CN114397632A - Calibration method, application and equipment for non-coaxial microwave follow-up striking system - Google Patents
Calibration method, application and equipment for non-coaxial microwave follow-up striking system Download PDFInfo
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Abstract
The invention discloses a calibration method, application and equipment for a non-coaxial microwave follow-up striking system, which at least comprise a receiving antenna and a network camera arranged on a transmitting antenna of microwave striking equipment; the beam direction is judged by adjusting the angle of a rotary table of a transmitting antenna and collecting the maximum receiving power, the beam direction is calibrated by utilizing a network camera additionally arranged at the transmitting antenna, and the guidance of the tracking equipment to the hitting equipment is realized by utilizing a calibration table look-up mode; the space position and the inclination angle of each device are measured through high-precision satellite positioning equipment and an inclinometer, and the detection early warning equipment is guided to the tracking equipment by utilizing a coordinate conversion formula. Aiming at the difficulties that microwave transmitting beams are invisible, receiving feedback is not available, various errors caused by a non-ideal system are difficult to accurately measure and the like, the tracking and aiming process optimization efficiency of a microwave follow-up striking system and the guiding precision of tracking equipment to microwave striking equipment can be effectively improved, and the striking precision and the system efficiency are improved.
Description
Technical Field
The invention relates to the technical field of non-coaxial microwave follow-up, in particular to a system (G01S1/08) belonging to the field of direction and position line determination.
Background
The microwave follow-up striking system is characterized in that high-power microwave energy is radiated to a target in a directional mode, and a pulse voltage far exceeding the rated value of the target is induced on the line and the element of electronic equipment in the target in a front door and rear door coupling combined mode, so that the electronic equipment comprising modern semiconductor devices fails, and the electromagnetic interference, disorder and damage to key systems such as target power, control and the like can be formed. The microwave striking apparatus is required to be operated depending on energy highly concentrated in space, and therefore, it is required to ensure real-time alignment of the microwave beam with the striking target.
Microwave follow-up percussion systems typically include detection and warning devices (e.g., warning radar, spectrum detection devices), tracking devices (e.g., photoelectric trackers, tracking radar), and microwave percussion devices.
In most application scenes, the detection early warning equipment is more in number and distributed in a plurality of places, and the tracking equipment is less in number, so that the one-to-one coaxial relationship between the detection early warning equipment and the tracking equipment is difficult to ensure; when the microwave striking equipment radiates high-power microwaves outwards, a high-strength complex electromagnetic environment can be generated around the equipment, if the distance between the tracking equipment and the equipment is too close, the problem of electromagnetic compatibility is easily caused, or the performance of the tracking equipment is reduced due to the fact that more shielding materials are selected, so that the tracking equipment and the microwave striking equipment are separated in space, and the microwave striking equipment is a relatively stable arrangement mode. Generally, a non-coaxial arrangement mode, namely that the detection early warning device, the tracking device and the microwave striking device are respectively controlled independently, is a mainstream microwave follow-up striking system arrangement mode.
In order to obtain a longer acting distance, the microwave follow-up striking system generally has a large gain of the transmitting antenna, and also means that the size of a wavefront is large, the microwave beam is narrow, and the requirement on aiming accuracy is high, so the aiming accuracy directly determines the striking acting distance of the system to a target. The aiming precision is the final result that all the devices are guided through baseline conversion and coordinate system conversion and respectively play corresponding roles, wherein the smooth completion of the baseline conversion and the coordinate system conversion is premised on accurate calibration of errors caused by factors such as the position, the inclination angle, the machinery, measurement and control of all the electromechanical devices in the system.
In the linkage process of the non-coaxial microwave follow-up striking system, the method mainly comprises the three steps of guiding the tracking equipment by the detection early warning equipment, guiding the microwave striking equipment by the tracking equipment and finishing the countercheck by the microwave striking equipment. In many systems, guidance of a tracking device by a detection device is involved, but appropriate error analysis and scheme selection are also required according to specific requirements; since the microwave striking device belongs to new concept equipment and the technical threshold of development is high, the related research of the second step is relatively less. In the second step, the tracking device guides the microwave striking device, and in many links, the basic premise is that the actual pointing direction of the antenna is consistent with the measured value transmitted to the computer by the angle measuring sensor. However, in order to obtain a longer working distance, the microwave follow-up striking system generally has a larger antenna array surface size, which is easy to generate mechanical deformation, and thus causes the actual pointing direction of the antenna to be inconsistent with the measured value, and calibration needs to be performed through actual measurement and other methods.
The radar beam calibration method generally utilizes passive devices such as a corner reflector to reflect radar waves, or directly receives a radiation signal of a signal source through a standard gain antenna, even radiation of the sun as a beacon. However, in any method, the radar is an essential part for processing the received signal. For the microwave follow-up striking system, only power needs to be transmitted, and the function of receiving signals is not provided, and although the wave beam calibration method of the radar is relatively perfect, the wave beam calibration method cannot be directly applied to the microwave follow-up striking system.
On the premise of finishing beam calibration, engineering practice shows that when the system is in a non-ideal state (for example, under the influence of factors that the tracking equipment and the microwave striking equipment are mounted on a non-ideal rigid platform, a servo mechanism contains gear errors, a non-real-time operating system is adopted by a central control computer and the like), the processes of baseline conversion and coordinate system conversion are carried out in a manner of measuring longitude and latitude and inclination angles and carrying out theoretical calculation, the action efficiency of the microwave follow-up striking system is obviously influenced, and the calibration process needs to be improved.
Disclosure of Invention
Aiming at the difficulties that microwave emission beams are invisible, no receiving feedback exists, various errors caused by a non-ideal system are difficult to accurately measure, and the like, the invention provides a calibration method for a non-coaxial microwave follow-up striking system, which can effectively improve the optimization efficiency of the follow-up flow of the microwave follow-up striking system and the guide precision of tracking equipment to microwave striking equipment, and improve the striking precision and the system efficiency.
The technical scheme adopted by the invention is as follows:
a calibration method facing a non-coaxial microwave follow-up hitting system is characterized in that the beam direction is judged by collecting the maximum receiving power by adjusting the angle of a rotary table of a transmitting antenna, the beam direction is calibrated by utilizing a network camera additionally arranged at the transmitting antenna, and the guidance of a tracking device to the hitting device is realized by utilizing a calibration table look-up mode; the space position and the inclination angle of each device are measured through high-precision satellite positioning equipment and an inclinometer, and the detection early warning equipment is guided to the tracking equipment by utilizing a coordinate conversion formula.
In the technical scheme, the method at least comprises the following steps of calibrating the direction of the microwave beam in a mode of auxiliary observation by using a network camera; the method comprises the following specific steps:
step 1: arranging a receiving antenna in a far field area of a transmitting antenna of the microwave striking equipment, adjusting the transmitting antenna of the microwave striking equipment to be basically aligned with the receiving antenna and to have the same polarization direction, and simultaneously enabling the propagation path of a microwave beam to be far away from the ground without obvious shielding;
step 2: starting microwave striking equipment to emit microwaves, reading on a frequency spectrograph to calculate a field intensity value at a receiving antenna, and recording a rough position of a maximum value of the received field intensity;
and step 3: carrying out beam scanning near the rough position of the maximum value and fitting with an antenna directional diagram to find the position of the maximum value of the field intensity;
and 4, step 4: the method comprises the steps of arranging a rotatable network camera in a certain range on a transmitting antenna, turning the network camera to enable the network camera to align to the center of a receiving antenna, and recording the distance between the transmitting antenna and the receiving antenna, the relative position between the network camera and the center of the transmitting antenna and the rotation angle of the network camera at the moment as a calibration result.
In the above technical solution, the calibration method further includes the calibration step of detecting the zero position of the radar device in the early warning and tracking device:
step 1: after the position of the radar equipment is fixed, a static target is placed in an effective detection range, a target track is recorded, or a target track or a servo display value in the process that a dynamic target moves and gradually stops is recorded;
step 2: recording longitude and latitude and height information of a target by using high-precision satellite positioning equipment, comparing the longitude and latitude and height information with the longitude and latitude and height information of radar equipment, and calculating to obtain a pointing angle of the target relative to the radar equipment, namely a true value under geodetic coordinates;
and step 3: and subtracting the real value from the display value to obtain a compensation value for compensation in the subsequent use calculation process.
In the above technical solution, the static target is a corner reflector.
In the above technical scheme, the dynamic target is an unmanned aerial vehicle.
In the above technical solution, the method further comprises the steps of detecting the zero position of the optoelectronic device in the early warning and tracking device:
step 1: after the position of the photoelectric equipment is fixed, a static target is placed in an effective detection range, a target point trace is recorded, and the center of an image is aligned to the target;
step 2: recording longitude and latitude and height information of a target by using high-precision satellite positioning equipment, comparing the longitude and latitude and height information with the longitude and latitude and height information of radar equipment, and calculating to obtain a pointing angle of the target relative to the radar equipment, namely a true value under geodetic coordinates;
and step 3: and subtracting the real value from the display value to obtain a compensation value for compensation in the subsequent use calculation process.
In the above technical solution, the calibration method further includes a calibration step for the position and posture information of the tracking device:
calibration of the tracking device: measuring the position information of the tracking device by using a high-precision satellite positioning device, wherein the measured value of the position information comprises the longitude Lo1Latitude La1High Al1(ii) a Acquiring attitude information of the tracking equipment by using an inclinometer, wherein the measurement value of the attitude information comprises: transverse inclination He along direction of azimuth zero of tracking equipment1And the vertical tilt angle Tr of the vertical tracking device in the direction of the azimuth zero position1；
In the above technical solution, the calibration method further includes a calibration step for the position and posture information of the detection and early warning device:
and (3) calibrating the detection early warning equipment: measuring the position information of the detection early warning equipment by using high-precision satellite positioning equipment, wherein the measured value of the position information comprises the longitude Lo1Latitude La1High Al1(ii) a Acquiring attitude information of the tracking equipment by using an inclinometer, wherein the measurement value of the attitude information comprises: transverse inclination He along direction of azimuth zero of tracking equipment1And the vertical tilt angle Tr of the vertical tracking device in the direction of the azimuth zero position1。
In the above technical solution, after the step of calibrating the position and attitude information of the detection and warning device and the tracking device, the conversion of each measured value is performed according to a baseline conversion formula:
wherein the conversion from the geographic coordinate system to the deck coordinate system is according to the following formula:
wherein (x)d,yd,zd) Is a target coordinate (x) in a deck coordinate system centered on the tracking devicen,yn,zn) Is the target coordinates in a geographical coordinate system centered on the tracking device.
In the above technical solution, the calibration method further includes a calibration step of calibrating the angle correspondence between the tracking device and the microwave percussion device:
assuming that a horizontal shot is Rhor, a pitching shot is Rpit, and a hitting distance range is Rdis, dividing Rhor, Rpit and Rdis into a plurality of discrete intervals, and fully arranging all possible interval boundary point combinations;
enabling the beacon to respectively reach each recording point in a tracking state, simultaneously observing by using a network camera to ensure that a transmitting antenna is also aligned with the beacon, recording the difference values of the pointing angles of the tracking equipment and the microwave striking equipment servo turntable in the directions of azimuth and elevation at the moment, and forming a corresponding relation table of the angles of the tracking equipment and the microwave striking equipment;
by means of table lookup and interpolation, the pointing angle difference value of the tracking equipment and the microwave striking equipment servo turntable at any angle can be obtained, and the optimal pointing angle of the microwave striking equipment servo turntable is calculated, so that accurate guiding of the tracking equipment to the microwave striking equipment is achieved.
In the technical scheme, the discrete interval reasonably sets the discrete degree according to the striking precision requirement and the workload input condition.
The application of the calibration method facing the non-coaxial microwave follow-up striking system is characterized in that: after the relative positions of the detection early warning device and the tracking device are solidified, the guiding precision and the system reliability are improved by correcting the guiding process of the detection early warning device to the tracking device.
A beam pointing calibration apparatus, characterized in that: the device comprises microwave striking equipment, a carrying platform thereof, a network camera, a receiving antenna, a supporting rod, an attenuator, a radio frequency coaxial line and a frequency spectrograph;
arranging a receiving antenna in a far field area of a transmitting antenna of the microwave striking equipment, adjusting the transmitting antenna of the microwave striking equipment to be basically aligned with the receiving antenna and to have the same polarization direction, and simultaneously enabling the propagation path of a microwave beam to be far away from the ground without obvious shielding;
the network camera which can rotate in a certain range is arranged on the transmitting antenna and is aligned to the center of the receiving antenna.
A beam pointing calibration method is characterized in that the direction of a microwave beam is calibrated in a mode of auxiliary observation by a network camera, and the specific pointing of the microwave beam is represented parametrically;
step 1: arranging a receiving antenna in a far field area of a transmitting antenna of the microwave striking equipment, adjusting the transmitting antenna of the microwave striking equipment to be basically aligned with the receiving antenna and to have the same polarization direction, and simultaneously enabling the propagation path of a microwave beam to be far away from the ground without obvious shielding;
step 2: starting microwave striking equipment to emit microwaves, reading on a frequency spectrograph to calculate a field intensity value at a receiving antenna, and recording a rough position of a maximum value of the received field intensity;
and step 3: carrying out beam scanning near the rough position of the maximum value and fitting with an antenna directional diagram to find the position of the maximum value of the field intensity;
and 4, step 4: the method comprises the steps of arranging a rotatable network camera in a certain range on a transmitting antenna, turning the network camera to enable the network camera to align to the center of a receiving antenna, and recording the distance between the transmitting antenna and the receiving antenna, the relative position between the network camera and the center of the transmitting antenna and the rotation angle of the network camera at the moment as a calibration result.
The invention mainly solves the calibration difficulty in the guidance of the tracking equipment to the microwave striking equipment, and completely combs the calibration flow of the whole system. The method for calibrating the microwave beam direction by using the network camera to assist observation and the method for guiding the microwave striking equipment by using fixed point calibration and table lookup interpolation have strong guiding significance for the use of the microwave follow-up striking system. The method has the following specific beneficial effects:
(1) the complete calibration process of the microwave follow-up striking system under the condition that the detection early warning device, the tracking device and the microwave striking device are not coaxial and the application mode of data obtained by calibration in system linkage are provided, so that the microwave follow-up striking system has stronger guiding significance in use.
(2) The method has the advantages that the microwave beam direction is calibrated in a network camera auxiliary observation mode, the actual pointing angle of the microwave beam can be quickly and accurately pointed out under the condition that the tracking equipment and the microwave striking equipment are not coaxial, and the tracking and aiming process optimization efficiency of the system is greatly improved;
(3) the method utilizes fixed point calibration and table lookup interpolation to calculate the corresponding relation of the pointing angles of the tracking equipment and the microwave striking equipment, and can improve the guiding precision of the tracking equipment to the microwave striking equipment through measured data under the conditions that the tracking equipment and the microwave striking equipment are not coaxial and a servo mechanism is in a non-ideal state.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
fig. 1 shows the use process of the microwave follow-up striking system of the present invention.
FIG. 2 is a schematic diagram of a beam pointing calibration device used in the calibration method for the non-coaxial microwave servo-actuated percussion system according to the present invention;
FIG. 3 is a schematic diagram of the position and orientation calibration contents in the calibration method for the non-coaxial microwave servo-actuated percussion system according to the present invention;
FIG. 4 is a schematic diagram of an angle corresponding relation calibration point of a microwave striking device in the calibration method for a non-coaxial microwave follow-up striking system according to the present invention;
FIG. 5 is a schematic diagram of an application mode of a calibration result in system linkage in the calibration method for the non-coaxial microwave follow-up percussion system according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the microwave follow-up striking system shown in fig. 1, the detection and early warning device 1 finds a target and obtains a rough direction of a striking target by receiving a radar echo of the striking target 4 or capturing a communication signal of the striking target to the outside. But the pointing information is less accurate and the update rate is low, which is insufficient to directly guide the microwave striking device 3. The tracking device 2 obtains the precise pointing direction of the target by receiving optical radiation or radar echo hitting the target 4 on the basis of given rough pointing information of the target. The microwave striking equipment 3 directionally emits microwave beams after acquiring the accurate pointing of the target, thereby realizing the countermeasures to the striking target. The calibration is used for calibrating errors of all information transmission and resolving links and ensuring effective linkage among all devices (detection early warning devices 1 (such as early warning radars and frequency spectrum detection devices), tracking devices 2 (such as photoelectric trackers and tracking radars) and microwave striking devices 3) in the system.
The calibration method for the non-coaxial microwave follow-up percussion system mainly comprises the following steps of beam pointing calibration for the non-coaxial microwave follow-up percussion system, calibration of zero position of detection early warning and tracking equipment, calibration of position and attitude information, calibration of the corresponding relation of angles of microwave percussion equipment and application of calibration results, wherein the calibration method comprises the following steps:
(1) calibration of beam pointing
The beam pointing calibration device comprises the microwave striking device 3 and a carrying platform 31 thereof, a network camera 32, a receiving antenna 33, a supporting rod 331, an attenuator 34, a radio frequency coaxial line 35, a frequency spectrograph 36 and the like, and aims to parameterize the specific pointing direction of the microwave beam as shown in fig. 2.
The method comprises the following specific steps:
step 1: fixing the receiving antenna 33 on the supporting rod for lifting, connecting the receiving antenna 33, the attenuator 34 and the spectrometer 36 by using the radio frequency coaxial line 35, adjusting the transmitting antenna 310 of the microwave striking device 3 to be basically aligned with the receiving antenna 33, enabling the polarization directions to be consistent, enabling the receiving antenna 33 to be located in a far field area of the transmitting antenna 310, and enabling the propagation path of the microwave beam to be far away from the ground without obvious shielding;
step 2: starting the microwave striking equipment 3 to emit microwaves, reading on the frequency spectrograph 36 to calculate the field intensity value at the receiving antenna 33, and recording the rough position of the maximum value of the received field intensity;
and step 3: carrying out beam scanning near the rough position of the maximum value and fitting with an antenna directional diagram to find the position of the maximum value of the field intensity;
and 4, step 4: the network camera 32 which is installed on the transmitting antenna 310 and can rotate within a certain range is turned to be aligned with the center of the receiving antenna 33, and the distance of the transmitting and receiving antenna (the distance between the transmitting antenna 310 and the receiving antenna 33), the relative positions of the network camera 32 and the center of the transmitting antenna 310 and the rotation angle of the network camera at the moment are recorded as a calibration result.
(2) Detection early warning and tracking equipment zero calibration
The zero calibration aims at calibrating the relative relationship between the detection early warning equipment, the servo display value of the tracking equipment and the real value under the geodetic coordinate system, and is convenient for the subsequent development of base line conversion and coordinate system conversion. And aiming at different types of detection early warning and tracking equipment, respective zero calibration methods are provided. Known as the heading angle, the angle between the azimuthal null and true north.
The calibration steps of the radar equipment are as follows:
step 1: after the position of the radar equipment is fixed, a static target (such as a corner reflector) is placed in an effective detection range, and a target track is recorded, or a target track in the process that a dynamic target (such as an unmanned aerial vehicle) moves and gradually stops, namely a servo display value, is recorded;
step 2: recording longitude and latitude and height information of a target by using high-precision satellite positioning equipment, comparing the longitude and latitude and height information with the longitude and latitude and height information of radar equipment, and calculating to obtain a pointing angle of the target relative to the radar equipment, namely a true value under geodetic coordinates;
and step 3: and subtracting the real value from the display value to obtain a compensation value for compensation in the subsequent use calculation process.
Similarly, in the calibration of the photoelectric equipment, the acquisition process of the servo display value is changed into the process that the image center is aligned with the target, and other steps are consistent with the calibration process of the radar equipment.
(3) Calibration of position and attitude information
On the basis of the zero calibration result, calibration of position and attitude information needs to be completed, as shown in fig. 3, so that baseline conversion and coordinate system conversion are completed, and guidance of the detection early warning device to the tracking device is realized.
The calibration in this step is performed for the detection early warning device and the tracking device. As shown in FIG. 3, the calibration of the tracking device position information is performed by a high-precision satellite positioning device, and is performed on a calibration platform 11, and the measured value comprises the longitude Lo1Latitude La1High Al1(ii) a Attitude information is accomplished by inclinometers, and the measurements include the transverse inclination He1(in the direction of the zero position of the tracking device), the pitch Tr1(vertical tracking device orientation null direction).
The measurement method of the detection early warning device is similar, and the measurement is carried out on another platform (a calibration platform 22); note that the measurement of the attitude information is also performed in the direction of the azimuth zero position of the tracking device and the direction of the azimuth zero position of the vertical tracking device.
The baseline conversion is according to the following equation:
the transformation from the geographical coordinate system to the deck coordinate system is according to the following formula:
wherein (x)d,yd,zd) Is a target coordinate (x) in a deck coordinate system centered on the tracking devicen,yn,zn) Is the target coordinates in a geographical coordinate system centered on the tracking device.
After the calibration of the step is completed, the detection early warning equipment is guided to the tracking equipment through base line conversion and coordinate system conversion.
(4) Calibration of angle corresponding relation between tracking equipment and microwave striking equipment
Assuming that the horizontal shot is Rhor, the pitch shot is Rpit, and the range of the hitting distance is Rdis, Rhor, Rpit, and Rdis can be divided into a plurality of discrete intervals, and all possible interval boundary point combinations are arranged completely.
As shown in fig. 4, recording point conditions when the horizontal range is divided into 4 equal parts, and the pitch range and the range of the striking distance are divided into 2 equal parts, wherein solid dots represent recording points at a striking distance Rdis and indicate corresponding coordinates, and a hollow origin represents recording points at a striking distance of 0.5 Rdis. In practical engineering application, the discrete degree (i.e. the number of equal divisions) can be set reasonably according to the requirements of striking precision and the input of workload.
In the calibration process, the beacon respectively reaches each recording point in the tracking state, meanwhile, a network camera is used for observation to ensure that the transmitting antenna is also aligned with the beacon, the difference values of the pointing angles of the tracking equipment and the microwave striking equipment servo turntable in the directions of azimuth and elevation at the moment are recorded, and an angle corresponding relation table of the tracking equipment and the microwave striking equipment is formed. By means of table lookup and interpolation, the pointing angle difference value of the tracking equipment and the microwave striking equipment servo turntable at any angle can be obtained, and the optimal pointing angle of the microwave striking equipment servo turntable is calculated, so that accurate guiding of the tracking equipment to the microwave striking equipment is achieved.
(5) Application of calibration results
After the calibration and calibration work of the above steps is completed, the work flow of the whole follow-up percussion system is shown in fig. 5.
When the condition is met, after the relative positions of the detection early warning device and the tracking device are solidified, the same method can be used for correcting the guiding process of the detection early warning device to the tracking device in a mode of actually simulating the hitting of the target, so that the guiding precision and the system reliability are further improved.
It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.
Claims (10)
1. A calibration method facing a non-coaxial microwave follow-up hitting system is characterized in that the beam direction is judged by collecting the maximum receiving power by adjusting the angle of a rotary table of a transmitting antenna, the beam direction is calibrated by utilizing a network camera additionally arranged at the transmitting antenna, and the guidance of a tracking device to the hitting device is realized by utilizing a calibration table look-up mode; the space position and the inclination angle of each device are measured through high-precision satellite positioning equipment and an inclinometer, and the detection early warning equipment is guided to the tracking equipment by utilizing a coordinate conversion formula.
2. The calibration method for the non-coaxial microwave follow-up percussion system according to claim 1, wherein the calibration method at least comprises the following steps of calibrating the direction of the microwave beam by means of network camera-assisted observation; the method comprises the following specific steps:
step 1: arranging a receiving antenna in a far field area of a transmitting antenna of the microwave striking equipment, adjusting the transmitting antenna of the microwave striking equipment to be basically aligned with the receiving antenna and to have the same polarization direction, and simultaneously enabling the propagation path of a microwave beam to be far away from the ground without obvious shielding;
step 2: starting microwave striking equipment to emit microwaves, reading on a frequency spectrograph to calculate a field intensity value at a receiving antenna, and recording a rough position of a maximum value of the received field intensity;
and step 3: carrying out beam scanning near the rough position of the maximum value and fitting with an antenna directional diagram to find the position of the maximum value of the field intensity;
and 4, step 4: the method comprises the steps of arranging a rotatable network camera in a certain range on a transmitting antenna, turning the network camera to enable the network camera to align to the center of a receiving antenna, and recording the distance between the transmitting antenna and the receiving antenna, the relative position between the network camera and the center of the transmitting antenna and the rotation angle of the network camera at the moment as a calibration result.
3. The calibration method for the non-coaxial microwave follow-up percussion system according to claim 1, wherein the calibration method further comprises a calibration step of detecting the zero position of the radar device in the early warning and tracking device:
step 1: after the position of the radar equipment is fixed, a static target is placed in an effective detection range, a target track is recorded, or a target track or a servo display value in the process that a dynamic target moves and gradually stops is recorded;
step 2: recording longitude and latitude and height information of a target by using high-precision satellite positioning equipment, comparing the longitude and latitude and height information with the longitude and latitude and height information of radar equipment, and calculating to obtain a pointing angle of the target relative to the radar equipment, namely a true value under geodetic coordinates;
and step 3: and subtracting the real value from the display value to obtain a compensation value for compensation in the subsequent use calculation process.
4. The calibration method for the non-coaxial microwave follow-up percussion system according to claim 1, further comprising the calibration step of detecting the zero position of the optoelectronic device in the early warning and tracking device:
step 1: after the position of the photoelectric equipment is fixed, a static target is placed in an effective detection range, a target point trace is recorded, and the center of an image is aligned to the target;
step 2: recording longitude and latitude and height information of a target by using high-precision satellite positioning equipment, comparing the longitude and latitude and height information with the longitude and latitude and height information of radar equipment, and calculating to obtain a pointing angle of the target relative to the radar equipment, namely a true value under geodetic coordinates;
and step 3: and subtracting the real value from the display value to obtain a compensation value for compensation in the subsequent use calculation process.
5. The calibration method for the non-coaxial microwave follow-up percussion system according to claim 1, wherein the calibration method further comprises a calibration step of position and attitude information:
calibration for tracking devices: measuring the position information of the tracking device by using a high-precision satellite positioning device, wherein the measured value of the position information comprises the longitude Lo1Latitude La1High Al1(ii) a Acquiring attitude information of the tracking equipment by using an inclinometer, wherein the measurement value of the attitude information comprises: transverse inclination He along direction of azimuth zero of tracking equipment1And the vertical tilt angle Tr of the vertical tracking device in the direction of the azimuth zero position1；
The method comprises the following steps of calibrating position and attitude information of detection early warning equipment:
and (3) calibrating the detection early warning equipment: measuring the position information of the detection early warning equipment by using high-precision satellite positioning equipment, wherein the measured value of the position information comprises the longitude Lo1Latitude La1High Al1(ii) a Acquiring attitude information of the tracking equipment by using an inclinometer, wherein the measurement value of the attitude information comprises: transverse inclination He along direction of azimuth zero of tracking equipment1And the vertical tilt angle Tr of the vertical tracking device in the direction of the azimuth zero position1。
6. The calibration method for the non-coaxial microwave follow-up percussion system according to claim 5, wherein after the calibration step for the position and attitude information of the detection early warning device and the tracking device, the conversion of the measured values is performed according to a baseline conversion formula:
wherein the conversion from the geographic coordinate system to the deck coordinate system is according to the following formula:
wherein (x)d,yd,zd) Is a target coordinate (x) in a deck coordinate system centered on the tracking devicen,yn,zn) Is the target coordinates in a geographical coordinate system centered on the tracking device.
7. The calibration method for the non-coaxial microwave follow-up percussion system according to claim 1, wherein the calibration method further comprises a calibration step of tracking the angle correspondence between the equipment and the microwave percussion equipment:
assuming that a horizontal shot is Rhor, a pitching shot is Rpit, and a hitting distance range is Rdis, dividing Rhor, Rpit and Rdis into a plurality of discrete intervals, and fully arranging all possible interval boundary point combinations;
enabling the beacon to respectively reach each recording point in a tracking state, simultaneously observing by using a network camera to ensure that a transmitting antenna is also aligned with the beacon, recording the difference values of the pointing angles of the tracking equipment and the microwave striking equipment servo turntable in the directions of azimuth and elevation at the moment, and forming a corresponding relation table of the angles of the tracking equipment and the microwave striking equipment;
by means of table lookup and interpolation, the pointing angle difference value of the tracking equipment and the microwave striking equipment servo turntable at any angle can be obtained, and the optimal pointing angle of the microwave striking equipment servo turntable is calculated, so that accurate guiding of the tracking equipment to the microwave striking equipment is achieved.
8. The calibration method for the non-coaxial microwave follow-up percussion system according to claim 7, wherein the discrete interval is set to a discrete degree according to the percussion accuracy requirement and the workload input.
9. The application of the calibration method facing the non-coaxial microwave follow-up striking system is characterized in that: after the relative positions of the detection early warning device and the tracking device are solidified, the guiding precision and the system reliability are improved by correcting the guiding process of the detection early warning device to the tracking device.
10. A beam pointing calibration apparatus, characterized in that: arranging a receiving antenna in a far field area of a transmitting antenna of the microwave striking equipment, adjusting the transmitting antenna and the receiving antenna of the microwave striking equipment to be basically aligned and have consistent polarization directions, and simultaneously enabling the propagation path of a microwave beam to be far away from the ground and not to be obviously shielded; a network camera which can rotate in a certain range is arranged on a transmitting antenna of the microwave striking equipment, and the network camera is aligned to the center of a receiving antenna.
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