in combination with radar specific parameters, no more than three range-doppler resolution units;
further, the specific flow of A6 is as follows:
a61: the coefficients of the conic were calculated as follows:
wherein G is an observation matrix, b is a measurement vector, A 1 、B 1 、C 1 The second order term coefficient, the first order term coefficient and the constant term of the quadratic curve are respectively adopted.
A62: performing quadratic curve fitting on the zero depth detection point set E, wherein the method is as follows
f df (m)＝A 1 R 2 (m)+B 1 R(m)+C 1 ,m＝1,…,M
Wherein f df (m) is the Doppler estimate of the mth range cell after quadratic curve fitting.
Further, the specific equation of A7 is as follows:
wherein H is est And sign (t) is a sign function for the relative height estimation result of the two-channel radar to ground height measurement.
(III) beneficial technical effects
According to the invention, the analysis model and the characteristics of the beam center line of the ground static scene are fully utilized by the vehicle-mounted radar, the extraction of the beam azimuth center line is realized by combining the sum-difference double-antenna technology, the relative height of the vehicle is calculated by utilizing the distance-Doppler pair of the point trace on the beam azimuth center line, the method has higher universality, the method can adapt to the relative height measurement of the ground without the restriction of the sight, and the height measurement precision is high and is not influenced by the scattering characteristic of the ground scene.
Drawings
Fig. 1: a double-channel radar ground height measurement system composition diagram;
fig. 2: an aircraft strabismus altimetry model;
fig. 3: the two-channel radar ground height measurement flow chart;
fig. 4: zero depth initial extraction result of azimuth difference wave beam;
fig. 5: a beam center line estimation result;
fig. 6: comparing the height measurement result with the true value;
Detailed Description
The invention is capable of other embodiments and of being practiced or of being carried out in various ways in addition to those described below. It is to be understood, therefore, that this invention is not limited to the details of construction set forth in the following description or illustrated in the drawings. When only one embodiment is described herein, the claims are not limited to that embodiment.
The invention models the non-nadir direction height measurement as unconstrained height measurement in which the sight forms any included angle with the movement direction of the aircraft, and has more generality and expandability. Aiming at the problems of two-dimensional broadening of distance Doppler under the general conditions of forward looking down, backward looking down, height measurement, flight profile outer squint, and the like in the flight profile of an aircraft, the problem of failure of the traditional method for extracting the height of a beam center point is solved, the analysis model characterization of the azimuth beam center line is developed, the azimuth beam zero depth extraction is realized by using the azimuth and difference double-antenna technology and taking the constraint of the azimuth beam center line direction as the reference, and the aircraft relative height estimation independent of the beam center point is realized according to the height estimation model.
As shown in FIG. 1, the two-channel radar ground height measurement system comprises an antenna, a microwave combination, a transmitter, a low-power radio frequency extension and a beam controller; the transmitter filters and amplifies low-power radio frequency transmitting signals and outputs the generated high-power transmitting signals to a microwave combination; the microwave combination outputs the input high-power transmitting signal to the input end of the antenna; the beam controller controls the antenna beam to point to the height measurement area; the antenna converts echo signals of the subarray surfaces of the two antennas into azimuth and channel echo signals and azimuth difference channel echo signals; the low power radio frequency extension generates a low power radio frequency signal, and the sum channel and azimuth difference channel radio frequency echo outputted by the microwave combination is subjected to down-conversion and filtering conversion to be converted into a sum channel and azimuth difference channel echo with low intermediate frequency or zero intermediate frequency, and the sum channel and azimuth difference channel echo is outputted to the signal processing and control extension.
As shown in fig. 2 and 3, a method for measuring the height of the ground by the two-channel radar comprises the following specific implementation steps:
1. the dual-channel radar transmits a typical large-time-bandwidth product signal to the ground height measuring device, and receives a scene echo s (t a T) and performing range pulse compression, range migration compensation and coherent accumulation on echo signals, wherein the specific calculation steps are as follows:
(1) The calculation method of the distance pulse compression and the distance migration compensation comprises the following steps:
S(t a ,R)＝IFFT{FFT[s(t a ,t)]·H 11 (t a ,f r )}
wherein S (t) a R) is the result of echo range pulse compression and range migration compensation, s (t) a T) is the two-dimensional time domain signal of the echo, t a For azimuth time, r=ct/2 is echo receiving distance, c is speed of light, t is distance time, f r For distance to frequency, K r Frequency modulation slope, f, of a transmitted chirp signal for radar c Is the carrier frequency, v is the movement speed of the aircraft, theta L Is a spatial oblique view angle.
(2) Azimuth coherent accumulation is carried out on the double-channel range pulse compression and range migration compensation results to obtain a two-channel range-Doppler image, and the calculation method is as follows:
S(f a ,R)＝FFT[S(t a ,R)]
wherein I (f) d R) is a two-dimensional phase-coherent processed range-Doppler image, f d Is the doppler frequency.
2. Binary segmentation is carried out on the sum channel distance-Doppler image, and the method comprises the following specific steps:
(1) The method for calculating the segmentation threshold comprises the following steps:
wherein I is avg For dividing threshold, I Σ (i, j) is the value of the pixel of the ith row and jth column of the channel range-Doppler image, N is the number of image rows, and M is the number of image columns.
(2) And the method of channel range-doppler image segmentation is as follows:
wherein I is seg (i, j) is a post-segmentation mask.
3. The method comprises the steps of performing threshold detection on the amplitude ratio of a sum channel to a direction difference channel distance-Doppler image to determine a direction difference beam zero depth area, and specifically comprises the following steps:
wherein I is zero (I, j) is the direction difference beam zero depth detection result, which satisfies I zero (I, j) =1 to form a azimuth difference beam zero-depth trace, I Δ (I, j) is a direction difference channel distance-Doppler image, taking I Th ＝15dB。
4. The method comprises the following steps of:
(1) The Doppler central value of the azimuth difference wave beam zero depth passing the threshold point is estimated, and the specific method is as follows:
in the above, f d (n) is the nth range bin azimuth difference beam zero depth center Doppler estimate, f d (k, n) is the Doppler value of the kth row and nth column of the range-Doppler image, and P (k, n) is the ratio of the azimuth beam zero depth and the channel amplitude to the azimuth channel amplitude.
(2) The linear parameter fitting with direction constraint is carried out, and the specific method is as follows:
wherein N is N distance units passing through azimuth zero depth detection, R (N) is an inclined distance corresponding to the azimuth difference beam zero depth center of the nth distance unit, and B is a constraint slope of a straight line, which is expressed as follows
Where lambda is the operating wavelength of the radar, H is the navigational altitude of the aircraft,and->The nominal pointing angles of the beam center in the velocity coordinate system, respectively.
5. Performing outlier point rejection on zero-depth initial detection point tracks passing through a threshold, and the method comprises the following steps of:
(1) The nearest distance from the zero depth detection point of the azimuth difference wave beam to the fitting straight line is calculated, and the method comprises the following steps:
(2) The method for eliminating the outlier of the zero depth detection output of the azimuth difference wave beam comprises the following steps: deletion of D (n) is not less than D th Obtaining a new M point (M is less than or equal to N) zero depth detection point set E, wherein D th Is performed in conjunction with radar specific parameters, no more than three range-doppler resolution cells.
6. Performing quadratic curve fitting on the result of the zero depth detection point set E, wherein the steps are as follows:
(1) The coefficients of the conic were calculated as follows:
wherein G is an observation matrix, b is a measurement vector, A 1 、B 1 、C 1 The second order term coefficient, the first order term coefficient and the constant term of the quadratic curve are respectively adopted.
(2) Performing quadratic curve fitting on the zero depth detection point set E, wherein the method is as follows
f df (m)＝A 1 R 2 (m)+B 1 R(m)+C 1 ,m＝1,…,M
Wherein f df (m) is the Doppler estimate of the mth range cell after quadratic curve fitting.
7. The aircraft altitude is calculated by utilizing the distance-Doppler data of a plurality of zero-depth detection points after quadratic curve fitting, and the method comprises the following steps:
wherein H is est And sign (t) is a sign function for the relative height estimation result of the two-channel radar to ground height measurement.
In summary, the invention fully utilizes the analysis model and the characteristics of the beam center line of the ground static scene irradiated by the vehicle-mounted radar, combines the sum-difference double-antenna technology to realize the extraction of the beam azimuth center line, and utilizes the distance-Doppler pair of the point trace on the beam azimuth center line to calculate the relative height of the vehicle, thereby having larger universality, being capable of adapting to the relative height measurement of the ground without the restriction of the sight, and having high height measurement precision and being not influenced by the scattering characteristic of the ground scene.
With the airborne flight technique verification as a background, the method of the invention is used for measuring the relative altitude in the aircraft landing process, wherein fig. 4 is a direction difference beam zero initial deep extraction result, and as can be seen from fig. 4, the beam zero deep extraction is basically stable. Fig. 5 shows the beam center line estimation result, and it can be seen from the figure that the beam center line estimation is accurate and is basically located in the zero-depth center region of the azimuth beam, so that good data guarantee is provided for the relative altitude estimation of the aircraft. FIG. 6 is a comparison of the altimetric results with the true values, and shows that the fluctuation value is not more than 15 meters near the trend true value of the results, and the better accuracy is achieved under the altimetric conditions outside the flight profile.
Claims (7)
1. A two-channel radar ground height measurement method is characterized by comprising the following steps:
a1: the dual-channel radar transmits a typical large-time-bandwidth product signal to the ground height measuring device, and receives a scene echo s (t a T) and performing range pulse compression and range migration compensation on the echo signalsCompensation and phase-coherent accumulation;
a2: performing binary segmentation on the sum channel distance-Doppler image;
a3: performing threshold detection on the amplitude ratio of the sum channel and the azimuth difference channel distance-Doppler image to determine the azimuth difference beam zero depth area;
a4: performing straight line fitting with direction constraint on zero-depth initial detection point tracks passing through a threshold, wherein the straight line fitting is as follows;
a41: the Doppler central value of the azimuth difference wave beam zero depth passing the threshold point is estimated, and the specific method is as follows:
wherein f d (n) is the nth range bin azimuth difference beam zero depth center Doppler estimate, f d (k, n) is the Doppler value of the kth row and nth column of the sum channel range-Doppler image, P (k, n) is the ratio of the zero depth of the azimuth beam and the channel amplitude to the azimuth channel amplitude, I zero (k, n) is the direction difference beam zero depth detection result;
a42: the linear parameter fitting with direction constraint is carried out, and the specific method is as follows:
wherein N is N distance units passing through azimuth zero depth detection, R (N) is an inclined distance corresponding to the azimuth difference beam zero depth center of the nth distance unit, B is a constraint slope of a straight line, which is expressed as follows,
wherein lambda is the working wavelength of the radar, H is the navigation altitude of the aircraft,and->The nominal pointing angles of the beam centers in a speed coordinate system are respectively shown, and v is the movement speed of the aircraft;
a5: performing outlier point rejection on zero-depth initial detection point tracks passing through a threshold, wherein the outlier point rejection is specifically as follows:
a51: the nearest distance from the zero depth detection point of the azimuth difference wave beam to the fitting straight line is calculated, and the method comprises the following steps:
wherein D (n) is the nearest distance from the nth zero depth detection point of the azimuth difference beam to the fitting straight line;
a52: the method for eliminating the outlier of the zero depth detection output of the azimuth difference wave beam comprises the following steps: deletion of D (n) is not less than D th Obtaining a new M-point zero-depth detection point set E, wherein M is less than or equal to N and D th Is performed in combination with radar specific parameters, no more than three range-doppler resolution units;
a6: performing secondary curve fitting on the result of the zero depth detection point set E;
a7: and calculating the altitude of the aircraft by using the distance-Doppler data of the plurality of zero-depth detection points after quadratic curve fitting.
2. The method for measuring the height of the ground by the double-channel radar according to claim 1, wherein the A1 flow is specifically as follows:
a11, calculating the distance pulse compression and distance migration compensation result of the echo:
S(t a ,R)＝IFFT{FFT[s(t a ,t)]·H 11 (t a ,f r )}
wherein S (t) a R) is the result of echo range pulse compression and range migration compensation, s (t) a T) is the two-dimensional time domain signal of the echo, t a For azimuth time, r=ct/2 is echo receiving distance, c is speed of light, t is distance time, f r For distance to frequency, K r Frequency modulation slope, f, of a transmitted chirp signal for radar c Is the carrier frequency, theta L Is a space oblique view angle;
a12: azimuth coherent accumulation is carried out on the double-channel range pulse compression and range migration compensation results to obtain a two-channel range-Doppler image, and the calculation method is as follows:
I(f d ,R)＝FFT[S(t a ,R)]
wherein I (f) d R) is a two-dimensional phase-coherent processed range-Doppler image, f d Is the doppler frequency.
3. The method for measuring the height of the ground by the double-channel radar according to claim 1, wherein the A2 flow is specifically as follows:
a21: the method for calculating the segmentation threshold comprises the following steps:
wherein I is avg For dividing threshold, I ∑ (i, j) is the value of the pixel in the ith row and jth column of the channel range-Doppler image, W y For the number of lines of the image, W x The number of columns of images;
a22: and the method of channel range-doppler image segmentation is as follows:
wherein I is seg (i, j) is a post-segmentation mask.
4. The method for measuring the height of the ground by the double-channel radar according to claim 3, wherein the specific method A3 is as follows:
wherein I is zero (I, j) is the direction difference beam zero depth detection result, which satisfies I zero (I, j) =1 to form a azimuth difference beam zero-depth trace, I Δ (I, j) is a direction difference channel distance-Doppler image, taking I Th ＝15dB。
5. The method for measuring the height of the ground by the double-channel radar according to claim 1, wherein the specific flow of A6 is as follows:
a61: the coefficients of the conic were calculated as follows:
wherein G is an observation matrix, b is a measurement vector, A 1 、B 1 、C 1 Second order term coefficient, first order term coefficient and constant of quadratic curve respectivelyA plurality of items;
a62: performing quadratic curve fitting on the zero depth detection point set E, wherein the method is as follows
f df (m)＝A 1 R 2 (m)+B 1 R(m)+C 1 ,m＝1,…,M
Wherein f df (m) is the Doppler estimate of the mth range cell after quadratic curve fitting.
6. The method for two-channel radar to ground altimetry of claim 5, wherein the specific equation A7 is as follows:
wherein H is est And sign (t) is a sign function for the relative height estimation result of the two-channel radar to ground height measurement.
7. A two-channel radar ground height measurement system, which is characterized in that the two-channel radar ground height measurement method according to claim 1 is used, and the system comprises an antenna, a microwave combination, a transmitter, a low-power radio frequency extension and a beam controller; the transmitter filters and amplifies low-power radio frequency transmitting signals and outputs the generated high-power transmitting signals to a microwave combination; the microwave combination outputs the input high-power transmitting signal to the input end of the antenna; the beam controller controls the antenna beam to point to the height measurement area; the antenna converts echo signals of the subarray surfaces of the two antennas into azimuth and channel echo signals and azimuth difference channel echo signals; the low power radio frequency extension generates a low power radio frequency signal, and the sum channel and azimuth difference channel radio frequency echo outputted by the microwave combination is subjected to down-conversion and filtering conversion to be converted into a sum channel and azimuth difference channel echo with low intermediate frequency or zero intermediate frequency, and the sum channel and azimuth difference channel echo is outputted to the signal processing and control extension.
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