CN103983954A - Error compensation system and method for radar tracking high-precision ground test - Google Patents

Abstract

The invention discloses an error compensation system for the radar tracking high-precision ground test. The error compensation system comprises a two-dimensional rotary platform, a radar driving mechanism arranged on the two-dimensional rotary platform, a two-dimensional rotary platform control computer connected with the two-dimensional rotary platform, a relay computer connected with a radar signal processing assembly, a target simulation source arranged opposite to the radar driving mechanism, a radar radio frequency simulator connected with the target simulation source, a radar integrated control computer connected with the radar radio frequency simulator, and a digital space system host respectively connected with the two-dimensional rotary platform control computer, the relay computer and the radar integrated control computer. The invention further discloses an error compensation method for the radar tracking high-precision ground test. By means of the error compensation system and method for the radar tracking high-precision ground test, feedforward compensation of relative motion angle simulation is achieved, and test precision of a radar tracking high-precision ground test system is improved.

Description

Error compensation system and method for the test of radar pointing Ground Nuclear Magnetic Resonance

Technical field

The present invention relates to the Ground Nuclear Magnetic Resonance checking of space relative measurement technical field, relate in particular to a kind of radar pointing Ground Nuclear Magnetic Resonance test error bucking-out system and method.

Background technology

Microwave radar is a kind of pointing equipment of searching for, catch, follow the tracks of for noncooperative target in space of being applied to, relative angle and relative distance information between continuous coverage star, offering GNC subsystem and carry out Relative Navigation calculating, is the basis of realizing Autonomous Relative Navigation.

Radar pointing Ground Nuclear Magnetic Resonance verification system adopts turntable to rotate a contrary angle and goes to simulate relative motion angle between star.And due to turntable diaxon and radar pointing diaxon conllinear not, cause the angle of turntable simulation can not effectively simulate relative motion relation between star, and then make radar pointing produce the cross-linked measuring error of diaxon.

Along with the development of pointing equipment of new generation, more and more higher to the high precision measurement demand of ground Authentication devices, therefore need the measuring accuracy that improves existing equipment badly.

Summary of the invention

The object of the present invention is to provide a kind of radar pointing Ground Nuclear Magnetic Resonance test error bucking-out system and method, can implementation space relative motion angle the feedforward compensation of simulation, improve the measuring accuracy of radar pointing Ground Nuclear Magnetic Resonance test macro.

In order to achieve the above object, the present invention is achieved through the following technical solutions: a kind of error compensation system for the test of radar pointing Ground Nuclear Magnetic Resonance, be characterized in, and comprise:

Two dimension turntable;

Be arranged on the radar driving mechanism on two-dimentional turntable;

The two-dimentional turntable being connected with two-dimentional turntable is controlled computing machine;

The transfer computing machine being connected with Radar Signal Processing assembly;

The target simulation source being oppositely arranged with radar driving mechanism;

The radar radio frequency analog device being connected with target simulation source;

The radar Comprehensive control computer being connected with radar radio frequency analog device;

Control with two-dimentional turntable the digital space system host that computing machine, transfer computing machine and radar Comprehensive control computer are connected respectively;

Described transfer computer measurement radar data;

The radar measured data of transfer computing machine is accepted and processed to described digital space system host, and send echo enabled instruction to radar Comprehensive control computer and send the instruction of two-dimentional turntable controlled quentity controlled variable to two-dimentional turntable control computing machine.

Described two-dimentional turntable pitch axis is relative with target simulation source with the quadrature position of two-dimentional turntable yaw axis.

An error compensating method for the test of radar pointing Ground Nuclear Magnetic Resonance, is characterized in, comprises following steps:

Step 1, set up two-dimentional turntable coordinate system and radargrammetry coordinate system respectively;

Step 2, set up the equation of motion of target simulation source when two-dimentional turntable turns an angle;

Step 3, by the target simulation source movement relationship conversion obtaining in step 2 to radargrammetry coordinate system, obtain the target simulation source movement equation under radargrammetry coordinate system;

Step 4, according to the angle of pitch and crab angle computing formula, the equation of motion by target simulation source 5 under radargrammetry coordinate system calculates the two dimensional motion luffing angle in target simulation source 5 and yaw angle computing formula;

Step 5, by the two dimensional motion luffing angle in target simulation source 5 and yaw angle computing formula carry out inverse, obtain the computing formula of two-dimentional turntable 1 required rotational angle, error compensation model, carries out after computing error compensation model, draws the angle that two-dimentional turntable 1 actual needs rotates with , using this result of calculation as two-dimentional turntable 1 angle input instruction, realize error compensation.

It is true origin O that described two-dimentional turntable coordinate system be take the quadrature position of two-dimentional turntable pitch axis and two-dimentional turntable yaw axis _turn, Z _turnaxle is with true origin O _turnduring along two-dimentional turntable pitch axis and two-dimentional turntable yaw axis quadrature center of turntable vertically downward directed towards ground be forward, X _turnaxle is with true origin O _turnthe opposite direction of pointing to target simulation source is forward, Y _turnaxle forward is determined by the right-hand rule.

It is true origin O that described radargrammetry coordinate system be take radar driving mechanism diaxon intersection, it is forward along driving mechanism Z-axis center directed towards ground that Z axis be take true origin O, X-axis be take true origin O, and along radar antenna, to point to target simulation source be forward, and Y-axis forward is determined by the right-hand rule.

The order that turns that in described step 2, two-dimentional turntable rotates is that after first pitch rotation, driftage is rotated.

In described step 2, the equation of motion of target simulation source when two-dimentional turntable turns an angle is:

O' _turnm=A (β ') A (α ') O _turnm

Wherein, rotation matrix A (α ') and rotation matrix A (β ') are respectively:

$A\left({\mathrm{\α}}^{\′}\right)=\left[\begin{array}{ccc}\cos \left({\mathrm{\α}}^{\′}\right)& 0& -\sin \left({\mathrm{\α}}^{\′}\right)\\ 0& 1& 0\\ \sin \left({\mathrm{\α}}^{\′}\right)& 0& \cos \left({\mathrm{\α}}^{\′}\right)\end{array}\right],A\left({\mathrm{\β}}^{\′}\right)=\left[\begin{array}{ccc}\cos \left({\mathrm{\β}}^{\′}\right)& \sin \left({\mathrm{\β}}^{\′}\right)& 0\\ -\sin \left({\mathrm{\β}}^{\′}\right)& \cos \left({\mathrm{\β}}^{\′}\right)& 0\\ 0& 0& 1\end{array}\right],$

In formula, α ' is that two-dimentional turntable rotates the angle of pitch,

β ' is that two-dimentional turntable rotates crab angle,

M represents the position in target simulation source,

O _turnm is the coordinate vector of target simulation source under two-dimentional turntable zero-bit coordinate system.

In described step 3, the equation of motion of target simulation source under radargrammetry coordinate system is:

Substitution with , have

，

In formula for two-dimentional turntable rotates the angle of pitch,

for two-dimentional turntable rotates crab angle,

H is the true origin O of two-dimentional turntable coordinate system _turnand the vertical range between radargrammetry coordinate system true origin O,

L is the true origin O of two-dimentional turntable coordinate system _turnand the horizontal range between radargrammetry coordinate system true origin O,

L is the distance of target simulation source and radargrammetry coordinate system true origin O,

M represents the position in target simulation source,

coordinate under two-dimentional turntable zero-bit coordinate system is (l, 0 ,-H).

In described step 4, the angle of pitch and crab angle computing formula are respectively:

，

X in formula _mfor the horizontal ordinate of target simulation source under radargrammetry coordinate system,

Y _mfor the ordinate of target simulation source under radargrammetry coordinate system,

Z _mfor the ordinate of target simulation source under radargrammetry coordinate system.

The inversion formula that calculates the required rotational angle of two-dimentional turntable in described step 5 is:

，

for two-dimentional turntable 1 rotates the angle of pitch,

for two-dimentional turntable 1 rotates crab angle,

H is the true origin O of two-dimentional turntable coordinate system _turnand the vertical range between radargrammetry coordinate system true origin O,

L is the true origin O of two-dimentional turntable coordinate system _turnand the horizontal range between radargrammetry coordinate system true origin O,

L is the distance of target simulation source and radargrammetry coordinate system true origin O.

A kind of radar pointing of the present invention Ground Nuclear Magnetic Resonance test error bucking-out system and method compared with prior art have the following advantages: the cross-coupling error that has compensated radar pointing Ground Nuclear Magnetic Resonance verification system, realized the effective simulation to relative motion relation between star, improved the measuring accuracy of ground validation system, for the Ground Nuclear Magnetic Resonance of space relative measurement technology, verified and provide strong support.

Accompanying drawing explanation

Fig. 1 is the one-piece construction schematic diagram of a kind of radar pointing of the present invention Ground Nuclear Magnetic Resonance test error bucking-out system.

Fig. 2 is the process flow diagram of a kind of radar pointing of the present invention Ground Nuclear Magnetic Resonance test error compensation method.

figure3 is system deviation schematic diagram when two-dimentional turntable pitch axis rotates in the present invention.

Fig. 4 is the spatial relationship figure of two-dimentional turntable coordinate system and radargrammetry coordinate system.

Embodiment

Below in conjunction with accompanying drawing, by describing a preferably specific embodiment in detail, the present invention is further elaborated.

Radar is comprised of mechanism controls device, signal processing component, antenna and driving mechanism, and transfer computing machine is connected with signal processing component, and signal processing component send and gives transfer computing machine after radargrammetry original signal is processed; The motion of driving mechanism driven antenna, signal processing component transmitting antenna movement instruction is to mechanism controls device; Mechanism controls device is according to the instruction control antenna motion receiving.After antenna reception microwave signal, first through being fixed on the high frequency receiving unit of mechanism side, process, by waveguide, issue signal processing component again, signal processing component is after overall treatment, just can produce the angle and distance data that need to use, these angle and distance data are issued to transfer computing machine.

As shown in Figure 1, a kind of error compensation system for the test of radar pointing Ground Nuclear Magnetic Resonance, comprises: two-dimentional turntable 1; Be arranged on the radar driving mechanism 2 on two-dimentional turntable 1; The two-dimentional turntable being connected with two-dimentional turntable 1 is controlled computing machine 3; The transfer computing machine 4 being connected with Radar Signal Processing assembly; The target simulation source 5 being oppositely arranged with radar driving mechanism 2; The radar radio frequency analog device 6 being connected with target simulation source 5; The radar Comprehensive control computer 7 being connected with radar radio frequency analog device 6; Control with two-dimentional turntable the digital space system host 8 that computing machine 3, transfer computing machine 4 and radar Comprehensive control computer 7 are connected respectively; Transfer computing machine 4 instrumentation radar data; The radar measured data of transfer computing machine 4 is accepted and processed to described digital space system host 8, and send echo enabled instruction to radar Comprehensive control computer 7 and send the instruction of two-dimentional turntable controlled quentity controlled variable to two-dimentional turntable control computing machine 3.

Two dimension turntable 1, radar driving mechanism 2, target simulation source 5, radar radio frequency analog device 6 are placed in microwave dark room, two dimension turntable 1 and target simulation source 5 are placed on respectively the two ends of microwave dark room, spacing is more than 5 meters, the diaxon of two-dimentional turntable 1 (pitch axis and yaw axis) quadrature position is set to zero-bit, the quadrature position of radar two dimension driving mechanism is made as to radar antenna zero-bit, the position of adjustment aim dummy source 5, makes itself and radar antenna zero position; Two dimension turntable is controlled computing machine 3 and is placed on outside microwave dark room, by RS422 serial ports, controls two-dimentional turntable 1; Radar Comprehensive control computer 7 is placed on outside microwave dark room, by CAN line traffic control radar radio frequency analog device 6; Radar radio frequency analog device 6 is connected by high frequency cable with target simulation source 5.

Two dimension turntable 1 pitch axis is relative with target simulation source 5 with the quadrature position of two-dimentional turntable 1 yaw axis.

As shown in Figure 2, a kind of error compensating method for the test of radar pointing Ground Nuclear Magnetic Resonance, comprises following steps:

Step 1, set up two-dimentional turntable coordinate system and radargrammetry coordinate system respectively;

Step 2, set up the equation of motion of target simulation source 5 when two-dimentional turntable 1 turns an angle;

Step 3, target simulation source 5 kinematic relations that obtain in step 2 are transformed into radargrammetry coordinate system, obtain target simulation source 5 equations of motion under radargrammetry coordinate system;

Step 4, according to the angle of pitch and crab angle computing formula, the equation of motion by target simulation source 5 under radargrammetry coordinate system calculates the two dimensional motion luffing angle in target simulation source 5 and yaw angle computing formula, this computing formula contains unknown quantity with ;

Step 5, utilize MATLAB instrument, by the two dimensional motion luffing angle in target simulation source 5 and yaw angle computing formula carry out inverse, obtain the computing formula of two-dimentional turntable 1 required rotational angle, i.e. error compensation model, when needs two dimension turntable 1 removes the two dimensional motion luffing angle of simulated target dummy source 5 and yaw angle time, but after compensation model carries out computing, draw the luffing angle that actual needs two dimension turntable 1 rotates and yaw angle , using this result of calculation as two-dimentional turntable 1 angle input instruction, realize error compensation.

It is true origin O that two dimension turntable coordinate system be take the quadrature position of two-dimentional turntable 1 pitch axis and two-dimentional turntable 1 yaw axis _turn, Z _turnaxle is with true origin O _turnduring along two-dimentional turntable 1 pitch axis and two-dimentional turntable 1 yaw axis quadrature center of turntable vertically downward directed towards ground be forward, X _turnaxle is with true origin O _turnthe opposite direction of pointing to target simulation source 5 is forward, Y _turnaxle forward is determined by the right-hand rule.

It is true origin O that radargrammetry coordinate system be take radar driving mechanism 2 diaxon intersections, it is forward along driving mechanism 2 Z-axis center directed towards ground that Z axis be take true origin O, X-axis be take true origin O, and along radar antenna, to point to target simulation source 5 be forward, and Y-axis forward is determined by the right-hand rule.

The order that turns that in step 2, two-dimentional turntable 1 rotates is that after first pitch rotation, driftage is rotated, and two-dimentional turntable 1 rotates the angle of pitch and crab angle , two-dimentional turntable coordinate system rotates respective angles, now under radargrammetry coordinate system, rotates the angle of pitch and is with crab angle be .

In step 2, the equation of motion of target simulation source 5 when two-dimentional turntable 1 turns an angle is:

O' _turnm=A (β ') A (α ') O _turnm

Wherein, rotation matrix A (α ') and rotation matrix A (β ') are respectively:

$A\left({\mathrm{\α}}^{\′}\right)=\left[\begin{array}{ccc}\cos \left({\mathrm{\α}}^{\′}\right)& 0& -\sin \left({\mathrm{\α}}^{\′}\right)\\ 0& 1& 0\\ \sin \left({\mathrm{\α}}^{\′}\right)& 0& \cos \left({\mathrm{\α}}^{\′}\right)\end{array}\right],A\left({\mathrm{\β}}^{\′}\right)=\left[\begin{array}{ccc}\cos \left({\mathrm{\β}}^{\′}\right)& \sin \left({\mathrm{\β}}^{\′}\right)& 0\\ -\sin \left({\mathrm{\β}}^{\′}\right)& \cos \left({\mathrm{\β}}^{\′}\right)& 0\\ 0& 0& 1\end{array}\right],$

In formula, α ' is that two-dimentional turntable 1 rotates the angle of pitch,

β ' is that two-dimentional turntable 1 rotates crab angle,

M represents the position in target simulation source 5,

O _turnm is the coordinate vector of target simulation source 5 under two-dimentional turntable zero-bit coordinate system.

In step 3, the equation of motion of target simulation source 5 under radargrammetry coordinate system is:

Substitution with , have

，

In formula for two-dimentional turntable 1 rotates the angle of pitch,

for two-dimentional turntable 1 rotates crab angle,

H is the true origin O of two-dimentional turntable coordinate system _turnand the vertical range between radargrammetry coordinate system true origin O,

L is the true origin O of two-dimentional turntable coordinate system _turnand the horizontal range between radargrammetry coordinate system true origin O,

L is the distance of target simulation source 5 and radargrammetry coordinate system true origin O,

M represents the position in target simulation source 5,

coordinate under two-dimentional turntable zero-bit coordinate system is (l, 0 ,-H).

In step 4, the angle of pitch and crab angle computing formula are respectively:

，

X in formula _mfor the horizontal ordinate of target simulation source under radargrammetry coordinate system,

Y _mfor the ordinate of target simulation source under radargrammetry coordinate system,

Z _mfor the ordinate of target simulation source under radargrammetry coordinate system.

The inversion formula that calculates two-dimentional turntable 1 required rotational angle in described step 5 is:

，

In formula for two-dimentional turntable 1 rotates the angle of pitch,

for two-dimentional turntable 1 rotates crab angle,

H is the true origin O of two-dimentional turntable coordinate system _turnand the vertical range between radargrammetry coordinate system true origin O,

L is the true origin O of two-dimentional turntable coordinate system _turnand the horizontal range between radargrammetry coordinate system true origin O,

L is the distance of target simulation source 5 and radargrammetry coordinate system true origin O.

Concrete application:

The cross-coupling error mechanism of production of two-dimentional turntable 1 and radar in Analysis of Radar pointing ground validation system, carries out mathematical description to the cross-coupling error between radar and ground measurement equipment.

Adopt two-dimentional turntable 1 to simulate relative motion relation between star, because designed test macro two dimension turntable 1 is connected with radar, but not with target simulation source 5, because this place examining system rotates a contrary angle with two-dimentional turntable 1, simulate relative motion between star.In this process, due to pitch axis, the yaw axis of two-dimentional turntable 1 and the diaxon of driving mechanism of two-dimentional turntable 1 conllinear not, in the time of can causing between star relative motion to measure, between radar pointing measured value and two-dimentional turntable 1 analogue value, there is deviation, produce the cross-couplings measuring error of radar pointing.When only having pitch axis to rotate, its deviation schematic diagram is as shown in 3.

Set up two-dimentional turntable coordinate system and radargrammetry coordinate system as shown in Figure 4.

It is true origin O that two dimension turntable coordinate system be take the quadrature position of two-dimentional turntable 1 pitch axis and two-dimentional turntable 1 yaw axis _turn, Z _turnaxle (O _turnz _turn) with true origin O _turnduring along two-dimentional turntable 1 pitch axis and two-dimentional turntable 1 yaw axis quadrature center of turntable vertically downward directed towards ground be forward, X _turnaxle (O _turnx _turn) with true origin O _turnthe opposite direction of pointing to target simulation source 5 is forward, Y _turnaxle (O _turny _turn) forward determined by the right-hand rule.

It is true origin O that radargrammetry coordinate system be take radar driving mechanism 2 diaxon intersections, it is forward along driving mechanism 2 Z-axis center directed towards ground that Z axis (OZ) be take true origin O, X-axis (OX) be take true origin O, and along radar antenna, to point to target simulation source 5 be forward, and Y-axis (OY) forward is determined by the right-hand rule.

Pilot system is carried out to actual measurement, obtain following distance measurements: the vertical range of two-dimentional turntable 1 pitch axis and two-dimentional turntable 1 yaw axis and radar driving mechanism 2 diaxons rice, the longitudinal separation of two-dimentional turntable 1 pitch axis and two-dimentional turntable 1 yaw axis and radar driving mechanism 2 diaxons rice, the distance of target simulation source 5 and radar driving mechanism 2 diaxon intersections rice.

Two dimension turntable zero-bit during with radar zero-bit two dimension turntable coordinate system and radargrammetry coordinate system parallel, because two-dimentional turntable 1 is connected with radar driving mechanism 2, so in rotation process, two coordinate systems are still parallel; During radar zero-bit, antenna is over against target simulation source 5.

In Fig. 4, with coplanar, and be a little in the 5(figure of target simulation source ) in this plane. for two-dimentional turntable zero-bit coordinate system, for (the angle of pitch that turns an angle and crab angle ) after coordinate system.The coordinate of putting M under two-dimentional turntable zero-bit coordinate system is (L, 0 ,-H), point coordinate be (l, 0 ,-H).

Two dimension turntable 1 rotates the angle of pitch and crab angle , two-dimentional turntable coordinate system rotates respective angles, and now, radar is tracking target, under radargrammetry coordinate system, rotates the angle of pitch and crab angle , the dummy source 5 that aims at the mark, line of sight now be required.

Under two dimension turntable zero-bit coordinate system, vectorial O _turnm is (L, 0 ,-H), vectorial O _turno is (l, 0 ,-H), because radar driving mechanism 2 and two-dimentional turntable 1 are connected, so vectorial O _turno rotates after α ' and β ' at two-dimentional turntable zero-bit coordinate system, still constant, i.e. O _turno=O' _turno'; And because target simulation source 5 is fixing, therefore at coordinate system O' _turnx' _turny' _turnz' _turnin, O' _turnm rotates and changes with coordinate system.Owing to being subject to demonstration test system two dimension turntable 1 configuration affects, two-dimentional turntable 1 pitch axis immobilizes in two-dimentional turntable 1 rotation process, defines the order that turns of going off course after first pitching, so line of sight equation first turns pitching, has line of sight equation:

O' _turnm=A (β ') A (α ') O _turnm

Wherein, rotating matrix A (α ') and A (β ') is:

$A\left({\mathrm{\α}}^{\′}\right)=\left[\begin{array}{ccc}\cos \left({\mathrm{\α}}^{\′}\right)& 0& -\sin \left({\mathrm{\α}}^{\′}\right)\\ 0& 1& 0\\ \sin \left({\mathrm{\α}}^{\′}\right)& 0& \cos \left({\mathrm{\α}}^{\′}\right)\end{array}\right],A\left({\mathrm{\β}}^{\′}\right)=\left[\begin{array}{ccc}\cos \left({\mathrm{\β}}^{\′}\right)& \sin \left({\mathrm{\β}}^{\′}\right)& 0\\ -\sin \left({\mathrm{\β}}^{\′}\right)& \cos \left({\mathrm{\β}}^{\′}\right)& 0\\ 0& 0& 1\end{array}\right],$

In formula, α ' is that two-dimentional turntable 1 rotates the angle of pitch,

β ' is that two-dimentional turntable 1 rotates crab angle.

Between two-dimentional turntable coordinate system and radargrammetry coordinate system, carry out the conversion of line of sight equation, obtain the line of sight equation under radargrammetry system; Because two-dimentional turntable coordinate system is parallel with radargrammetry coordinate system three axles, two axles with two direction of principal axis are contrary, and true origin is different, and the geometric relationship in Fig. 4 can obtain the transforming relationship of two coordinate systems:

Substitution with , have

In conjunction with the angle of pitch and crab angle computing formula,

Line of sight solution of equation is calculated two dimensional motion luffing angle and the yaw angle in target simulation source 5

By above formula inverse, can be obtained the angle of two-dimentional turntable 1 required rotation with , the angle fusion of two-dimentional turntable 1 required rotation is inputted to instruction to two-dimentional turntable 1 angle, and then realizes the effective simulation of turntable to relative motion between star.

Consider computing velocity that algorithm realizes and compatible etc., the angle based on two-dimentional turntable 1 required rotation with , set up model real-time simulation validation module, it is fused in ground testing system software, by two-dimentional turntable 1 angle input instruction in correction software, realize cross-coupling error compensation.

The inverse of nonlinear equation adopts numerical solution Newton iteration.Emulation module select can with dSPACE(digital space system) compatible embedded matlab function module writes and surveys software intermediate station instruction correction program part.

Although content of the present invention has been done detailed introduction by above preferred embodiment, will be appreciated that above-mentioned description should not be considered to limitation of the present invention.Those skilled in the art, read after foregoing, for multiple modification of the present invention with to substitute will be all apparent.Therefore, protection scope of the present invention should be limited to the appended claims.

Claims (10)

1. for an error compensation system for radar pointing Ground Nuclear Magnetic Resonance test, it is characterized in that, comprise:

Two dimension turntable (1);

Be arranged on the radar driving mechanism (2) on two-dimentional turntable (1);

The two-dimentional turntable being connected with two-dimentional turntable (1) is controlled computing machine (3);

The transfer computing machine (4) being connected with Radar Signal Processing assembly;

The target simulation source (5) being oppositely arranged with radar driving mechanism (2);

The radar radio frequency analog device (6) being connected with target simulation source (5);

The radar Comprehensive control computer (7) being connected with radar radio frequency analog device (6);

Control with two-dimentional turntable the digital space system host (8) that computing machine (3), transfer computing machine (4) and radar Comprehensive control computer (7) are connected respectively;

Described transfer computing machine (4) instrumentation radar data;

The radar measured data of transfer computing machine (4) is accepted and processed to described digital space system host (8), and send echo enabled instruction to radar Comprehensive control computer (7) and send the instruction of two-dimentional turntable controlled quentity controlled variable to two-dimentional turntable control computing machine (3).

2. error compensation system as claimed in claim 1, is characterized in that, described two-dimentional turntable (1) pitch axis is relative with target simulation source (5) with the quadrature position of two-dimentional turntable (1) yaw axis.

3. for an error compensating method for radar pointing Ground Nuclear Magnetic Resonance test, it is characterized in that, comprise following steps:

Step 1, set up two-dimentional turntable coordinate system and radargrammetry coordinate system respectively;

Step 2, set up target simulation source (5) and rotate the angle of pitch at two-dimentional turntable (1) and crab angle time the equation of motion;

Step 3, target simulation source (5) kinematic relation obtaining in step 2 is transformed into radargrammetry coordinate system, obtains target simulation source (5) equation of motion under radargrammetry coordinate system;

Step 4, according to the angle of pitch and crab angle computing formula, the equation of motion by target simulation source (5) under radargrammetry coordinate system calculates the two dimensional motion luffing angle in target simulation source (5) and yaw angle computing formula;

Step 5, by the two dimensional motion luffing angle of target simulation source (5) and yaw angle computing formula carry out inverse, obtain the computing formula of the required rotational angle of two-dimentional turntable (1), error compensation model, carries out after computing error compensation model, draws the angle that two-dimentional turntable (1) actual needs rotates with , using this result of calculation as two-dimentional turntable (1) angle, input instruction, realizes error compensation.

4. error compensating method as claimed in claim 3, is characterized in that, it is true origin O that described two-dimentional turntable coordinate system be take the quadrature position of two-dimentional turntable (1) pitch axis and two-dimentional turntable (1) yaw axis _turn, Z _turnaxle is with true origin O _turnduring along two-dimentional turntable (1) pitch axis and two-dimentional turntable (1) yaw axis quadrature center of turntable vertically downward directed towards ground be forward, X _turnaxle is with true origin O _turnthe opposite direction of pointing to target simulation source (5) is forward, Y _turnaxle forward is determined by the right-hand rule.

5. error compensating method as claimed in claim 4, it is characterized in that, it is true origin O that described radargrammetry coordinate system be take radar driving mechanism (2) diaxon intersection, it is forward along driving mechanism (2) Z-axis center directed towards ground that Z axis be take true origin O, X-axis be take true origin O, and along radar antenna, to point to target simulation source (5) be forward, and Y-axis forward is determined by the right-hand rule;

The true origin O of described two-dimentional turntable coordinate system _turnand the vertical range between radargrammetry coordinate system true origin O is H;

The true origin O of described two-dimentional turntable coordinate system _turnand the horizontal range between radargrammetry coordinate system true origin O is l.

6. error compensating method as claimed in claim 5, is characterized in that, the order that turns that in described step 2, two-dimentional turntable (1) rotates is that after first pitch rotation, driftage is rotated.

7. error compensating method as claimed in claim 6, is characterized in that, in described step 2, target simulation source (5) equation of motion when two-dimentional turntable (1) turns an angle is:

O ' _turnm=A (β ') A (α ') O _turnm

Wherein, rotation matrix A (α ') and rotation matrix A (β ') are respectively:

In formula, α ' is that two-dimentional turntable (1) rotates the angle of pitch,

β ' is that two-dimentional turntable (1) rotates crab angle,

M represents the position of target simulation source (5),

O _turnm is the coordinate vector of target simulation source (5) under two-dimentional turntable zero-bit coordinate system.

8. error compensating method as claimed in claim 7, is characterized in that, in described step 3, target simulation source (5) equation of motion under radargrammetry coordinate system is:

Substitution with , have

，

In formula for two-dimentional turntable (1) rotates the angle of pitch,

for two-dimentional turntable (1) rotates crab angle,

H is the true origin O of two-dimentional turntable coordinate system _turnand the vertical range between radargrammetry coordinate system true origin O,

L is the true origin O of two-dimentional turntable coordinate system _turnand the horizontal range between radargrammetry coordinate system true origin O,

L is the distance of target simulation source (5) and radargrammetry coordinate system true origin O,

M represents the position of target simulation source (5),

coordinate under two-dimentional turntable zero-bit coordinate system is (l, 0 ,-H).

9. error compensating method as claimed in claim 3, is characterized in that, in described step 4, the angle of pitch and crab angle computing formula are respectively:

，

X in formula _mfor target simulation source (5) horizontal ordinate under radargrammetry coordinate system,

Y _mfor target simulation source (5) ordinate under radargrammetry coordinate system,

Z _mfor target simulation source (5) ordinate under radargrammetry coordinate system.

10. error compensating method as claimed in claim 6, is characterized in that, the inversion formula that calculates the required rotational angle of two-dimentional turntable (1) in described step 5 is:

，

for two-dimentional turntable (1) rotates the angle of pitch,

for two-dimentional turntable (1) rotates crab angle,

H is the true origin O of two-dimentional turntable coordinate system _turnand the vertical range between radargrammetry coordinate system true origin O,

L is the true origin O of two-dimentional turntable coordinate system _turnand the horizontal range between radargrammetry coordinate system true origin O,

L is the distance of target simulation source (5) and radargrammetry coordinate system true origin O.