CN116087900B - Inter-travel detection vehicle-mounted platform for one-dimensional phased array radar - Google Patents
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Abstract
The invention provides a vehicle-mounted platform for detecting a one-dimensional phased array radar during traveling, which comprises a turntable, a radar, a gyroscope, an attitude sensor, a navigation module and a main control system. The method is suitable for the one-dimensional phased array radar inter-travel detection of azimuth machine scanning and pitching phase scanning, and can compensate the angular offset and the movement speed of the vehicle-mounted platform in the inter-travel detection process, so that the radar can always ensure stable detection in a specified search space; compared with the mode of adopting a mechanical automatic leveling structure to ensure the radar level, the method and the device have the advantages that the angle offset is calculated through the digital calculation platform, the pitching beam direction of the phased array is adjusted to realize the beam stability, the compensation precision is higher, and if the mechanical leveling platform is adopted, the design is required according to the weight size of the load, so that the design difficulty is improved, the applicability is reduced, and the method and the device do not need to newly design the size of the mechanical structure, so that the universality is improved.
Description
Technical Field
The invention relates to the technical field of measurement and test, in particular to a vehicle-mounted platform for detecting a one-dimensional phased array radar during traveling.
Background
The radar judges the speed of the target according to the Doppler frequency generated by the moving target, thereby realizing the detection of the moving target. The radar works in the advancing period, and the ground static target can generate Doppler speed to influence the detection of the moving target, so that speed compensation is needed to compensate the speed of the static target to zero speed. Meanwhile, the radar works in the advancing process, and the change of the vehicle body posture can influence the beam pointing direction of the vehicle-mounted radar system, so that the radar searching coverage area is influenced, and therefore the beam of the radar needs to be compensated, and the original beam pointing direction is kept.
At present, no relevant patent application of a one-dimensional phased array radar in-process detection vehicle-mounted platform is disclosed, and the relevant patent application is a stable platform, and the patent application is CN211979185U, a triaxial stable platform for a water surface floating platform information radar, which ensures that the radar is stable in two directions through a pitching transmission mechanism and a rolling transmission mechanism respectively, and keeps the radar horizontal in a mechanical leveling mode. However, the technical scheme cannot perform speed compensation, so that the method cannot be applied to a detection platform between the advancing of the one-dimensional phased array radar.
Thus, there is a need for a platform for one-dimensional phased array radar in-flight detection.
Disclosure of Invention
The invention provides a vehicle-mounted platform for detecting the one-dimensional phased array radar during the advancing process, which aims to solve the problems of angle compensation and speed compensation of the one-dimensional phased array radar during the advancing process, and can compensate the angle deviation and the movement speed of the vehicle-mounted platform during the advancing process, so that the radar can always ensure stable detection in a specified searching space. Compared with the mode of adopting a mechanical automatic leveling structure to ensure the radar level, the method and the device have the advantages that the angle offset is calculated through the digital calculation platform, the pitching beam direction of the phased array is adjusted to realize the beam stability, and the compensation precision is higher. If the mechanical leveling platform is adopted, the design is required according to the weight size of the load, so that the design difficulty is improved, the applicability is reduced, and the invention does not need to newly design the size of the mechanical structure, so that the universality is improved.
The invention provides an in-travel detection vehicle-mounted platform for a one-dimensional phased array radar, which comprises a turntable arranged on a vehicle body, a radar, a gyroscope, an attitude sensor, a navigation module and a main control system, wherein the radar, the gyroscope, the attitude sensor and the navigation module are connected above the turntable;
the gyroscope detects disturbance of a vehicle body in real time and transmits data to the main control system, the gesture sensor detects three-axis gesture angles in real time and transmits the data to the main control system, the navigation module detects speed and speed direction information in real time and transmits the data to the main control system, the main control system receives disturbance data and controls a motor of the turntable to conduct disturbance correction, the main control system receives the three-axis gesture angle information and conducts angle compensation on radar beams, and the main control system receives the speed and speed direction information and conducts Doppler frequency offset correction on beams with different azimuth and pitching angles by combining the current azimuth pointing angle of the turntable.
The invention relates to an in-advancing detection vehicle-mounted platform for a one-dimensional phased array radar, which is used as an optimal mode, and comprises the following steps:
s1, receiving a radar emission beam and a return wave for processing in the running process of a vehicle body, and outputting the angular acceleration alpha of a turntable in the horizontal direction to a main control system in real time by a gyroscope;
s2, judging whether alpha is equal to 0, if not, entering a step S3 for correction, and if so, returning to the step S1 for detection continuously;
s3, the main control system sends a control signal for generating alpha angular acceleration to the motor of the turntable so as to correct the azimuth speed deviation;
s4, according to the three-axis attitude angle detected in real time by the attitude sensor, the main control system carries out pitching angle compensation on an output beam of the radar;
s5, according to the speed and speed direction information detected by the navigation module in real time and the current azimuth pointing angle of the turntable, the main control system performs speed compensation on beams with different azimuth and pitching angles output by the radar so as to perform Doppler frequency offset correction;
s6, finishing correction of the detection vehicle-mounted platform during traveling, returning to the step S1, and continuing detection.
In the invention, as an optimal mode, in step S3, a main control system calculates the torque of a motor according to the angular acceleration alpha through a PID algorithm, and sends a PWM signal to a motor driver of a turntable to control the rotation of the motor, so that the angular acceleration of the turntable is kept to be 0 after disturbance correction.
The invention relates to a vehicle-mounted platform for detecting a one-dimensional phased array radar during traveling, which is used as a preferable mode, and in the step S4, a pitch angle compensation method comprises the following steps:
wherein ,E1 In order to correct the post-radar pitch angle,
the method comprises the steps of measuring the angular offset of the radar around a transverse rolling shaft in real time for an attitude sensor, wherein E is a central angle of a pitching beam, and A is the azimuth of a target in a radar coordinate system.
In the invention, as a preferable mode, in step S5, the method for correcting the speed compensation to be doppler frequency offset is as follows:
wherein ,Sd The Doppler frequency offset correction value, j is an imaginary number,
the Doppler frequency of the motion of the vehicle body relative to the ground object is represented by t, which is the time.
The invention relates to a vehicle-mounted platform for detecting the advancing time of a one-dimensional phased array radar, which is used as an optimal mode,
；
wherein ,
λ is the radar operating wavelength, which is the relative radial velocity.
The invention relates to a vehicle-mounted platform for detecting the advancing time of a one-dimensional phased array radar, which is used as an optimal mode,
；
wherein V is the vehicle body movement speed detected by the navigation module, A 1 A is the angle difference between the longitudinal axis of the turntable and the longitudinal axis of the vehicle body in the rotating process of the turntable 2 Is the structural angular deviation between the antenna electrical axis and the longitudinal axis of the turntable.
The invention relates to a vehicle-mounted platform for detecting the advancing time of a one-dimensional phased array radar, which is used as an optimal mode,
wherein ,
measuring the angular offset of the radar around the heading axis for the attitude sensor in real time，
The angular offset of the radar around the pitch axis is measured in real time for the attitude sensor.
The invention relates to a vehicle-mounted platform for detecting a one-dimensional phased array radar in the advancing process, which is used for preferentially selecting the three-dimensional coordinate of a target in an XOZ plane as follows
Coordinates of the plane coordinate system after the plane rotation
。
The invention relates to a vehicle-mounted platform for detecting a one-dimensional phased array radar in the advancing process, which is used as a preferable mode, wherein an array plane coordinate system after the rotation of an array plane is as follows:
wherein R is the distance of the target in a radar coordinate system,
for the angular offset of the radar around the heading axis, measured in real time by the attitude sensor, +.>
The angular offset of the radar around the pitch axis is measured in real time for the attitude sensor.
In the technical scheme, the radar servo corrects azimuth speed deviation in the vehicle movement process through a high-precision gyroscope; performing pitching angle compensation on the wave beam of the radar according to the triaxial attitude angle of the attitude sensor through the digital computing platform; and carrying out speed compensation on the beams with different azimuth and pitching angles according to the speed and speed direction information of the Beidou module.
The gyroscope detects disturbance of the vehicle body in real time, data are transmitted to the main control system, the system calculates torque of the motor according to feedback data of the gyroscope through a PID algorithm, and the torque is transmitted to the motor driver through a PWM signal to control rotation of the motor, so that carrier disturbance is counteracted, and rotation speed is stabilized.
Radar tilt can be described in terms of pitch and roll, with pitch referring to the tilt produced by the radar longitudinal axis and roll referring to the tilt produced by the radar transverse axis, which is perpendicular to the radar transverse axis. With reference to the right hand rotation, the radar antenna is defined as forward with the longitudinal axis, and the radar longitudinal axis is tilted up in the forward direction, then the pitch angle is negative, whereas the pitch angle is negative. Along the positive direction of the radar longitudinal axis, the right side of the radar longitudinal axis is defined as the positive direction of the radar transverse axis, the positive downward inclination of the radar transverse axis causes the roll angle to be positive, and the positive upward inclination of the radar transverse axis causes the roll angle to be negative. When the radar is inclined, namely the radar generates pitching and rolling, the search antenna base is located on an inclined plane, and the angle offset is comprehensively calculated through the pitching and rolling angles of the dynamic inclinometer and the azimuth and pitching scanning angles of the radar, and the beam pointing direction is corrected before the beam is emitted.
The longitudinal axis of the vehicle body refers to the longitudinal center line of the vehicle body, and the head of the vehicle body is taken as the positive direction of the longitudinal axis of the vehicle body. The radar antenna array surface is arranged on a vehicle, and when the antenna is positioned at the zero position of the turntable, a certain angle deviation A exists between the electric axis of the radar antenna and the positive direction of the longitudinal axis of the vehicle body 1 . The angle difference between the antenna azimuth scanning beam and the zero position of the turntable is A 2 。
When the vehicle body moves linearly, the speed direction is along the longitudinal axis direction of the vehicle body. The relative radial velocity of the vehicle and the ground object is equal to the component of the vehicle body velocity directed along the antenna beam azimuth. When the motion speed of the vehicle body is V and the radar beams are scanned in pitching, the angles corresponding to the beams are different, and the corresponding relative radial speeds are also different.
Therefore, after the radar signal is sampled and digital down-converted, the Doppler frequency shift of the vehicle relative to the ground object is calculated according to the motion speed of the vehicle body and the offset angles of the longitudinal axis of the vehicle body and the longitudinal axis of the turntable and the electric axis of the antenna, and the Doppler frequency shift correction is carried out on the echo.
The invention has the following advantages:
the invention is suitable for the vehicle-mounted platform for detecting the traveling space of the one-dimensional phased array radar with the azimuth machine scanning and the elevation phase scanning, and can compensate the angular offset and the movement speed of the vehicle-mounted platform in the traveling space detection process, so that the radar can always ensure stable detection in a specified search space. Compared with the mode of adopting a mechanical automatic leveling structure to ensure the radar level, the method and the device have the advantages that the angle offset is calculated through the digital calculation platform, the pitching beam direction of the phased array is adjusted to realize the beam stability, and the compensation precision is higher. If the mechanical leveling platform is adopted, the design is required according to the weight size of the load, so that the design difficulty is improved, the applicability is reduced, and the invention does not need to newly design the size of the mechanical structure, so that the universality is improved.
Drawings
FIG. 1 is a schematic block diagram of an in-flight probing vehicle platform for a one-dimensional phased array radar;
FIG. 2 is a flow chart of a detection method for an in-flight detection vehicle platform for a one-dimensional phased array radar;
FIG. 3 is a schematic diagram of an azimuth beam offset of an on-board platform for in-flight detection of a one-dimensional phased array radar;
FIG. 4 is a schematic diagram of azimuth and elevation angles of a radar beam of an in-flight probe vehicle platform for a one-dimensional phased array radar;
FIG. 5 is a graph comparing calculated values of angle compensation with actual angle offset for an in-flight detection vehicle platform of a one-dimensional phased array radar;
fig. 6 is a graph after compensating the rotational speed of the turntable during the traveling of the traveling detection vehicle-mounted platform for the one-dimensional phased array radar.
Reference numerals:
1. a turntable; 2. A radar; 3. A gyroscope; 4. An attitude sensor; 5. A navigation module; 6. And a master control system.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
Example 1
As shown in fig. 1, the vehicle-mounted platform for detecting the travelling time of the one-dimensional phased array radar comprises a turntable 1 arranged on a vehicle body, a radar 2, a gyroscope 3, an attitude sensor 4 and a navigation module 5 which are connected above the turntable 1, and a main control system 6 which is connected with the turntable 1, the radar 2, the gyroscope 3, the attitude sensor 4 and the navigation module 5, wherein the turntable 1 drives the radar 2 to rotate on the vehicle body, and the radar 2 is the one-dimensional phased array radar;
the gyroscope 3 detects disturbance of a vehicle body in real time and transmits data to the main control system 6, the gesture sensor 4 detects three-axis gesture angles in real time and transmits data to the main control system 6, the navigation module 5 detects speed and speed direction information in real time and transmits data to the main control system 6, the main control system 6 receives disturbance data and controls a motor of the turntable 1 to conduct disturbance correction, the main control system 6 receives the three-axis gesture angle information and conducts angle compensation on radar beams, and the main control system 6 receives the speed and speed direction information and conducts Doppler frequency offset correction on beams with different azimuth and pitching angles by combining the three-axis gesture angle information.
As shown in fig. 2, the detection method for the in-travel detection vehicle-mounted platform comprises the following steps:
s1, transmitting a wave beam by a radar 2 and receiving a return wave for processing in the running process of a vehicle body, and outputting the angular acceleration alpha of a turntable 1 in the horizontal direction to a main control system 6 by a gyroscope 3 in real time;
s2, judging whether alpha is equal to 0, if not, entering a step S3 for correction, and if so, returning to the step S1 for detection continuously;
s3, the main control system 6 sends a control signal for generating alpha angular acceleration to the motor of the turntable 1 so as to correct the azimuth speed deviation; the radar servo corrects the azimuth speed deviation in the vehicle motion process through a high-precision gyroscope;
s4, according to the three-axis attitude angle detected in real time by the attitude sensor 4, the main control system 6 performs pitching angle compensation on the output beam of the radar 2;
s5, according to the speed and speed direction information detected by the navigation module 5 in real time and the current direction pointing angle of the turntable 1, the main control system 6 performs speed compensation on beams with different azimuth and pitching angles output by the radar 2 so as to perform Doppler frequency offset correction;
s6, finishing correction of the detection vehicle-mounted platform during traveling, returning to the step S1, and continuing detection;
in step S3, the acceleration of the azimuth angle is 0 during the rotation process of the radar turntable at the azimuth uniform speed. However, when the radar is in an inter-travelling state, angular acceleration exists in azimuth due to the movement of the vehicle-mounted platform, so that the turntable does not rotate at a constant speed any more. The angular acceleration in the azimuth direction can be measured to be alpha through the high-precision gyroscope, the angular acceleration is corrected through the controller of the turntable, the angular acceleration of alpha is generated, the angular acceleration of the turntable is always 0, the rotating speed of the turntable is in a stable state, and the azimuth beam of the radar uniformly covers the detection range.
In step S4, the angular offsets around the heading axis, the pitch axis, and the horizontal roller are set as follows:
；
，
. The antenna is on the XOZ plane, and the distance azimuth pitch of the target in the radar coordinate system is +.>
Three-dimensional coordinates of
Then
Because the rotation of the array surface causes the change of the coordinate system, the coordinates of the changed array surface coordinate system
The method comprises the following steps:
after the antenna deflects on the vehicle-mounted platform, the pitching angle of the beam pointing direction is adjusted as follows:
because the radar is a one-dimensional pitching phase-scanning radar, only the pitching angle is required to be corrected finally, the azimuth angle is not required to be adjusted, and the gyroscope is used for compensating the azimuth angle to ensure the stable rotating speed.
In step S5, the calculation formula of the velocity compensation is: the longitudinal axis of the vehicle body refers to the longitudinal center line of the vehicle body, and the head of the vehicle body is taken as the positive direction of the longitudinal axis of the vehicle body. As shown in fig. 3-4, the radar antenna array is mounted on a vehicle, and when the antenna is in the zero position of the turntable, a fixed structural angle deviation A exists between the antenna electric axis and the longitudinal axis of the turntable 2 The angle difference between the longitudinal axis of the turntable and the longitudinal axis of the vehicle body in the rotating process of the turntable is A 1 。
The built-in encoder of the turntable 1 can obtain the azimuth pointing angle of the current turntable 1, and the angle range is 0-360 degrees; when the turntable 1 is arranged on the vehicle-mounted platform, the 0-degree pointing direction of the turntable 1 is ensured to be horizontal to the longitudinal axis direction of the vehicle body, and the azimuth pointing angle of the turntable 1 is the angle difference A between the longitudinal axis of the turntable and the longitudinal axis of the vehicle body 1 。
When the vehicle body moves linearly, the speed direction is along the longitudinal axis direction of the vehicle body. The relative radial velocity of the vehicle and the ground object is equal to the component of the vehicle body velocity directed along the antenna beam azimuth. When the motion speed of the vehicle body is V and the radar beams are scanned in pitching, the angles corresponding to the beams are different, and the corresponding relative radial speeds are also different. Let the pitch beam center angle be E, then the relative radial velocity be:
。
let radar operating wavelength be λ, then the doppler frequency of the vehicle body motion relative to the ground feature is:
。
therefore, after the radar signal is sampled and digital down-converted, the Doppler frequency shift of the vehicle relative to the ground object is calculated according to the motion speed of the vehicle body and the offset angles of the longitudinal axis of the vehicle body and the longitudinal axis of the turntable and the electric axis of the antenna, and the Doppler frequency shift correction is carried out on the echo. The correction formula is:
。
as shown in fig. 5, during the running process of the vehicle, the difference between the beam pitch angle offset calculated by the digital calculation platform and the actual pitch angle offset value is very small, and the angle compensation precision is high within 0.1 degrees.
As shown in fig. 6, the actual rotational speed of the turntable after compensating the rotational speed of the vehicle by the gyroscope during the running of the vehicle can be seen that the rotational speed of the turntable is stabilized around the set value of 180 °/s after the rotational speed compensation.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (7)
1. An inter-travel detection vehicle-mounted platform for a one-dimensional phased array radar is characterized in that: the radar system comprises a turntable (1) arranged on a vehicle body, a radar (2), a gyroscope (3), an attitude sensor (4), a navigation module (5) and a main control system (6) which are connected with the turntable (1), the radar (2), the gyroscope (3), the attitude sensor (4) and the navigation module (5), wherein the radar (2) is driven by the turntable (1) to rotate on the vehicle body, and the radar (2) is a one-dimensional phased array radar;
the gyroscope (3) detects disturbance of a vehicle body in real time and transmits data to the main control system (6), the attitude sensor (4) detects three-axis attitude angles in real time and transmits the data to the main control system (6), the navigation module (5) detects speed and speed direction information in real time and transmits the data to the main control system (6), the main control system (6) receives disturbance data and controls a motor of the turntable (1) to perform disturbance correction, the main control system (6) receives the three-axis attitude angle information and performs angle compensation on radar beams, and the main control system (6) receives the speed and speed direction information and performs Doppler frequency offset correction on beams with different azimuth and pitching angles by combining the current azimuth pointing angle of the turntable (1);
the detection method of the vehicle-mounted platform during traveling detection comprises the following steps:
s1, transmitting a wave beam by the radar (2) and receiving and processing an echo in the running process of a vehicle body, and outputting the angular acceleration alpha of the turntable (1) in the horizontal direction to the main control system (6) by the gyroscope (3) in real time;
s2, judging whether alpha is equal to 0, if not, entering a step S3 for correction, and if so, returning to the step S1 for detection continuously;
s3, the main control system (6) sends a control signal for generating alpha angular acceleration to a motor of the turntable (1) so as to correct azimuth speed deviation;
the main control system (6) calculates the torque of the motor through a PID algorithm according to the angular acceleration alpha, and the torque is transmitted to a motor driver of the turntable (1) through a PWM signal to control the rotation of the motor, so that the angular acceleration of the turntable (1) is kept to be 0 after disturbance correction;
s4, according to the three-axis attitude angle detected in real time by the attitude sensor (4), the main control system (6) performs pitching angle compensation on the output beam of the radar (2);
s5, according to the speed and speed direction information detected by the navigation module (5) in real time and the current azimuth pointing angle of the turntable (1), the main control system (6) carries out speed compensation on beams with different azimuth and pitching angles output by the radar (2) so as to carry out Doppler frequency offset correction;
s6, finishing correction of the detection vehicle-mounted platform during traveling, returning to the step S1, and continuing detection.
2. An in-flight probing vehicle platform for a one-dimensional phased array radar as claimed in claim 1, wherein: in step S4, the pitch angle compensation method includes:
wherein ,E1 In order to correct the post-radar pitch angle,
and measuring the angular offset of the radar around the transverse rolling shaft in real time for the attitude sensor (4), wherein E is the central angle of the pitching beam, and A is the azimuth of the target in a radar coordinate system.
3. An in-flight probing vehicle platform for a one-dimensional phased array radar as claimed in claim 2, wherein: in step S5, the method for correcting the doppler frequency offset by the velocity compensation includes:
wherein ,Sd The Doppler frequency offset correction value, j is an imaginary number,
the Doppler frequency of the motion of the vehicle body relative to the ground object is represented by t, which is the time.
4. A mid-travel probe vehicle platform for a one-dimensional phased array radar as claimed in claim 3, wherein:
wherein ,
for relative radial velocity>
Is the radar operating wavelength.
5. An in-flight probing vehicle platform for a one-dimensional phased array radar as claimed in claim 4, wherein:
wherein V is the vehicle body movement speed detected by the navigation module (5), A 1 A is the angle difference between the longitudinal axis of the turntable (1) and the longitudinal axis of the vehicle body in the rotating process of the turntable (1) 2 Is the structural angular deviation between the antenna electrical axis and the longitudinal axis of the turntable (1).
6. An in-flight probing vehicle platform for a one-dimensional phased array radar as claimed in claim 1, wherein:
the three-dimensional coordinates of the object in the XOZ plane are
Coordinates of the plane coordinate system after the plane rotation
。
7. An in-flight probing vehicle platform for a one-dimensional phased array radar as claimed in claim 6, wherein:
the array plane coordinate system after the array plane rotation is as follows:
wherein R is the distance of the target in a radar coordinate system,
for the angular offset of the radar about the course axis, which is measured in real time by the attitude sensor (4), is +.>
An angular displacement of the radar about the pitch axis measured in real time for the attitude sensor (4). />
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| WO2023023936A1 (en) * | 2021-08-24 | 2023-03-02 | 华为技术有限公司 | Positioning method and positioning apparatus |
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