CN112346094B - Quick and high-precision radar heading angle measuring method - Google Patents
Quick and high-precision radar heading angle measuring method Download PDFInfo
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- CN112346094B CN112346094B CN202011322742.8A CN202011322742A CN112346094B CN 112346094 B CN112346094 B CN 112346094B CN 202011322742 A CN202011322742 A CN 202011322742A CN 112346094 B CN112346094 B CN 112346094B
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Signal Processing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention relates to a rapid and high-precision radar course angle measuring method, which belongs to the technical field of navigation and control, and comprises the following steps: s1, a receiver receives satellite ephemeris information through an antenna and performs initialization positioning; s2, the receiver sends satellite ephemeris information received once every second to the singlechip; s3, performing a fine scanning process; s4, under the condition that the first round of fine scanning is effective, carrying out a second round of fine scanning; s5, determining a radar course angle. The zero position of the antenna is adjustable, the position setting is flexible, and the electric scanning function can further shorten the course angle output time; the course angle is calculated based on the original ephemeris message forwarded by the singlechip self-calculation receiver, and the calculation accuracy is controllable.
Description
Technical Field
The invention relates to a rapid and high-precision radar course angle measuring method, which is used for measuring the course angle of an outdoor radar and belongs to the technical field of navigation and control.
Background
When the radar carries out target identification, the course and distance information of the target need to be acquired in real time and displayed on a map. Since the range of the radar can reach tens of kilometers, the deviation of the initial heading angle can bring about the deviation of hundreds of meters in the dimension of the target distance. Currently, three heading angle measurement schemes are commonly used, namely a magnetic compass; secondly, a gyro north seeker; and thirdly, a dual-antenna GPS attitude measurer.
The magnetic compass measures a spatial attitude angle by utilizing the inherent directivity of the geomagnetic field. The surrounding steel structure and electrical equipment have a great influence on the magnetic compass. The gyro north seeker is an inertial measurement system for measuring the projection direction of the rotation angular rate of the earth on a local horizontal plane by using the gyro principle. Besides being limited by high latitude, its north seeking measurement is not affected by weather, circadian time, geomagnetic field and site-wide conditions, but is expensive. Based on dual GPS baseline measurement, two or more antennas are adopted to form a baseline vector, GPS carrier measurement data are adopted to determine integer ambiguity so as to solve an attitude angle, the measurement accuracy of the attitude angle is limited by the baseline length, and the size cannot be miniaturized.
Disclosure of Invention
The invention solves the technical problems that: the method for measuring the heading angle of the radar in the prior art has the advantages that the defect of the prior art is overcome, the rapid and high-precision radar heading angle measuring method is provided, the rapid actual combat emission of the carrier-based missile is realized, and the actual combat capability and the combat effectiveness of the carrier-based weapon are effectively improved.
The solution of the invention is as follows:
a rapid and high-precision radar course angle measuring method comprises the following specific steps:
s1, a receiver receives satellite ephemeris information through an antenna and performs initialization positioning;
s2, the receiver sends satellite ephemeris information received once per second to the singlechip, the motor roughly scans for one circle at 15-30 degrees/second, the singlechip records the numbers and corresponding carrier-to-noise values of all local visible satellites, the satellites with carrier-to-noise ratios above 65 are recorded as strong signal satellites sat 1-satn, the maximum value max 1-maxn of the carrier-to-noise ratio of each strong signal satellite is recorded, and the angle range angle1-angle2 with the carrier-to-noise ratio above 65 is recorded;
s3, performing a fine sweep: after the motor rotates to angle1, a first round of fine scanning is started at 2-5 degrees/second, the average value of at least 4 times of collected data is judged, if the current carrier-to-noise ratio average value is reduced by 15 than the carrier-to-noise ratio of sat1, the current carrier-to-noise ratio is switched to single-time collected data judgment, the angle range of the single-time data value which is reduced by 20 than that of the current carrier-to-noise ratio of max1 is recorded to be angle 3-angle 4, then the single-time data value is switched to the average value of at least 4 times of collected data to be judged, the stepping motor is continuously rotated, at the moment, the carrier-to-noise ratio of sat1 starts to rise to reach a strong signal threshold 65, the whole process mark is valid, if the strong signal threshold 65 cannot be reached, the process mark is invalid, and fine scanning is started on sat 2;
s4, under the condition that the first round of fine scanning is effective, carrying out the second round of fine scanning: the second round of fine scanning range is angle 3-angle 4, the precision of the stepping motor is controlled to be 0.2-0.6 degree/second, 1 group is recorded as data collected for 4 times, the angle of data collected for 4 th time is recorded as the angle of the group, the average value of the carrier-to-noise ratio collected for 4 times is recorded as the carrier-to-noise ratio of the group, the angle5 of the motor corresponding to the minimum value of the carrier-to-noise ratio appearing in sat1 in the scanning process is recorded, then the motor is turned to the angle5 again, and the course angle B of the satellite at the moment is calculated by satellite ephemeris analysis;
s5, determining ase:Sub>A radar heading angle C=B-A-angle 5, wherein the satellite heading angle B is ase:Sub>A real direction taking geographic north direction as ase:Sub>A reference, angle5 is an angle of zero-crossing of the measuring equipment relative to ase:Sub>A motor, and A is an included angle between an antennase:Sub>A pattern zero-point plane and the radar heading.
Further, the antenna pattern has a steep zero point, and the angle range of the zero depth 30 dB-40 dB change is within 1 degree, so that the accuracy of real-time data calculation is ensured.
Further, if the first round of fine scanning results are invalid, the satellite is replaced to carry out the first round of fine scanning again.
Furthermore, the receiver can forward satellite real-time ephemeris information, and data analysis is performed by using satellite ephemeris information broadcasted by the satellite every second, so as to obtain Doppler orbit parameters of the satellite, and further calculate a course angle.
Furthermore, the rear end of the antenna is matched with an active phase shifter to carry out beam zero distribution design, and the position corresponding to the antenna zero point and the device to be measured form a fixed angle difference.
Further, the satellite ephemeris information comprises the satellite position, the local longitude and latitude and the current time information.
Compared with the prior art, the invention has the beneficial effects that:
(1) The zero position of the antenna is adjustable, the position setting is flexible, and the electric scanning function can further shorten the course angle output time;
(2) The course angle calculation is based on the original ephemeris message forwarded by the singlechip self-calculation receiver, and the calculation accuracy is controllable;
(3) The invention designs a course angle zero point locking method based on the combination of motor rotation coarse and fine scanning, omits the information acquisition process of satellite almanac forecasting, and has a simpler scheme;
(4) The antenna provided by the invention has the advantages that the coupling branches and the guiding branches are added, so that the electric size of the antenna is reduced, the reactance component of the antenna is reduced, and the radiation efficiency of the antenna is improved;
(5) The invention can be used for the calibration work of outdoor equipment, the course angle resolving time is short, and the accuracy is better than 1 degree.
Drawings
FIG. 1 is a schematic diagram of the radar heading angle measurement of the present invention;
FIG. 2 is a flow chart of the course angle calculation algorithm of the present invention.
Detailed Description
The invention is further illustrated below with reference to examples.
And selecting a receiver with the real-time ephemeris information of the forwarding satellite, carrying out data analysis by using the ephemeris message information broadcasted by the satellite every second, obtaining Doppler orbit parameters of the satellite, further calculating a course angle, and reserving two positions after decimal points of an angle calculation value.
The antenna feed part is designed into an array antenna with a specific zero point direction, the rear end of the antenna is matched with an active phase shifter to carry out beam zero point distribution design, and the position corresponding to the antenna zero point is in fixed angle difference with the device to be tested.
The radio frequency front end with the two-stage amplifier is designed, the carrier-to-noise ratio compensation is carried out on the received signal, the lower layer receiver is connected through a radio frequency cable, and the lower layer power supply circuit supplies power to the radio frequency front end through a terminal.
And designing a set of full-load noise value discrimination algorithm to lock the zero point of the measured data. And eliminating jump data and satellite loss conditions through multiple average value judgment and a value judgment algorithm to obtain high-precision course angle output.
And a high-precision control motor is adopted to carry out a judgment method combining coarse scanning and fine scanning. Firstly, a motor drives an antenna and a receiver to rotate for a circle rapidly, and all current visible satellite noise-carrying values are obtained. After screening, determining the rough selection area to carry out full-load noise value judgment algorithm judgment, planning the fine scanning area to carry out judgment again, and locking the corresponding position of the zero point after three times of operation.
The accuracy of the course angle is determined by four aspects, namely satellite ephemeris resolving accuracy, an antenna zero point corresponding angle, threshold setting of a full-load noise value judging algorithm and control accuracy of a high-accuracy motor.
Examples
And selecting a receiver with satellite ephemeris forwarding function, and receiving and analyzing the ephemeris of the Beidou or GPS. As shown in fig. 1, course angle calculation is performed by referring to different calculation methods of the system, and two significant digits after the decimal point of the calculated value of the course angle are reserved.
The zero depth of the designed miniaturized antenna pattern is more than 30dB, the rear end of the antenna is provided with an active phase shifter, the pointing direction of the antenna zero point can be controlled, the included angle A between the projection line of the plane corresponding to the antenna zero point on the ground plane and the fixed line, and the calculated satellite north direction deflection angle B jointly determine the heading angle C of the device in actual pointing direction.
The radio frequency front end comprises a filter with frequency covering the L1 frequency bands of the Beidou B1L and the GPS, and a two-stage low-noise amplifier. The cascade gain is more than 20 dB. The power supply of the radio frequency circuit is provided by the lower circuit board, and the radio frequency output is connected to the lower interface by the radio frequency interface of the upper circuit board.
The lower layer circuit comprises a motor controller, a singlechip, a satellite receiver and a power supply system.
The dynamic course angle calculating algorithm is specifically realized in that after the device is electrified, a receiver receives satellite ephemeris once per second and sends the satellite ephemeris to a singlechip, a motor roughly scans for one circle at 20 degrees/second, the singlechip records the numbers and corresponding carrier-to-noise values of all local visible satellites, the satellites with carrier-to-noise ratios above 65 are recorded as strong signal satellites sat 1-satn, and the maximum value max 1-maxn of the carrier-to-noise ratio of each strong signal satellite and the angle range angle1-angle2 with the carrier-to-noise ratio above 65 are recorded.
Next, a fine scanning process is started, as shown in fig. 1, by taking sat1 (Beidou or GPS (global positioning system) and the satellite sequence which meets the condition is calculated in practice) as an example, after the motor rotates to angle1, a first round of fine scanning is started at2 degrees/second, the average value of 4 times of collected data is judged, if the current carrier-to-noise ratio average value is 15 lower than sat1 carrier-to-noise ratio max1, the judgment is switched to single collected data, the angle range of 20 lower than max1 is recorded to angle 3-angle 4, then the judgment is switched to the average value of 4 times of collected data, the rotation of the stepping motor is continued, at this moment, the sat1 carrier-to-noise ratio starts to rise to reach a strong signal threshold 65, if the whole process mark is valid, the process mark is invalid, and the fine scanning is started to sat 2.
And under the condition that the first round of fine scanning is effective, performing a second round of fine scanning. The second round of fine scanning range is angle 3-angle 4, the precision of the stepping motor is controlled to be 0.2 degree/second, 1 group is recorded in every 4 times of data acquisition, the 4 th time of data acquisition angle is recorded as the group of angles, the average value of 4 times of data acquisition carrier-to-noise ratio is recorded as the group of carrier-to-noise ratio, and the motor angle5 corresponding to the minimum value of the carrier-to-noise ratio in sat1 in the scanning process is recorded. And then the motor is turned to angle5 again, and the course angle B of the satellite at the moment is calculated by satellite ephemeris analysis.
The active phase shifter determines an included angle A between the zero plane of the antenna pattern and the radar heading; the zero point direction of the motor is consistent with the radar course angle, the satellite course angle B is the real direction taking the geographic north direction as ase:Sub>A reference, and angle5 is the angle of the measuring equipment rotating relative to the zero point of the motor, so that the radar course angle C=B-A-angle 5 can be obtained.
The antenna pattern in this example should have a steep zero point, and the angle range of the change of 30dB to 40dB at zero depth should be within 1 degree, so as to ensure the accuracy of real-time data calculation.
In this example, the average value determination cannot be replaced by the single value determination, and if the first round of fine scanning results are invalid, the satellite should be replaced to perform the first round of fine scanning again.
The course angle measuring method of the embodiment is applied to the radar north correction and target tracking processes, is not interfered by surrounding electromagnetic environment, and can control course angle precision according to actual requirements.
The zero position of the antenna is adjustable, the position setting is flexible, and the electric scanning function can further shorten the course angle output time;
the course angle calculation is based on the original ephemeris message forwarded by the singlechip self-calculation receiver, and the calculation accuracy is controllable;
the invention designs a course angle zero point locking method based on the combination of motor rotation coarse and fine scanning, omits the information acquisition process of satellite almanac forecasting, and has a simpler scheme;
the antenna provided by the invention has the advantages that the coupling branches and the guiding branches are added, the electric size of the antenna is reduced, the reactance component of the antenna is reduced, and the radiation efficiency of the antenna is improved.
Although the present invention has been described in terms of the preferred embodiments, it is not intended to be limited to the embodiments, and any person skilled in the art can make any possible variations and modifications to the technical solution of the present invention by using the methods and technical matters disclosed above without departing from the spirit and scope of the present invention, so any simple modifications, equivalent variations and modifications to the embodiments described above according to the technical matters of the present invention are within the scope of the technical matters of the present invention.
Claims (6)
1. A rapid and high-precision radar course angle measuring method is characterized by comprising the following specific steps:
s1, a receiver receives satellite ephemeris information through an antenna and performs initialization positioning;
s2, the receiver sends satellite ephemeris information received once per second to the singlechip, the motor roughly scans for one circle at 15-30 degrees/second, the singlechip records the numbers and corresponding carrier-to-noise values of all local visible satellites, the satellites with carrier-to-noise ratios above 65 are recorded as strong signal satellites sat 1-satn, the maximum value max 1-maxn of the carrier-to-noise ratio of each strong signal satellite is recorded, and the angle range angle1-angle2 with the carrier-to-noise ratio above 65 is recorded;
s3, performing a fine sweep: after the motor rotates to angle1, a first round of fine scanning is started at 2-5 degrees/second, the average value of at least 4 times of collected data is judged, if the current carrier-to-noise ratio average value is reduced by 15 than the carrier-to-noise ratio of sat1, the current carrier-to-noise ratio is switched to single-time collected data judgment, the angle range of the single-time data value which is reduced by 20 than that of the current carrier-to-noise ratio of max1 is recorded to be angle 3-angle 4, then the single-time data value is switched to the average value of at least 4 times of collected data to be judged, the stepping motor is continuously rotated, at the moment, the carrier-to-noise ratio of sat1 starts to rise to reach a strong signal threshold 65, the whole process mark is valid, if the strong signal threshold 65 cannot be reached, the process mark is invalid, and fine scanning is started on sat 2;
s4, under the condition that the first round of fine scanning is effective, carrying out the second round of fine scanning: the second round of fine scanning range is angle 3-angle 4, the precision of the stepping motor is controlled to be 0.2-0.6 degree/second, 1 group is recorded as data collected for 4 times, the angle of data collected for 4 th time is recorded as the angle of the group, the average value of the carrier-to-noise ratio collected for 4 times is recorded as the carrier-to-noise ratio of the group, the angle5 of the motor corresponding to the minimum value of the carrier-to-noise ratio appearing in sat1 in the scanning process is recorded, then the motor is turned to the angle5 again, and the course angle B of the satellite at the moment is calculated by satellite ephemeris analysis;
s5, determining ase:Sub>A radar heading angle C=B-A-angle 5, wherein the satellite heading angle B is ase:Sub>A real direction taking geographic north direction as ase:Sub>A reference, angle5 is an angle of zero-crossing of the measuring equipment relative to ase:Sub>A motor, and A is an included angle between an antennase:Sub>A pattern zero-point plane and the radar heading.
2. The method for measuring the heading angle of the rapid and high-precision radar according to claim 1, wherein the antenna pattern has a steep zero point, and the angle range of the zero depth 30 dB-40 dB change is within 1 degree, so as to ensure the precision of real-time data calculation.
3. The method of claim 1, wherein the satellite is replaced to resume the first fine sweep if the first fine sweep is invalid.
4. The method for measuring the heading angle of the rapid and high-precision radar according to claim 1, wherein the receiver can forward real-time ephemeris information of the satellite, and data analysis is carried out by using the ephemeris information of the satellite broadcasted every second, so as to obtain Doppler orbit parameters of the satellite, and calculate the heading angle.
5. The rapid and high-precision radar heading angle measurement method according to claim 1, wherein the rear end of the antenna is matched with an active phase shifter to carry out beam zero distribution design, and the position corresponding to the antenna zero point is in a fixed angle difference with a measured device.
6. The method of claim 1, wherein the satellite ephemeris information comprises a position of the satellite, a latitude and longitude of the satellite, and a current time of day.
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| US8013789B2 (en) * | 2004-10-06 | 2011-09-06 | Ohio University | Systems and methods for acquisition and tracking of low CNR GPS signals |
| US7397422B2 (en) * | 2006-09-19 | 2008-07-08 | The Boeing Company | Method and system for attitude determination of a platform using global navigation satellite system and a steered antenna |
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| CN106093892A (en) * | 2016-05-23 | 2016-11-09 | 中国人民解放军63921部队 | Carry out Radar RCS based on calibration satellite to demarcate and outer survey calibration system simultaneously |
| CN110441797A (en) * | 2019-08-07 | 2019-11-12 | 中国海洋大学 | Highly reliable Beidou RDSS antenna automatic stabilisation tracking based on carrier-to-noise ratio |
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