CN107219518A - Low slow small unmanned aerial vehicle flight path measuring system and method - Google Patents
Low slow small unmanned aerial vehicle flight path measuring system and method Download PDFInfo
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- CN107219518A CN107219518A CN201710463928.7A CN201710463928A CN107219518A CN 107219518 A CN107219518 A CN 107219518A CN 201710463928 A CN201710463928 A CN 201710463928A CN 107219518 A CN107219518 A CN 107219518A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/003—Bistatic radar systems; Multistatic radar systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
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- Radar, Positioning & Navigation (AREA)
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Abstract
The present invention relates to radio art, to solve the problems, such as that the flight path of low-altitude low-velocity flight SUAV target is measured and wave beam synchronous scanning in multistatic radar, the invention discloses low slow small unmanned aerial vehicle flight path measuring system and method, including monitoring device, cell site, receiving station, data processing centre and data transmission link, monitoring device number of units M >=2, radiation signal and direction for measuring unmanned plane, data processing centre determines the target area of unmanned plane, cell site and receiving station is guided synchronously to point to target area, cell site and receiving station are arranged respectively in the middle part of zone of protection and periphery, one is configured at middle part, in circumferential arrangement at least two, the echo-signal of receiving station reception processing target area, data transmission link completes data, order and reference signal transmission.Present invention can apply to the key protection such as obstacle free airspace protection zone and large-scale oil depot region.
Description
Technical field
The present invention relates to radio art, more particularly to a kind of low slow small unmanned aerial vehicle flight path measuring system and method.
Background technology
In recent years, the quantity of various unmanned planes quickly increases, and potential hazard gradually shows, nothing in such as obstacle free airspace protection zone
Man-machine interference civil aviaton fly event occurs repeatedly, and causes flight to make preparation for dropping, make a return voyage or is delayed, and the serious flight for threatening airline carriers of passengers is pacified
Entirely.To successfully manage the ever-increasing practical threat of various unmanned planes, in the urgent need to carrying out flight path to the unmanned plane in guard plot
Measurement, accurately to judge the threat degree of unmanned plane and take corresponding countermeasure in time.
Many set radio detection equipment can be positioned to unmanned plane, but precision is generally relatively low, and application scenario is limited, at present
Radar detecting equipment mainly is used to unmanned aerial vehicle flight path measurement.
Radar detecting equipment has monostatic radar and the class of multistatic radar two, and monostatic radar mainly uses low-altitude surveillance thunder
Reach, Chinese patent CN201610554144.0 discloses a kind of countermeasure system of SUAV, using the full coherent of KU wave bands, entirely
Solid-state and CW with frequency modulation radar, such radar can be real to " arrogant small ", " low fast small " or " low slow big " unmanned plane
Effective detection is applied, because：To " arrogant small " unmanned plane, the influence of ground clutter is small, and target is cut easily by radar scattering
Area recognition, to " low fast small " unmanned plane, target is recognized easily by obvious Doppler frequency shift from ground clutter, to " low
It is slow big " unmanned plane, target recognize easily by larger Radar Cross Section from ground clutter, but (low to " low small slowly "
Empty slower flight is small-sized) unmanned plane, because target and ground clutter are close, Doppler frequency shift not substantially, Radar Cross Section
Small, prior art is difficult to recognize target from ground clutter, is the difficult point of radar detection.
Multistatic radar has the special, class of cooperation and noncooperation three according to the configuration of emitter：Dedicated classes refer to emitter
Design and operation are subordinated to multi-static radar system, and cooperation class refers to that emitter designs for other services, but appropriate branch
Many bases are held to work and be controlled by it, it is uncontrolled although non-cooperation class refers to the suitable many base work of emitter.
To cooperation class and non-cooperation class multi-static radar system, Chinese patent CN201480029064.2 discloses a kind of use
In positioning mesh calibration method and the multi-static radar system of implementation the method, M >=1 (N is received by means of N >=1 receiver
The chance point radio signal for M >=3) individual transmitter is launched and is reflected, to determine the position of airflight target, due to
Unmanned plane its Radar Cross Section very little largely occurred at present, echo-signal is extremely weak, and unmanned plane is carried out using this method
Positioning is extremely difficult.To special multi-static radar system, beam Synchronization scanning is the problem of must solving first, when launching and connect
When receipts are narrow beam, beam Synchronization scan method has：One is to be completed in reception wave beam in the sweep time of a monitor area,
Launching beam is fixed, then one directional diagram width of launching beam stepping, is so circulated until launching beam stepping is inswept whole
Sector is monitored, this method efficiency is very low, it is few to use；Two be launching beam scanning, is covered with multiple while receiving wave beam
Sector is monitored, this method needs multibeam antenna, receiver cost rise, complexity increase；Three be launching beam scanning, is connect
Wave beam pursuit launching beam is received, this method needs phased array antenna to realize complicated and accurate wave beam control, and cost is big；And
When being emitted as broad beam irradiation monitoring sector, when reception narrow beam is scanned in monitoring sector, it is not a problem synchronously, but cost is
Signal to noise ratio is reduced, and operating distance diminishes, and can also cause the increase of secondary lobe noise level.
In a word, because " low slow small " unmanned plane and ground clutter are close, Doppler frequency shift not substantially, Radar Cross Section
Small, prior art is difficult to solve.
The content of the invention
The present invention discloses low slow small unmanned aerial vehicle flight path measuring system and method, it is intended to solve beam Synchronization in multistatic radar
Scanning problem, the flight path measurement problem of low-altitude low-velocity flight SUAV target.
Low slow small unmanned aerial vehicle flight path measuring system and method disclosed by the invention, including monitoring device, cell site, reception
Stand, data processing centre and data transmission link, monitoring device number of units M >=2, for measure unmanned plane radiation signal and
Direction, the data processing centre determines the target area of unmanned plane, guides the cell site and the receiving station synchronously to point to
Target area, the cell site and the receiving station are arranged respectively in the middle part of zone of protection and periphery, and the middle part configures one,
The circumferential arrangement at least two, the data transmission link completes data, order and reference signal transmission.
Specifically, the invention discloses low slow small unmanned aerial vehicle flight path measuring system, including：Cell site, receiving station, data
Processing center and data transmission link, the cell site include：Transmitting antenna, transmitting turntable, emitter, signal generator and hair
Communication module is penetrated, the receiving station includes：Reception antenna, servo control mechanism, receiving channel, processor and reception communication module, institute
Stating data processing centre includes：Processor, display and center to center communications module；The multi-static radar system also includes at least two
Monitoring device, the radiation signal for monitoring unmanned plane, and determine by Convergent measurement the target area of unmanned plane, the monitoring
Equipment includes monitoring aerial, monitoring turntable, monitoring receiver and monitoring communication module, and its measurement result sends the data processing
Center, receives the control of the data processing centre；
The data processing centre determines the target area of unmanned plane according to the Convergent measurement result of the monitoring device, raw
Into the first guiding and control data, and by the data transmission link guide and control the cell site and the receiving station
It is synchronous to point to target area；
The cell site and the receiving station are arranged respectively in the middle part of zone of protection and periphery, and the middle part configures one,
The circumferential arrangement at least two, to ensure that transmitting antenna or reception antenna are in higher elevation state, drop to unmanned plane target
Influence of the low ground clutter to measurement.
The receiving station reception processing has determined that the echo-signal of target area, miscellaneous with the atural object for filtering other positions
Ripple, influence of the reduction ground clutter to measurement, measurement result sends the data processing centre.
The data processing centre calculates the locus of unmanned plane according to the measurement result of receiving station, and generation second is guided
And control data, guide the receiving station and the cell site synchronously to point to target.
Described low slow small unmanned aerial vehicle flight path measuring system, receiving station's configuration is at the middle part of zone of protection, and it is received
Passage way R is at least 2, for receiving the echo-signal reflected through unmanned plane, is carried out by the processor of the receiving station miscellaneous
After ripple is offseted, obtain unmanned plane visual angle and distance to different cell sites and, then after being handled by the data processing centre,
The locus of unmanned plane is obtained, so that produce the second guiding and control data and send the cell site and the receiving station,
Scanned for the receiving station and cell site's beam Synchronization.
Described low slow small unmanned aerial vehicle flight path measuring system, the cell site is configured at the middle part of zone of protection, described to connect
Receive station and the measurement result each including target and clutter is sent into the data processing centre, enter by the data processing centre
After the processing of row clutter cancellation, obtain different visual angles of the receiving station to unmanned plane and the distance to cell site and obtain unmanned plane
Locus, so as to produce the second guiding and control data and send to the receiving station and the cell site, connects for described
Receive station and cell site's beam Synchronization scanning.
Described low slow small unmanned aerial vehicle flight path measuring system, when the receiving station configures the middle part in zone of protection, institute
State receiving station and configure a monitoring device, share the servo control mechanism of the receiving station, the monitoring aerial of the monitoring device
Target is pointed to simultaneously with the reception antenna of the receiving station, one or some monitoring devices are arbitrarily set in addition.
Described low slow small unmanned aerial vehicle flight path measuring system, when the receiving station configures the middle part in zone of protection, institute
State monitoring device to fit together with the cell site, share the transmitting turntable of the cell site, the monitoring of the monitoring device
Antenna and the transmitting antenna of the cell site point to target simultaneously.
Described low slow small unmanned aerial vehicle flight path measuring system, it is characterised in that when cell site configuration is in zone of protection
Middle part when, the cell site configures a monitoring device, shares the transmitting turntable of the cell site, the monitoring device
The transmitting antenna of monitoring aerial and the cell site point to target simultaneously, in addition one or some monitoring devices it is any
Set.
Described low slow small unmanned aerial vehicle flight path measuring system, it is characterised in that when cell site configuration is in zone of protection
Middle part when, the monitoring device is fitted together with the receiving station, share the receiving station servo control mechanism, the monitoring
The monitoring aerial of equipment and the reception antenna of the receiving station point to target simultaneously.
Described low slow small unmanned aerial vehicle flight path measuring system, it is characterised in that the receiving station and the monitoring device are equal
Added using phased array antenna and on same front, in orientation using electric scanning and electric scanning is used in mechanical scanning, pitching.
Described low slow small unmanned aerial vehicle flight path measuring system, it is characterised in that the first guiding data guide the hair
Penetrate station and point to target area using wide antenna radiation pattern, the second guiding data guide the cell site to use narrow antenna
Directional diagram points to target.
The present invention discloses low slow small unmanned aerial vehicle flight path measuring method, and this method comprises the following steps：
Step S1, configures at least two monitoring devices, the radiation signal for monitoring the unmanned plane, and send institute by result
State data processing centre；
Step S2, the cell site and the receiving station is arranged respectively in the middle part of zone of protection and periphery, the middle part
Configuration one, the circumferential arrangement at least two；
Step S3, the data processing centre determines the target of unmanned plane according to the Convergent measurement result of the monitoring device
Region, the guiding of generation first and control data, and by the data transmission link guide and control the cell site and institute
State receiving station and synchronously point to target area；
Step S4, the transmitting stand control transmitting antenna points to target area, launches radar signal, while by reference signal
The receiving station is sent by the data link；
Step S5, the reception stand control reception antenna points to target area, and reception antenna is scanned according to certain rules to be searched
Rope unmanned plane target, the echo-signal of target area described in the receiving station reception processing, measurement result sends the data
Processing center；
Step S6, the data processing centre calculates the locus of unmanned plane, generation according to the measurement result of receiving station
Unmanned plane during flying flight path, so as to produce the second guiding and control data and send the cell site and the receiving station, for institute
Receiving station and cell site's beam Synchronization scanning are stated, the autonomous tracking of multi-static radar system is realized.
The beneficial effects of the present invention are：
The present invention determines target area using the measurement result of monitoring device, and guiding transmitting antenna and reception antenna synchronously refer to
To target area, it is to avoid multistatic radar search large-scale to zone of protection and the processing to normal target are consumed, it is ensured that
It is quick to find and tracking target；Simultaneously because receiver only handles the echo-signal of the target area, other positions are filtered out
Ground clutter, reduces influence of the ground clutter to measurement.In addition, the present invention is received using multistation transmitting, single station multichannel, or
Single station transmitting, multistation reception technique scheme, on the one hand ensure that transmitting antenna or reception antenna are in higher face upward to unmanned plane target
Horn shape state, influence of the reduction ground clutter to measurement；On the other hand clutter is carried out using multipath reception passage or Duo Tai receiving stations
Offset, eliminate the influence of ground clutter, it is ensured that measurement is tracked to low slow small unmanned plane.The present invention is in measurement unmanned plane
Behind position, high-precision guiding data are regenerated, guiding transmitting antenna and reception antenna synchronously point to target, realize many bases
The autonomous tracking of ground radar system, preferably solves the problem of multistatic radar beam Synchronization scanning.The present invention is with relatively low generation
Valency solves the flight path measurement problem of " low slow small " unmanned plane target, can be applied to the emphasis such as obstacle free airspace protection zone and large-scale oil depot
Zone of protection.
Brief description of the drawings
The multi-static radar system composition schematic diagram that Fig. 1 measures for the present invention for unmanned aerial vehicle flight path；
Fig. 2 is monitoring device composition schematic diagram；
Fig. 3 is cell site's composition schematic diagram；
Fig. 4 is receiving station's composition schematic diagram；
Fig. 5 is that monitoring device fits together schematic diagram with receiving station；
Fig. 6 is that monitoring device fits together schematic diagram with cell site.
Embodiment
The present invention is in order to solve the problems, such as wave beam synchronous scanning in multistatic radar, first using radio monitoring monitoring of equipment
The radiation signal of unmanned plane carries out the target area that Convergent measurement determines unmanned plane to find target using many monitoring devices,
Guide the cell site and receiving station of multistatic radar synchronously to point to target area, find and track after target, according to unmanned plane
The measurement result of position generates new guiding data, realizes receiving station and the scanning of cell site's beam Synchronization and multistatic radar to nothing
Man-machine target from motion tracking.
Specifically, the invention discloses low slow small unmanned aerial vehicle flight path measuring system, including：Monitoring device 1, cell site 2,
Receiving station 3, data processing centre 4 and data transmission link 5.
1st, monitoring device 1 (number of units M >=2), including：
Turntable 9 is monitored, for carrying monitoring aerial and being rotated in orientation and pitch orientation；
Monitoring aerial 6, for receiving various radiation signals；
Monitor receipts machine 7, parameter and direction for measuring radiation signal；
Communication module 8 is monitored, data, order for receiving data processing centre send to data processing centre and measured
As a result.
2nd, cell site 2 includes：
Launch turntable 13, for carrying transmitting antenna and being rotated in orientation and pitch orientation；
Transmitting antenna 10, for radiating radar signal；
Emitter 11, for amplifying radar signal；
Signal generator 12, for producing radar signal；
Launch communication module 14, guiding data and order for receiving data processing centre.
3rd, receiving station 3 includes：
Servo control mechanism 19：For carrying reception antenna, unmanned plane is scanned and tracked in orientation, pitch orientation；
Reception antenna 15：The echo-signal reflected through unmanned plane is launched by cell site for receiving；
Receiving channel 16,17：Echo-signal for handling unmanned plane reflection；
Processor 18：For obtain the visual angle of unmanned plane, the distance to corresponding cell site and；
Controller 20：For setting each extension set parameter, each extension set working condition is controlled in real time；
Receive communication module 21：For the reference signal of the guiding data, order and the cell site that receive data processing centre,
Measurement result send data processing centre.
4th, data processing centre 4 includes：
Processor：According to the measurement result of monitoring device, unmanned plane target is recognized, target general location is calculated, generation is drawn
Derivative evidence, control total system cooperates；According to the measurement result of receiving station, the position of unmanned plane, generation unmanned plane boat are calculated
Mark, and guiding data are regenerated according to unmanned aerial vehicle flight path.
Display：For showing monitoring parameter and flight track to unmanned plane；
Center to center communications module：Measurement result for receiving monitoring device and receiving station, sends guiding data to cell site
And receiving station, control command is sent to monitoring device, cell site and receiving station.
5th, data transmission link 5, for the data between monitoring device, cell site, receiving station and data processing centre, life
Order and reference signal transmission.
Such scheme can direct measurement unmanned plane target relative to the visual angle of receiving station, target can not to the distance of receiving station
Direct measurement, generally first measure cell site-target-receiving station time delay, obtain distance and, further according to cell site and receiving station
Between baseline length, obtain distance of the target to receiving station by solving bistatic triangle, and then determine the position of target.
The present invention is solves low-altitude low-velocity flight unmanned plane target flight path measurement problem, and the technical measures taken include：Lift
High emission station receives station antenna to the elevation angle of target, to mitigate the influence of ground clutter, is had determined that while receiving station is only handled
The echo-signal of target area, masks other apart from upper ground clutter, is finally received using the single station multichannel of multistation transmitting,
Or single station transmitting multistation is received, the clutter of different receiving channels or different receiving stations is carried out offseting processing, ground clutter is eliminated
Influence, it is ensured that measurement is tracked to low slow small unmanned plane.
According to abovementioned technology, the present invention includes two kinds of technical schemes.
First technical scheme
Low slow small unmanned aerial vehicle flight path measuring system, including monitoring device 1, cell site 2, receiving station 3, data processing centre 4
With data transmission link 5, wherein：
Monitoring device number of units M >=2；
Cell site number of units N >=2, around zone of protection periphery cloth station, to raise the irradiating angle to unmanned plane target, reduction
The influence of ground clutter；Cell site receives the guiding data of data processing centre, and its transmitting antenna is pointed into unmanned plane target, and
According to the order of data processing centre radar signal is radiated to unmanned plane.
Receiving station is located at the middle part of zone of protection, and its receiving channel way R >=2 can receive the cell site's transmitting of R routes simultaneously
The echo-signal reflected through unmanned plane, the noise signal of processor pair difference receiving channel carries out offseting processing.
It is preferred that one, there is a monitoring device to be fitted together with receiving station, share the servo control mechanism of receiving station, monitoring device
Monitoring aerial and the reception antenna of receiving station point to target simultaneously, in this case, when monitoring device finds target and direction finding
When, the reception antenna of receiving station alignment target region.
It is preferred that two, in above-mentioned preferably one, receiving station uses in phased antenna, orientation adds mechanical scanning using electric scanning,
Electric scanning is used in pitching, because launching beam is not scanned, so wave beam control is relatively easy, advantage is can to improve to search
Rope, the speed for capturing target, phased array receiving antenna use adaptive nulling technology, can also form multiple zero points and be directed at strong clutter
Area, further improves systematic function, monitoring device antenna also uses phased array antenna, and is arranged on same with phased array receiving antenna
On one front.
It is preferred that three, all monitoring devices are combined together with cell site, share the transmitting turntable of cell site, monitoring device
Monitoring aerial and the transmitting antenna of cell site point to target simultaneously, in this case, when monitoring device finds target and direction finding,
The transmitting antenna of cell site alignment target region.
It is preferred that four, the transmitting antenna of cell site has 2 kinds of directional diagram width, and data processing centre sends first and guides data
When, cell site points to target area using wide antenna radiation pattern, when data processing centre sends the second guiding data, cell site
Target is pointed to using narrow antenna radiation pattern.
Based on the unmanned aerial vehicle flight path measuring method of above-mentioned first technical scheme, comprise the following steps：
Step 11,1 chosen in monitoring device measures to the parameter of the various radiation signals of zone of protection and direction,
Measurement result send data processing centre；
Step 12, data processing centre receives the measurement result of above-mentioned monitoring device, according to the number accumulated when usually monitoring
According to storehouse, when finding emerging radiation signal, generation working frequency and bearing directing data send other monitoring devices, other
Monitoring device is operated in corresponding frequency, and in corresponding volume-search coverage target, measurement result is sent into number after finding target
According to processing center, its motion state is simultaneously observed in the target area that data processing centre calculates new radiation signal, when confirming as protection
During unmanned plane target in region, generation first guide data send receiving station and adjacent two nearest with unmanned plane orientation or
Duo Tai cell sites, while providing receiving station by target area, data processing centre sends measuring command, control total system association in good time
With work；
Step 13, the first guiding data control transmitting antenna that cell site is provided according to data processing centre points to unmanned plane
Target, to preferably three, transmitting antenna alignment target, without this guiding data；Cell site according to data processing centre life
Order, launches radar signal, while reference signal is sent into receiving station by data link；
Step 14, the first guiding data that receiving station provides according to data processing centre, control reception antenna points to target
Region, to preferably one, reception antenna alignment target region, without this guiding data；Reception antenna is scanned according to certain rules
Unmanned plane target is searched for, each receiving channel only handles the echo-signal of the target area provided by data processing centre, masked
It is other apart from upper ground clutter, the measurement result of processor integrated treatment multipath reception passage, and to different receiving channels
Clutter carries out offseting processing, completes the capture of unmanned plane target and from motion tracking, acquisition receiving station to the visual angle of unmanned plane and
To the distances of different cell sites and, and send data processing centre；
Step 15, data processing centre calculates the position of unmanned plane, generates unmanned plane during flying flight path, and generate the second guiding
Data send cell site and receiving station, realize the autonomous tracking of multi-static radar system, and completion traces into autonomous tracking from guiding
Conversion.To preferably four, the directional diagram of transmitting antenna can be now switched to narrower state, in favor of entering to unmanned plane target
Row high precision tracking.
Second technical scheme
Low slow small unmanned aerial vehicle flight path measuring system, including monitoring device 1, cell site 2, receiving station 3, data processing centre 4
With data transmission link 5, wherein：
Monitoring device number of units M >=2；
Cell site is located at the middle part of zone of protection；
Receiving station's number of units N >=2, around zone of protection periphery cloth station, to raise the receiving angle to unmanned plane target, reduction
The influence of ground clutter.
It is preferred that one, cell site is fitted together with 1 monitoring device, shares the transmitting turntable of cell site, monitoring device
Monitoring aerial and the transmitting antenna of cell site point to target simultaneously, in this case, when monitoring device finds target and direction finding,
The transmitting antenna of cell site alignment target.
It is preferred that two, all monitoring devices are fitted together with receiving station, and each monitoring device and receiving station share a servo
Mechanism, the monitoring aerial of monitoring device and the reception antenna of receiving station point to target simultaneously, in this case, when monitoring device hair
When existing target and direction finding, the reception antenna of receiving station alignment target.
It is preferred that three, in above-mentioned preferably three, receiving station uses adds machine in phased array system, reception antenna orientation using electric scanning
Tool is scanned, and electric scanning is used in pitching, because launching beam is not scanned, so wave beam control is relatively easy, and advantage is can be with
Search, the speed of capture target are improved, phased array receiving antenna uses adaptive nulling technology, can also form multiple zero point alignments
Strong clutter area, further improves systematic function, monitoring device antenna also uses phased array antenna, and pacifies with phased array receiving antenna
On same front.
It is preferred that four, the transmitting antenna of cell site has 2 kinds of directional diagram width, and data processing centre sends first and guides data
When, cell site points to target area using wide antenna radiation pattern, when data processing centre sends the second guiding data, cell site
Target is pointed to using narrow antenna radiation pattern.
Based on the unmanned aerial vehicle flight path measuring method of above-mentioned second technical scheme, comprise the following steps：
Step 21,1 set chosen in monitoring device is measured to the parameter of the various radiation signals of zone of protection and direction,
Measurement result send data processing centre；
Step 22, data processing centre receives the measurement result of above-mentioned monitoring device, according to the number accumulated when usually monitoring
According to storehouse, when finding emerging radiation signal, generation working frequency and bearing directing data send other monitoring devices, other
Monitoring device is operated in corresponding frequency, and in corresponding volume-search coverage target, measurement result is sent into number after finding target
According to processing center, its motion state is simultaneously observed in the target area that data processing centre calculates new radiation signal, when confirming as protection
During unmanned plane target in region, generation first guide data send cell site and adjacent two nearest with unmanned plane orientation or
Duo Tai receiving stations, while providing receiving station by the target area of target, data processing centre sends measuring command in good time, and control is complete
System synergistic working；
Step 23, the first guiding data control transmitting antenna that cell site is provided according to data processing centre points to unmanned plane
Target, to preferably one, transmitting antenna alignment target region, without this guiding data；Cell site is according to data processing centre
Order, launch radar signal, while reference signal is sent into receiving station by data link；
Step 24, the first guiding data that receiving station provides according to data processing centre, control reception antenna points to target
Region, to preferably two, reception antenna aligned in general target area, without this guiding data；Reception antenna is according to certain rules
Scanning search unmanned plane target, its receiving channel only handles the echo-signal of the target area provided by data processing centre, screen
Cover other apart from upper ground clutter, the measurement result each including target and clutter is sent the data processing by receiving station
Center.
Step 25, data processing centre receives the measurement result of each receiving station and carries out clutter cancellation processing, obtains different
Visual angle of the receiving station to unmanned plane and the distance to cell site and, the locus of unmanned plane is obtained, so as to produce the second guiding
With control data and send to receiving station and cell site, scanned for receiving station and cell site's beam Synchronization, realize many base thunders
Up to the autonomous tracking of system, complete to trace into the conversion independently tracked from guiding., now can be by the side of transmitting antenna to preferably four
Narrower state is switched to figure, in favor of carrying out high precision tracking to unmanned plane target.
Further described below in conjunction with the drawings and specific embodiments, described embodiment is only that one kind of the present invention is real
Apply example, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not paying creation
Property work under the premise of all other embodiment for being obtained, belong to protection scope of the present invention.For the sake of simplicity, herein below
Eliminate the technical principle and general technology well known to the technical field.
Specific embodiment 1
As shown in figure 1, low slow small unmanned aerial vehicle flight path measuring system, including monitoring device 1, cell site 2, receiving station 3, data
Processing center 4 and data transmission link 5.
Exemplified by applied to large-scale oil depot guard plot, using above-mentioned first technical scheme, its basic configuration is：Monitoring device
2 sets, 4 sets of cell site, 1 set of receiving station.
Monitoring device is constituted as shown in Fig. 2 including monitoring aerial 6, monitoring turntable 9, monitoring receiver 7 and monitoring communication mould
Block 8, monitoring device is located on the higher building roof in guard plot, to realize the comprehensive monitoring to whole guard plot, 2 sets of prisons
Measurement equipment pulls open a certain distance to realize Convergent measurement, and monitoring aerial is multi-channel multi-frequency band antenna, using than with than width
The direction finding system being combined, to below 2GHz frequency ranges, direction finding precision is at 2 ° or so, and to 5GHz with super band, direction finding precision is at 1 °
Left and right.
Cell site is constituted as shown in figure 3, including transmitting antenna 10, transmitting turntable 13, emitter 11, the and of signal generator 12
14,4 sets of cell sites of communication module are individually positioned in the flat place in oil depot guard plot edge, it is ensured that have necessarily to unmanned plane target
The irradiation elevation angle, and be combination with adjacent two, cover region centered on oil depot, transmitting antenna is parabola antenna, its
Directional diagram width requirement is 3 times or so of guidance accuracy, to adapt to the direction finding precision of the following frequency ranges of monitoring device 2GHz, launches day
Line directional diagram width is 6 ° or so, while to reduce antenna size and weight, its working frequency can choose 15GHz.
Receiving station constitute as shown in figure 4, including reception antenna 15, servo control mechanism 19, receiving channel 16/17, processor 18,
Controller 20 and reception communication module 21, receiving station are located on the higher building roof of the central region of oil depot protection zone, day
Line is parabola antenna, and its directional diagram width is 0.5 °, using Monopulse estimation system.The receiving channel of receiving station is 2 tunnels, can
2 are received simultaneously route the echo-signal that cell site's transmitting is reflected through unmanned plane.
Data processing centre includes processor, display and center to center communications module, and processor includes control computer, data
Processing server and database server, processor receive the measurement result of monitoring device by communication module, recognize unmanned plane
Target, calculates target area, and generation first guides data, and guiding and control command are sent to cell site and receiving station, and control is complete
System synergistic working, while the measurement result of receiving station is received, the position of calculating unmanned plane, generation unmanned aerial vehicle flight path, and according to
Unmanned aerial vehicle flight path regenerates the second guiding data, is scanned for receiving station and cell site's beam Synchronization, realizes multistatic radar
System from motion tracking.
It can be special or existing communication net wirelessly or non-wirelessly (coaxial cable, optical fiber etc.) that data transmission link, which can be,
A part for network, reference signal uses data signal, on the basis of a certain cell site, is sent out to receiving station and other 3 cell sites
Send, realize the time synchronized of receiving station and cell site.
Unmanned aerial vehicle flight path measuring method based on above-mentioned technical proposal, its step includes：
Step 111, choose in 1 set of monitoring device and the parameter of the various radiation signals of zone of protection and direction measured,
Measurement result send data processing centre；
Step 112, data processing centre receives the measurement result of above-mentioned monitoring device, according to the number accumulated when usually monitoring
According to storehouse, when finding emerging radiation signal, generation working frequency and bearing directing data send other monitoring devices, other
Monitoring device is operated in corresponding frequency, and in corresponding volume-search coverage target, measurement result is sent into number after finding target
According to processing center, its motion state is simultaneously observed in the target area that data processing centre calculates new radiation signal, when confirming as protection
During unmanned plane target in region, generation first guides that data send receiving station and adjacent 2 sets nearest with unmanned plane orientation are sent out
Station is penetrated, while providing receiving station by target area, data processing centre sends measuring command, control total system collaboration work in good time
Make；
Step 113, the guiding data control transmitting antenna that cell site is provided according to data processing centre points to unmanned plane mesh
Mark, according to the order of data processing centre, launches radar signal, while on the basis of a certain cell site, reference signal is passed through
Data link sends receiving station and other cell sites；
Step 114, the guiding data control reception antenna that receiving station provides according to data processing centre points to target area,
Reception antenna scanning search unmanned plane target according to certain rules, 2 tunnel receiving channels only handle what is provided by data processing centre
The echo-signal of target area, is masked other apart from upper ground clutter, the measurement of the tunnel receiving channel of processor integrated treatment 2
As a result, and to clutter carry out offseting processing, complete the capture of unmanned plane target and from motion tracking, obtain receiving station to unmanned plane
Visual angle and distance to different cell sites and, and send data processing centre；
Step 115, data processing centre calculates the position of unmanned plane, unmanned plane during flying flight path is generated, so as to produce second
Guiding and control data are simultaneously sent to receiving station and cell site, are scanned for receiving station and cell site's beam Synchronization, are realized many bases
The autonomous tracking of ground radar system, completes to trace into the conversion independently tracked from guiding.
To preferably one in the first technical scheme, there is 1 set of monitoring device to be fitted together with receiving station, as shown in figure 5, its
Monitoring aerial is arranged on the servo control mechanism of receiving station, and target is pointed to simultaneously with the reception antenna of receiving station, and it is logical to share reception
Letter module realizes signal and data transfer, in this case, when monitoring device finds target and direction finding, the reception day of receiving station
Line aligned in general target, data are guided without the first of data processing centre.
To preferably two in the first technical scheme, receiving station uses in phased array antenna, orientation adds machinery using electric scanning
Electric scanning is used in scanning, pitching, is conducive to improving search, the speed of capture target, phased array receiving antenna is using adaptive
Zeroing technology, can form multiple zero points and be directed at strong clutter area, further improve systematic function.Monitoring device antenna is also using phased
Array antenna, the frequency range used according to modern unmanned plane is main near 433MHz, 2.4GHz, 5.8, can choose 400MHz~
The antenna of bis- frequency ranges of 800MHz and 2GHz~6GHz, is arranged on same front with phased array receiving antenna.
To preferably three in the first technical scheme, all monitoring devices are combined together with cell site, share transmitting turntable,
As shown in fig. 6, the monitoring aerial of monitoring device and the transmitting antenna of cell site point to target simultaneously, transmitting communication module is shared real
Existing signal and data transfer, in this case, when monitoring device finds target and direction finding, the transmitting antenna of cell site has been aligned
Target, data are guided without the first of data processing centre.
To preferably four in the first technical scheme, the transmitting antenna of cell site has 2 kinds of directional diagram width, such as respectively 6 ° and
3 ° two kinds, when unmanned plane radiation signal be 5GHz with super band, now can be wide using 3 ° of directional diagram because direction finding precision is higher
Degree；In addition, when data processing centre sends first and guides data, cell site points to target area using 6 ° of antenna radiation pattern
Domain, when data processing centre, which sends second, guides data, cell site points to target using 3 ° of antenna radiation pattern, to reduce ground
The influence of thing clutter.
Specific embodiment 2
As shown in figure 1, low slow small unmanned aerial vehicle flight path measuring system, including monitoring device 1, cell site 2, receiving station 3, data
Processing center 4 and data transmission link 5.
Exemplified by applied to obstacle free airspace protection zone, to the second technical scheme, its basic configuration is：2 sets of monitoring device, hair
Penetrate 1 set of station, 4 sets of receiving station.
Monitoring device is constituted as shown in Fig. 2 including monitoring aerial 6, monitoring turntable 9, monitoring receiver 7 and monitoring communication mould
Block 8, monitoring device is located on the higher building roof in obstacle free airspace protection zone, to realize the comprehensive prison to whole protection zone
Survey, 2 sets monitoring devices pull open a certain distance to realize Convergent measurement, monitoring aerial is multi-channel multi-frequency band antenna, using than
With the direction finding system being combined than width, to below 2GHz frequency ranges, direction finding precision is at 2 ° or so, and 5GHz is with super band, direction finding essence
Degree is at 1 ° or so.
Cell site is constituted as shown in figure 3, including transmitting antenna 10, transmitting turntable 13, emitter 11, the and of signal generator 12
Communication module 14, on the higher building roof of the central region of obstacle free airspace protection zone, it is to avoid building is blocked；Hair
Antenna is penetrated for parabola antenna, its directional diagram width is 6 °, to avoid the electromagnetic environment to airport from having a negative impact, its work
Frequency can choose 15GHz.
Receiving station's composition includes reception antenna 15, servo control mechanism 19, receiving channel 16/17, processor 18, the and of controller 20
21,4 sets of receiving stations of communication module are individually positioned in place flat near the piece of smooth land of airport, it is ensured that in takeoff and landing section to unmanned plane
Target has certain reception elevation angle, and is combination with adjacent two, covers the emphasis low clearance area centered on runway, centering is high
Dummy section can realize all standing of whole obstacle free airspace protection zone, and reception station antenna is parabola antenna, and its directional diagram width is
0.5 °, using Monopulse estimation system.
Data processing centre includes processor, display and communication module, and processor includes control computer, data processing
Server and database server, processor receive the measurement result of monitoring device by communication module, recognize unmanned plane target,
Target area, the guiding of generation first and control data are calculated, guiding and control command are sent to cell site and receiving station, control is complete
System synergistic working, while the measurement result of receiving station is received, the position of calculating unmanned plane, generation unmanned aerial vehicle flight path, and according to
Unmanned aerial vehicle flight path regenerates the second guiding data, is scanned for receiving station and cell site's beam Synchronization, realizes multistatic radar
System from motion tracking.
It can be special or existing communication net wirelessly or non-wirelessly (coaxial cable, optical fiber etc.) that data transmission link, which can be,
A part for network, reference signal uses data signal, on the basis of cell site, is sent to 4 sets of receiving stations, realizes receiving station and hair
Penetrate the time synchronized at station.
Based on the unmanned aerial vehicle flight path measuring method of above-mentioned second technical scheme, its measuring process is：
Step 221,1 set chosen in monitoring device is surveyed to the parameter of the various radiation signals of zone of protection and direction
Amount, measurement result send data processing centre；
Step 222, data processing centre receives the measurement result of above-mentioned monitoring device, according to the number accumulated when usually monitoring
According to storehouse, when finding emerging radiation signal, generation working frequency and bearing directing data send other monitoring devices, other
Monitoring device is operated in corresponding frequency, and in corresponding volume-search coverage target, measurement result is sent into number after finding target
According to processing center, its motion state is simultaneously observed in the target area that data processing centre calculates new radiation signal, when confirming as protection
During unmanned plane target in region, generation first guides data to send cell site and adjacent 2 socket nearest with unmanned plane orientation
Station is received, while providing receiving station by the target area of target, data processing centre sends measuring command, control total system association in good time
With work；
Step 223, the guiding data control transmitting antenna that cell site is provided according to data processing centre points to unmanned plane mesh
Mark, according to the order of data processing centre, launches radar signal, is received while reference signal is sent by data link
Stand；
Step 224, the guiding data that each receiving station provides according to data processing centre, control reception antenna points to target area
Domain, reception antenna scanning search unmanned plane target according to certain rules, its receiving channel is only handled to be provided by data processing centre
Target area echo-signal, mask other apart from upper ground clutter, receiving station is by each including target and clutter
Measurement result sends the data processing centre.
Step 225, data processing centre receives the measurement result of each receiving station and carries out clutter cancellation processing, obtains different
Visual angle of the receiving station to unmanned plane and the distance to cell site and, the locus of unmanned plane is obtained, so as to produce the second guiding
With control data and send to receiving station and cell site, scanned for receiving station and cell site's beam Synchronization, realize many base thunders
Up to the autonomous tracking of system, complete to trace into the conversion independently tracked from guiding.
To preferably one in the second technical scheme, cell site is fitted together with 1 monitoring device, shares the hair of cell site
Turntable and transmitting communication module are penetrated, the monitoring aerial of monitoring device and the transmitting antenna of cell site point to target, this feelings simultaneously
Under condition, when monitoring device finds target and during direction finding, the transmitting antenna of transmitting alignment target, without the of data processing centre
One guiding data.
To preferably two in the second technical scheme, all monitoring devices are fitted together with receiving station, and each monitoring device is total to
With the servo control mechanism and reception communication module of receiving station, the monitoring aerial of monitoring device and the reception antenna of receiving station are pointed to simultaneously
Target, in this case, when monitoring device finds target and during direction finding, the reception antenna of receiving station alignment target, without number
Data are guided according to the first of processing center.
To preferably three in the second technical scheme, receiving station uses in phased array antenna, orientation adds machinery using electric scanning
Electric scanning is used in scanning, pitching, search can be improved, the speed of target is captured, phased array receiving antenna is using adaptive tune
Zero technology, can form multiple zero points and be directed at strong clutter area, further improve systematic function.The frequency used according to modern unmanned plane
Scope is main near 433MHz, 2.4GHz, 5.8, can choose bis- frequency ranges of 400MHz~800MHz and 2GHz~6GHz
Antenna, with phased array receiving antenna be arranged on same front on.
To preferably four in the second technical scheme, the transmitting antenna directional diagram width of cell site has two kinds to be available for switching to make
With, such as respectively 6 ° and 3 ° two kinds, when unmanned plane radiation signal be 5GHz with super band, because direction finding precision is higher, can now adopt
With 3 ° of directional diagram width；In addition, when data processing centre sends first and guides data, cell site uses 6 ° of antenna direction
Figure points to target area, when data processing centre, which sends second, guides data, and cell site is pointed to using 3 ° of antenna radiation pattern
Target, to reduce the influence of ground clutter.
Claims (10)
1. low slow small unmanned aerial vehicle flight path measuring system, including：Cell site, receiving station, data processing centre and data transmission link,
Characterized in that, the system also includes：
At least two monitoring devices, the radiation signal for unmanned plane described in Convergent measurement；
The data processing centre, the target area of unmanned plane is determined according to the Convergent measurement result of the monitoring device, generation
First guiding and control data, and guide and control the cell site and the receiving station same by the data transmission link
Step points to target area；
The cell site and the receiving station are arranged respectively in the middle part of zone of protection and periphery, the middle part configuration one, described
Periphery at least configures two；The echo-signal of target area described in the receiving station reception processing, measurement result sends described
Data processing centre；
The data processing centre calculates the locus of unmanned plane, the guiding of generation second and control according to the measurement result of receiving station
Data processed, guide the receiving station and the cell site synchronously to point to target.
2. low slow small unmanned aerial vehicle flight path measuring system according to claim 1, it is characterised in that receiving station's configuration exists
The middle part of zone of protection, its receiving channel way R is at least 2, for receiving the echo-signal reflected through unmanned plane, by described
The processor of receiving station is carried out after clutter cancellation, obtain the visual angle of unmanned plane and the distance to different cell sites and, then pass through institute
State after data processing centre's processing, the locus of unmanned plane is obtained, so as to produce the second guiding and control data and send institute
Cell site and the receiving station are stated, is scanned for the receiving station and cell site's beam Synchronization.
3. low slow small unmanned aerial vehicle flight path measuring system according to claim 1, it is characterised in that cell site's configuration exists
Respective measurement result is sent the data processing centre by the middle part of zone of protection, the receiving station, at the data
Reason center is carried out after clutter cancellation processing, is obtained different visual angles of the receiving station to unmanned plane and the distance to cell site and is obtained
The locus of unmanned plane, so as to produce the second guiding and control data and send to the receiving station and the cell site, is used
Scanned in the receiving station and cell site's beam Synchronization.
4. low slow small unmanned aerial vehicle flight path measuring system according to claim 2, it is characterised in that receiving station's configuration one
Monitoring device described in platform, shares the servo control mechanism of the receiving station, the monitoring aerial of the monitoring device and the receiving station
Reception antenna points to target simultaneously, and one or some monitoring devices are arbitrarily set in addition.
5. low slow small unmanned aerial vehicle flight path measuring system according to claim 2, it is characterised in that the monitoring device and institute
State cell site to fit together, share the transmitting turntable of the cell site, the monitoring aerial of the monitoring device and the transmitting
The transmitting antenna stood is while point to target.
6. low slow small unmanned aerial vehicle flight path measuring system according to claim 3, it is characterised in that cell site's configuration one
Monitoring device described in platform, shares the transmitting turntable of the cell site, the monitoring aerial of the monitoring device and the cell site
Transmitting antenna points to target simultaneously, and one or some monitoring devices are arbitrarily set in addition.
7. low slow small unmanned aerial vehicle flight path measuring system according to claim 3, it is characterised in that the monitoring device and institute
State receiving station to fit together, share the servo control mechanism of the receiving station, the monitoring aerial of the monitoring device is received with described
The reception antenna stood is while point to target.
8. the low slow small unmanned aerial vehicle flight path measuring system according to claim 4 or 7, it is characterised in that the receiving station and
The monitoring device adds mechanical scanning, pitching in orientation using phased array antenna and on same front using electric scanning
Upper use electric scanning.
9. according to the low slow small unmanned aerial vehicle flight path measuring system described in 2 or 3, it is characterised in that the first guiding data guiding
The cell site points to target area using wide antenna radiation pattern, and it is narrow that the second guiding data guide the cell site to use
Antenna radiation pattern point to target.
10. low slow small unmanned aerial vehicle flight path measuring method, it is characterised in that this method also comprises the following steps：
Step S1, configures at least two monitoring devices, the radiation signal for monitoring the unmanned plane, and send the number by result
According to processing center；
Step S2, the cell site and the receiving station are arranged respectively in the middle part of zone of protection and periphery, the middle part configuration
One, the circumferential arrangement at least two；
Step S3, the data processing centre determines the target area of unmanned plane according to the Convergent measurement result of the monitoring device
Domain, the guiding of generation first and control data, and guide and control the cell site and described by the data transmission link
Receiving station synchronously points to target area；
Step S4, the transmitting stand control transmitting antenna points to target area, launches radar signal, while reference signal is passed through
The data link sends the receiving station；
Step S5, the reception stand control reception antenna points to target area, reception antenna scanning search according to certain rules without
Man-machine target, the echo-signal of target area described in the receiving station reception processing, measurement result sends the data processing
Center；
Step S6, the data processing centre calculates the locus of unmanned plane according to the measurement result of receiving station, generates nobody
Machine flight track, so as to produce the second guiding and control data and send the cell site and the receiving station, connects for described
Station and cell site's beam Synchronization scanning are received, the autonomous tracking of multi-static radar system is realized.
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