CN108051805A - A kind of radar scanning method, electronic equipment and storage medium - Google Patents
A kind of radar scanning method, electronic equipment and storage medium Download PDFInfo
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- CN108051805A CN108051805A CN201711008817.3A CN201711008817A CN108051805A CN 108051805 A CN108051805 A CN 108051805A CN 201711008817 A CN201711008817 A CN 201711008817A CN 108051805 A CN108051805 A CN 108051805A
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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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
-
- 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
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses a kind of radar scanning method, electronic equipment and storage medium, wherein this method includes：Default certain surface is obtained, the default certain surface includes multiple Scanning Sections；Calculate the direction parameter and pitch parameter of each Scanning Section；The specific control parameter of each Scanning Section is calculated according to the direction parameter and pitch parameter；System control instruction is generated according to the specific control parameter of each Scanning Section, the system control instruction is scanned the default certain surface for control radar.By the way that default specific plane is divided into multiple Scanning Sections, each Scanning Section is scanned respectively, so as to realize the scanning to entirely presetting certain surface, radar can obtain the target information of institute's search coverage, realize to the quick scanning probe of specific region and display；Available for detection of the radar to specific plane or curved surface area, such as weather radar is to the wind field of the two-way glide slope in airport or the quick detection of aircraft wake situation.
Description
Technical field
The present invention relates to a kind of field of radar more particularly to radar scanning method, electronic equipment and storage mediums.
Background technology
The existing main scan mode of radar have plan-position show (PPI) scanning, distance height show (RHI) scanning,
Volume (VOL) scanning, sector (sector) scanning etc., Fig. 1 show the schematic diagram of radar PPI scanning, and VOL scannings are by multiple
The PPI scanning compositions at the different elevations angle, therefore PPI and VOL are to do conical surface scanning by the center of circle of radar station, scan mode is opposite
It is fixed, and detection can not be scanned to one or more certain surfaces in an antenna rotation period, user's need can not be met
It asks.
The content of the invention
It, can be with one of the objects of the present invention is to provide a kind of radar scanning method for overcome the deficiencies in the prior art
Detection is scanned to specific plane or curved surface.
The second object of the present invention is to provide a kind of electronic equipment, can be scanned spy to specific plane or curved surface
It surveys.
The third object of the present invention is to provide a kind of storage medium, is stored with computer program, can be to specifically putting down
Face or curved surface are scanned detection.
An object of the present invention is realized using following technical scheme：
A kind of radar scanning method, comprises the following steps：
Default certain surface is obtained, the default certain surface includes multiple Scanning Sections；
Calculate the direction parameter and pitch parameter of each Scanning Section；
The specific control parameter of each Scanning Section is calculated according to the direction parameter and pitch parameter；
System control instruction is generated according to the specific control parameter of each Scanning Section, the system control instruction is used to control thunder
It is scanned up to the default certain surface.
Further, it is described that system control instruction is generated according to the specific control parameter of each Scanning Section, it specifically includes following
Step：
Layout is attached to the specific control parameter of each Scanning Section according to the order of each Scanning Section；
System control instruction is generated according to the specific control parameter of each Scanning Section after connection layout.
Further, described to obtain default certain surface, the default certain surface includes multiple Scanning Sections, specifically includes following
Step：
Obtain the drafting certain surface in three-dimensional space drawing interface, the drafting certain surface and the default certain surface phase
Match somebody with somebody；
Extract the key parameter of the default certain surface；
The default certain surface is divided by multiple Scanning Sections according to the key parameter.
Further, the key parameter includes Initial Azimuth, pitch angle, inflection point orientation, home orientation, sweep speed
At least one of parameter.
Further, the radar scanning method is used for mechanical scanning radar, described according to the direction parameter and pitching
Parameter calculates the specific control parameter of each Scanning Section, is specially：It is described to be swept according to the direction parameter, pitch parameter and machinery
The control parameter for retouching the antenna servo driver of radar calculates the antenna parameter of each Scanning Section.
Further, the radar scanning method is used for electronic scanning radar, the specific control parameter of each Scanning Section
Including beam control parameters.
Further, the radar scanning method for azimuth scan be mechanical scanning and pitching scanning be electron scanning
Radar, the specific control parameter that each Scanning Section is calculated according to the direction parameter and pitch parameter are specially：According to described
The control parameter of direction parameter and antenna servo driver calculates the antenna driving parameter of each Scanning Section and according to the pitching
Parameter calculates the beam control parameters of each Scanning Section.
Further, the radar scanning method for azimuth scan be electron scanning and pitching scanning be mechanical scanning
Radar, the specific control parameter that each Scanning Section is calculated according to the direction parameter and pitch parameter are specially：According to described
The beam control parameters and the control according to the pitch parameter and antenna servo driver that direction parameter calculates each Scanning Section
Parameter calculates the antenna driving parameter of each Scanning Section.
The second object of the present invention is realized using following technical scheme：
A kind of electronic equipment is configured including memory, processor and program stored in memory, described program
It is performed by processor, the step of realizing above-mentioned radar scanning method when processor performs described program.
The third object of the present invention is realized using following technical scheme：
A kind of storage medium, the media storage have computer program, real when the computer program is executed by processor
The step of existing above-mentioned radar scanning method.
Compared with prior art, the beneficial effects of the present invention are：By the way that default specific plane is divided into multiple Scanning Sections,
Each Scanning Section is scanned respectively, so as to realize the scanning to entirely presetting certain surface, therefore radar can obtain
The target information of institute's search coverage, is realized to the quick scanning probe of specific region and display.Default certain surface can be plane
It can also be curved surface；Available for detection of the radar to specific plane or curved surface area, such as weather radar is to the two-way downslide in airport
The wind field in face or the quick detection of aircraft wake situation.
Description of the drawings
Fig. 1 is the schematic diagram of radar PPI scanning；
Fig. 2 is the flow diagram of the radar scanning method of the embodiment of the present invention one；
Fig. 3 is the schematic diagram that certain surface is preset in Fig. 2；
Fig. 4 is the flow diagram that radar scanning method is used for mechanical scanning radar in Fig. 2；
Fig. 5 is the flow diagram that radar scanning method is used for electronic scanning radar in Fig. 2；
Fig. 6 be Fig. 2 in radar scanning method for azimuth scan be mechanical scanning and pitching scanning be electron scanning thunder
The flow diagram reached；
Fig. 7 be Fig. 2 in radar scanning method for azimuth scan be electron scanning and pitching scanning be mechanical scanning thunder
The flow diagram reached；
Fig. 8 is the structure diagram of the electronic equipment of the embodiment of the present invention two.
Specific embodiment
In the following, with reference to attached drawing and specific embodiment, the present invention is described further, it is necessary to which explanation is, not
Under the premise of conflicting, new implementation can be formed between various embodiments described below or between each technical characteristic in any combination
Example.
Embodiment one
If Fig. 2 is a kind of radar scanning method, comprise the following steps：
Step S110, default certain surface is obtained, the default certain surface includes multiple Scanning Sections.As shown in figure 3, default spy
It can be plane or curved surface to determine face.
As preferred embodiment, step S110 obtains default certain surface, and the default certain surface includes multiple scannings
Section, specifically includes following steps：
Step S111, the drafting certain surface in three-dimensional space drawing interface is obtained, the drafting certain surface is preset with described
Certain surface matches.
The present invention can build a three-dimensional space drawing interface beforehand through software, and person easy to operation draws in interface
The radar beam certain surface to be detected can also input the sweep parameter for drawing certain surface in software, then can root
According to certain surface and the relative position at radar antenna center is drawn in drawing interface, certain surface will be drawn and be mapped as needing radar actual
The default certain surface of scanning.
Step S112, the key parameter of the default certain surface is extracted.Key parameter include Initial Azimuth, pitch angle,
At least one of inflection point orientation, home orientation, sweep speed parameter.
Default certain surface can be plane domain or curved surface area, can obtain Initial Azimuth, the pitching of default certain surface
The parameters such as angle, inflection point orientation, home orientation, the sweep parameter that can also be inputted such as sweep speed parameter.According to starting
The parameters such as orientation, pitch angle, inflection point orientation, home orientation can reconstruct default certain surface, and sweep speed parameter then represents
Sweep speed of the radar in default certain surface.
Step S113, the default certain surface is divided by multiple Scanning Sections according to the key parameter.
As preferred embodiment, can be incited somebody to action in the inflection point orientation of default certain surface, sweep speed mutation orientation etc.
Default certain surface segmentation, can also be divided into zonule, i.e. Scanning Section by larger plane domain or curved surface area.
Radar antenna can scan each Scanning Section successively, it is achieved thereby that presetting certain surface, such as plane domain or curved surface
The scanning in region.
Step S120, the direction parameter and pitch parameter of each Scanning Section are calculated.
Radar antenna will be scanned certain Scanning Section, it is necessary to scanning area are directed at Scanning Section, it is therefore desirable to calculate
Scanning Section compared with radar antenna direction parameter and pitch parameter.Direction parameter and pitch parameter may each comprise scanning speed
The parameters such as degree, angle.
Step S130, the specific control parameter of each Scanning Section is calculated according to the direction parameter and pitch parameter.
The scanning area of radar antenna is directed at Scanning Section, it is necessary to which the scanning area of control radar antenna moves, therefore goes back
Need to calculate the specific control parameter of each Scanning Section, foundation of the specific control parameter as control radar antenna.
Step S140, system control instruction, the system control instruction are generated according to the specific control parameter of each Scanning Section
The default certain surface is scanned for control radar.
According to the control instruction of the specific control parameter generation radar antenna of Scanning Section in default certain surface, with control radar
Antenna scanning regional movement to corresponding Scanning Section is scanned, so as to obtain the scanning result of default certain surface.
As a further improvement on the present invention, step S140 generates system control according to the specific control parameter of each Scanning Section
Instruction, specifically includes following steps：
Step S141, layout is attached to the specific control parameter of each Scanning Section according to the order of each Scanning Section.Due to
Have differences on space and/or sweep speed between adjacent Scanning Section and be even mutated, it is therefore desirable to specific control parameter into
Row adjustment, so that radar antenna scanning area can seamlessly transit when moving to another Scanning Section from certain Scanning Section, avoids thunder
It is excessive up to antenna movement range.If having significantly different between the specific control parameter of adjacent Scanning Section, scanning can be changed
Specific control parameter at section toggle edges, such as the acceleration of servomotor so that two sections of specific control parameters are continuous.
Step S142, system control instruction is generated according to the specific control parameter of each Scanning Section after connection layout.
Specific control parameter after connection layout is more advantageous to execution of the radar antenna control system to system control instruction,
So as to promote scanning effect of the radar to default certain surface of knowing clearly.
Radar scanning method provided by the invention can be used for mechanical scanning radar, as shown in Figure 4.Step S130 is according to institute
It states direction parameter and pitch parameter calculates the specific control parameter of each Scanning Section, be specially：It is described according to the direction parameter, bow
The control parameter for facing upward the antenna servo driver of parameter and mechanical scanning radar calculates the antenna parameter of each Scanning Section, the tool
Body control parameter includes acceleration parameter and/or brake speed parameter.
Certain surface is drawn in three-dimensional space drawing interface first, then obtains the key parameter of certain surface, such as starting side
Position, pitch angle, inflection point orientation, home orientation etc., can also obtain radar antenna to rate request of specific Surface scan etc.；So
After certain surface can be divided into multiple Scanning Sections according to these parameters；The division of certain Scanning Section can also be specific in drafting
It is formulated during face.Required direction parameter and pitch parameter in each Scanning Section are calculated by software afterwards, such as orientation and bowed
Sweep speed, the angle faced upward.Control parameter according to antenna servo driver afterwards, it is possible to converse bearing servo driver
With the specific control parameter of elevation servo driver, such as acceleration parameter and/or brake speed parameter.Can will have afterwards
Body control parameter is converted to the control instruction of bearing servo driver and elevation servo driver, i.e. system control instruction.As before
It is described, the specific control parameter of each Scanning Section can also be connected including the specific control parameter in orientation and pitching design parameter
Connect layout so that smoother to the control of orientation servo-driver and elevation servo driver afterwards, switching will not shake.
Bearing servo driver and elevation servo driver drive antenna bearingt driving motor and antenna after getting system control instruction
Pitching driving motor moves, and radar antenna is driven to do orientation, pitching mechanical rotation scanning certain surface, radar receiver obtains corresponding
Signal, target information can be come out by plane/side projection or Three-dimensional Display.
Radar scanning method provided by the invention can be also used for electronic scanning radar, as shown in Figure 5.It is each in step S130
The specific control parameter of Scanning Section includes beam control parameters.
Electronic scanning radar and mechanical scanning radar are to pass through control azimuth difference lies in the control mode of scanning area
Wave beam, pitching wave beam are realized, and mechanical scanning radar is realized by controlling servomotor that radar antenna is driven to rotate.Cause
This is used for the specific control parameter of each Scanning Section during electronic scanning radar as beam control parameters, is specifically controlled including azimuth beam
Parameter and the specific control parameter of pitching wave beam.Each orientation beam-controller, pitching beam-controller can be according to ultimately producing
System control instruction realize the movement of radar antenna scanning area, scan each Scanning Section successively, finally obtain entire default spy
Determine the scanning information in face.
In another embodiment, radar scanning method can be also used for azimuth scan be mechanical scanning and pitching scanning be electricity
The radar of son scanning, as shown in Figure 6.Step S130 calculates the specific control of each Scanning Section according to the direction parameter and pitch parameter
Parameter processed, specially：The antenna that each Scanning Section is calculated according to the control parameter of the direction parameter and antenna servo driver drives
Dynamic parameter and the beam control parameters that each Scanning Section is calculated according to the pitch parameter.
In addition, as shown in fig. 7, radar scanning method can be also used for azimuth scan be electron scanning and pitching scanning be machine
The radar of tool scanning.Step S130 calculates the specific control parameter of each Scanning Section, tool according to the direction parameter and pitch parameter
Body is：The beam control parameters of each Scanning Section are calculated according to the direction parameter and are watched according to the pitch parameter and antenna
The control parameter for taking driver calculates the antenna driving parameter of each Scanning Section.
Both the above radar belongs to the combination of mechanical scanning radar and electronic scanning radar, and orientation control and pitch control are equal
It can be realized by servo-drive or wave beam control, according to the foregoing description to mechanical scanning radar and electronic scanning radar, ability
Field technique personnel can draw the radar scanning method that mechanical scanning and electron scanning combine, and details are not described herein.
Radar scanning method provided by the invention by default specific plane by being divided into multiple Scanning Sections, respectively to respectively sweeping
It retouches section to be scanned, so as to realize the scanning to entirely presetting certain surface, therefore radar can obtain institute's search coverage
Target information, realize to the quick scanning probe of specific region and display.Default certain surface can be that plane can also be bent
Face；Available for detection of the radar to specific plane or curved surface area, for example, weather radar to the wind field of the two-way glide slope in airport or
The quick detection of aircraft wake situation.
As seen through the above description of the embodiments, those skilled in the art can be understood that the present invention can
It is realized by the mode of software plus required general hardware platform.Based on such understanding, technical scheme essence
On the part that the prior art contributes can be embodied in the form of software product in other words, the computer software product
It can be stored in storage medium, such as ROM/RAM, magnetic disc, CD, it is used including some instructions so that a computer equipment
(can be personal computer, server either network equipment etc.) performs some of each embodiment of the present invention or embodiment
Method described in part, such as：
A kind of storage medium, the storage medium are stored with computer program, and the computer program is executed by processor
The step of Shi Shixian foregoing radar scanning methods.
The present invention can be used in numerous general or special purpose computing system environments or configuration.Such as：Personal computer, service
Device computer, handheld device or portable device, laptop device, multicomputer system, the system based on microprocessor, machine top
Box, programmable consumer-elcetronics devices, network PC, minicomputer, mainframe computer, including any of the above system or equipment
Distributed computing environment etc., such as embodiment two.
Embodiment two
A kind of electronic equipment as shown in Figure 8 including memory 200, processor 300 and is stored in memory 200
Program, described program are configured to be performed by processor 300, and processor 300 realizes above-mentioned radar scanning when performing described program
The step of method.
The method in device and previous embodiment in the present embodiment be based on two under same inventive concept aspects,
Front is described in detail method implementation process, so those skilled in the art can be according to foregoing description clearly
The structure and implementation process of the system in this implementation are solved, in order to illustrate the succinct of book, details are not described herein again.
Electronic equipment provided in an embodiment of the present invention can be divided by the way that default specific plane is divided into multiple Scanning Sections
Other that each Scanning Section is scanned, so as to realize the scanning to entirely presetting certain surface, therefore radar can obtain institute
The target information of search coverage is realized to the quick scanning probe of specific region and display.Default certain surface can be plane
It can be curved surface；Available for detection of the radar to specific plane or curved surface area, such as weather radar is to the two-way glide slope in airport
Wind field or aircraft wake situation quick detection.
The above embodiment is only the preferred embodiment of the present invention, it is impossible to the scope of protection of the invention is limited with this,
The variation and replacement for any unsubstantiality that those skilled in the art is done on the basis of the present invention belong to institute of the present invention
Claimed scope.
Claims (10)
- A kind of 1. radar scanning method, which is characterized in that comprise the following steps：Default certain surface is obtained, the default certain surface includes multiple Scanning Sections；Calculate the direction parameter and pitch parameter of each Scanning Section；The specific control parameter of each Scanning Section is calculated according to the direction parameter and pitch parameter；System control instruction is generated according to the specific control parameter of each Scanning Section, the system control instruction is used for control radar pair The default certain surface is scanned.
- 2. radar scanning method as described in claim 1, it is characterised in that：The specific control parameter according to each Scanning Section Generation system control instruction, specifically includes following steps：Layout is attached to the specific control parameter of each Scanning Section according to the order of each Scanning Section；System control instruction is generated according to the specific control parameter of each Scanning Section after connection layout.
- 3. radar scanning method as described in claim 1, it is characterised in that：It is described to obtain default certain surface, the default spy Determining face includes multiple Scanning Sections, specifically includes following steps：The drafting certain surface in three-dimensional space drawing interface is obtained, the drafting certain surface matches with the default certain surface；Extract the key parameter of the default certain surface；The default certain surface is divided by multiple Scanning Sections according to the key parameter.
- 4. radar scanning method as claimed in claim 3, it is characterised in that：The key parameter includes Initial Azimuth, pitching At least one of angle, inflection point orientation, home orientation, sweep speed parameter.
- 5. the radar scanning method as any one of claim 1-4, it is characterised in that：The radar scanning method is used for Mechanical scanning radar, the specific control parameter that each Scanning Section is calculated according to the direction parameter and pitch parameter are specially： The control parameter of the antenna servo driver according to the direction parameter, pitch parameter and mechanical scanning radar calculates each The antenna parameter of Scanning Section.
- 6. the radar scanning method as any one of claim 1-4, it is characterised in that：The radar scanning method is used for Electronic scanning radar, the specific control parameter of each Scanning Section include beam control parameters.
- 7. the radar scanning method as any one of claim 1-4, it is characterised in that：The radar scanning method is used for Azimuth scan is mechanical scanning and pitching scanning is the radar of electron scanning, described according to the direction parameter and pitch parameter meter The specific control parameter of each Scanning Section is calculated, is specially：According to the direction parameter and the control parameter meter of antenna servo driver It calculates the antenna driving parameter of each Scanning Section and the beam control parameters of each Scanning Section is calculated according to the pitch parameter.
- 8. the radar scanning method as any one of claim 1-4, it is characterised in that：The radar scanning method is used for Azimuth scan is electron scanning and pitching scanning is the radar of mechanical scanning, described according to the direction parameter and pitch parameter meter The specific control parameter of each Scanning Section is calculated, is specially：The beam control parameters of each Scanning Section are calculated according to the direction parameter, with And the antenna driving parameter of each Scanning Section is calculated according to the control parameter of the pitch parameter and antenna servo driver.
- 9. a kind of electronic equipment, it is characterised in that：It is described including memory, processor and program stored in memory Program is configured to be performed by processor, and processor is realized when performing described program as any one of claim 1-8 The step of radar scanning method.
- 10. a kind of storage medium, the storage medium is stored with computer program, it is characterised in that：The computer program quilt The step of radar scanning method as any one of claim 1-8 is realized when processor performs.
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| CN201711008817.3A CN108051805A (en) | 2017-10-25 | 2017-10-25 | A kind of radar scanning method, electronic equipment and storage medium |
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| CN201711008817.3A CN108051805A (en) | 2017-10-25 | 2017-10-25 | A kind of radar scanning method, electronic equipment and storage medium |
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Cited By (5)
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| CN109188369A (en) * | 2018-10-25 | 2019-01-11 | 百度在线网络技术（北京）有限公司 | Support equipment and its manufacturing method and control method, device, equipment and medium |
| CN109404676A (en) * | 2018-12-13 | 2019-03-01 | 百度在线网络技术（北京）有限公司 | Support equipment and its manufacturing method and control method, device, equipment and medium |
| CN110031835A (en) * | 2019-04-16 | 2019-07-19 | 北京遥感设备研究所 | A kind of phased-array radar S curve scan method |
| CN110286378A (en) * | 2019-06-19 | 2019-09-27 | 青海大学 | Pulse trigger control method and device for three-dimensional scanning of weather radar |
| WO2022252335A1 (en) * | 2021-06-01 | 2022-12-08 | 南京驭逡通信科技有限公司 | Industrial robot and industrial robot obstacle avoidance system thereof |
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| CN109188369A (en) * | 2018-10-25 | 2019-01-11 | 百度在线网络技术（北京）有限公司 | Support equipment and its manufacturing method and control method, device, equipment and medium |
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| CN110286378A (en) * | 2019-06-19 | 2019-09-27 | 青海大学 | Pulse trigger control method and device for three-dimensional scanning of weather radar |
| CN110286378B (en) * | 2019-06-19 | 2021-09-03 | 青海大学 | Pulse trigger control method and device for meteorological radar three-dimensional scanning |
| WO2022252335A1 (en) * | 2021-06-01 | 2022-12-08 | 南京驭逡通信科技有限公司 | Industrial robot and industrial robot obstacle avoidance system thereof |
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Application publication date: 20180518 |