CN113359098B - Multi-radar inertial navigation error compensation method and system, storage medium and electronic equipment - Google Patents
Multi-radar inertial navigation error compensation method and system, storage medium and electronic equipment Download PDFInfo
- Publication number
- CN113359098B CN113359098B CN202110710257.6A CN202110710257A CN113359098B CN 113359098 B CN113359098 B CN 113359098B CN 202110710257 A CN202110710257 A CN 202110710257A CN 113359098 B CN113359098 B CN 113359098B
- Authority
- CN
- China
- Prior art keywords
- radar
- angle
- beam pointing
- inertial navigation
- pointing angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 33
- 238000001514 detection method Methods 0.000 claims abstract description 93
- 239000003550 marker Substances 0.000 claims description 5
- 238000006243 chemical reaction Methods 0.000 claims description 4
- 239000000284 extract Substances 0.000 claims description 4
- 230000015572 biosynthetic process Effects 0.000 abstract description 9
- 230000001427 coherent effect Effects 0.000 abstract description 9
- 238000003786 synthesis reaction Methods 0.000 abstract description 9
- 230000000694 effects Effects 0.000 abstract 1
- 230000001678 irradiating effect Effects 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
Images
Classifications
-
- 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
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4026—Antenna boresight
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention relates to the field of error compensation, in particular to a multi-radar inertial navigation error compensation method, a multi-radar inertial navigation error compensation system, a storage medium and electronic equipment. The method comprises the following steps: step 1, acquiring detection target information of a first radar; step 2, calculating a beam pointing angle of a second radar according to the detection target information; step 3, calculating beam pointing errors according to the detection target information and the beam pointing angles; and 4, completing inertial navigation error compensation according to the beam pointing error. The invention can realize beam synchronization and coherent synthesis under the condition that the multi-radar dynamic pointing collaborative inertial navigation has errors, correct the deviated beam angle in time, has simple system design and engineering realizability, and is suitable for the effect of a distributed radar system.
Description
Technical Field
The invention relates to the field of error compensation, in particular to a multi-radar inertial navigation error compensation method, a multi-radar inertial navigation error compensation system, a storage medium and electronic equipment.
Background
To realize the cooperative detection of multiple radar dynamics in space, each unit radar needs to irradiate beams to the same target at the same time. When the radar platform rotates, the position and angle information of inertial navigation is needed to be utilized to carry out angle compensation on the beams transmitted by the antennas, so that the beams transmitted by the antennas irradiate towards the same target, and dynamic cooperative detection of multiple radars is realized. When there is an error between the inertial navigations of the first and second radars, the beam angle emitted by the antenna deviates from the correct beam direction, thereby reducing the efficiency of cooperative detection. At present, no relevant inertial navigation error compensation method exists for multi-radar dynamic pointing cooperation.
Disclosure of Invention
The invention aims to provide a multi-radar inertial navigation error compensation method, a multi-radar inertial navigation error compensation system, a storage medium and electronic equipment.
The technical scheme for solving the technical problems is as follows: a multi-radar dynamic pointing collaborative inertial navigation error compensation method comprises the following steps:
step 1, acquiring detection target information of a first radar;
step 2, calculating a beam pointing angle of a second radar according to the detection target information;
step 3, calculating beam pointing errors according to the detection target information and the beam pointing angles;
and 4, completing inertial navigation error compensation according to the beam pointing error.
The invention has the beneficial effects that: the method can realize beam synchronization and coherent synthesis under the condition that errors exist in multi-radar dynamic pointing collaborative inertial navigation, correct deviated beam angles in time, and is simple in system design, engineering realizable and suitable for a distributed radar system.
On the basis of the technical scheme, the invention can be further improved as follows.
Further, the step 1 specifically comprises:
and controlling the first radar to transmit a detection waveform to a detection target through a beam control module, and extracting detection target information according to an echo signal of the detection waveform, wherein the detection target information is a position coordinate of the detection target.
Further, step 2 specifically comprises:
and converting the detection target information of the first radar into the beam pointing angle of the second radar through three attitude angles in the inertial navigation information of the first radar, three attitude angles in the inertial navigation information of the second radar, the geodetic longitude and latitude of the second radar and the ellipsoidal height of the second radar by a beam compensation module.
Further, step 3 specifically comprises:
controlling the first radar to radiate a first detection waveform to the detection target information through a beam control module, controlling the second radar to radiate a second detection waveform to the detection target information, scanning a target of a marker post through a fixed angle in a preset range, calculating a first direction beam pointing angle and a first pitching beam pointing angle corresponding to the maximum amplitude value of an echo signal of the first radar under the current irradiation angle by a signal processing module in the scanning process, calculating a second direction beam pointing angle and a second pitching beam pointing angle corresponding to the maximum amplitude value of the echo signal of the second radar under the current irradiation angle by the signal processing module, obtaining an azimuth angle difference through the first direction beam pointing angle and the second direction beam pointing angle, and obtaining a pitching angle difference through the first pitching beam pointing angle and the second pitching beam pointing angle, wherein the beam pointing error comprises: the first direction beam pointing angle, second direction beam pointing angle, the first elevation beam pointing angle, and second elevation beam pointing angle.
Further, step 4 specifically comprises:
and compensating the azimuth angle difference and the pitch angle difference to the beam pointing angle of the second radar to obtain the electric wave beam control pointing direction.
Another technical solution of the present invention for solving the above technical problems is as follows: a multi-radar dynamic pointing collaborative inertial navigation error compensation system comprises:
the acquisition module is used for acquiring detection target information of the first radar;
the first calculation module is used for calculating the beam pointing angle of the second radar according to the detection target information;
the second calculation module is used for calculating beam pointing errors according to the detection target information and the beam pointing angles;
and the compensation module is used for completing inertial navigation error compensation according to the beam pointing error.
The beneficial effects of the invention are: the method can realize beam synchronization and coherent synthesis under the condition that errors exist in multi-radar dynamic pointing collaborative inertial navigation, correct the deviated beam angle in time, has simple system design and engineering realizability, and is suitable for a distributed radar system.
Further, the obtaining module is specifically configured to:
controlling the first radar to transmit a detection waveform to a detection target through a beam control module, and extracting detection target information according to an echo signal of the detection waveform, wherein the detection target information is a position coordinate of the detection target.
Further, the first calculation module is specifically configured to:
and converting the detection target information of the first radar into the beam pointing angle of the second radar through three attitude angles in inertial navigation information of the first radar, three attitude angles in inertial navigation information of the second radar, the geodetic longitude and latitude of the second radar and the ellipsoidal height of the second radar by a beam compensation module.
Further, the second calculation module is specifically configured to:
controlling the first radar to radiate a first detection waveform to the detection target information through a beam control module, controlling the second radar to radiate a second detection waveform to the detection target information, scanning a target of a marker post through a fixed angle in a preset range, calculating a first direction beam pointing angle and a first pitching beam pointing angle corresponding to the maximum amplitude value of an echo signal of the first radar under the current irradiation angle by a signal processing module in the scanning process, calculating a second direction beam pointing angle and a second pitching beam pointing angle corresponding to the maximum amplitude value of the echo signal of the second radar under the current irradiation angle by the signal processing module, obtaining an azimuth angle difference through the first direction beam pointing angle and the second direction beam pointing angle, and obtaining a pitching angle difference through the first pitching beam pointing angle and the second pitching beam pointing angle, wherein the beam pointing error comprises: the first direction beam pointing angle, second direction beam pointing angle, the first elevation beam pointing angle, and second elevation beam pointing angle.
Further, the compensation module is specifically configured to:
and compensating the azimuth angle difference and the pitch angle difference to the beam pointing angle of the second radar to obtain the electric wave beam control pointing direction.
Another technical solution of the present invention for solving the above technical problems is as follows: a storage medium having instructions stored therein, which when read by a computer, cause the computer to execute a multi-radar dynamic pointing collaborative inertial navigation error compensation method according to any one of the above.
The invention has the beneficial effects that: the method can realize beam synchronization and coherent synthesis under the condition that errors exist in multi-radar dynamic pointing collaborative inertial navigation, correct the deviated beam angle in time, has simple system design and engineering realizability, and is suitable for a distributed radar system.
Another technical solution of the present invention for solving the above technical problems is as follows: an electronic device, comprising a memory, a processor and a program stored in the memory and running on the processor, wherein the processor executes the program to implement a multi-radar dynamic pointing collaborative inertial navigation error compensation method as described in any one of the above.
The invention has the beneficial effects that: the method can realize beam synchronization and coherent synthesis under the condition that errors exist in multi-radar dynamic pointing collaborative inertial navigation, correct the deviated beam angle in time, has simple system design and engineering realizability, and is suitable for a distributed radar system.
Drawings
FIG. 1 is a schematic flow chart of a multi-radar dynamic pointing collaborative inertial navigation error compensation method according to an embodiment of the present invention;
FIG. 2 is a system block diagram provided by an embodiment of a multi-radar dynamic-pointing collaborative inertial navigation error compensation system according to the present invention.
Detailed Description
The principles and features of this invention are described below in conjunction with examples which are set forth to illustrate, but are not to be construed to limit the scope of the invention.
As shown in fig. 1, a multi-radar dynamic pointing collaborative inertial navigation error compensation method includes:
step 1, acquiring detection target information of a first radar;
step 2, calculating a beam pointing angle of a second radar according to the detection target information;
step 3, calculating a beam pointing error according to the detection target information and the beam pointing angle;
and 4, completing inertial navigation error compensation according to the beam pointing error.
In some possible implementation modes, beam synchronization and coherent synthesis can be realized under the condition that errors exist in multi-radar dynamic pointing collaborative inertial navigation, and deviated beam angles can be corrected in time.
It should be noted that before executing the method, a multi-radar dynamic pointing collaborative inertial navigation error compensation platform needs to be established, and the platform includes a beam control module, a beam compensation module, a signal processing module and an inertial navigation compensation module. The specific compensation procedure of the present invention can be understood with reference to example 1.
Embodiment 1, a beam control module controls a first radar to emit a first detection waveform to a direction of a target, obtains a target echo signal, and extracts a position (θ) of the target 1 ,φ 1 ,R 1 )，θ 1 Is the azimuth angle, phi, of the beam pointing angle and the normal direction 1 Included angle of elevation, R, of beam pointing angle to normal direction 1 Is the distance between the first radar and the target. The beam compensation module utilizes three attitude angles (Head) in the first radar inertial navigation information 1 ,Pitch 1 ,Roll 1 ) T Three attitude angles (Head) in the second radar inertial navigation information 2 ,Pitch 2 ,Roll 2 ) T Geodetic longitude and latitude of the second radar, and ellipsoidal height (L) of the second radar 2 ,B 2 ,H 2 ) Transposing (theta) the position information of the first radar detection target 1 ,φ 1 ,R 1 ) T Converting into corresponding position information (theta) of the second radar detection target through coordinate conversion 2 ,φ 2 ,R 2 ) T . The above conversion process can be implemented by the prior art. Wherein, Head 1 Is the heading angle, Head, of the first radar 2 The heading angle of the second radar is the heading angle, wherein the heading angle represents an included angle between the heading of the platform and the north, and the clockwise direction from the north is positive; pitch 1 Pitch angle of the first radar 2 The pitch angle of the second radar represents the included angle between the longitudinal axis of the rectangular coordinate system of the platform and the horizontal plane, and the head of the platform is raised to be positive; roll 1 Roll angle of the first radar 2 And the roll angle of the second radar is represented by the roll angle, wherein the roll angle represents the included angle between the horizontal axis of the rectangular coordinate system of the platform and the horizontal plane, and the starboard of the carrier descends to be positive. L is 2 Geodetic longitude, B, of origin of coordinates of north heaven coordinate system of second radar 2 The geodetic latitude of the origin of coordinates of the north heaven coordinate system of the second radar, H 2 The height of an ellipsoid which is the origin of coordinates of the north heaven coordinate system of the second radar. The beam steering module controls the first radar to a target position (theta) 1 ,φ 1 ,R 1 ) T Irradiating the first detection waveform to control the second radar to a target position (theta) 2 ,φ 2 ,R 2 ) T Irradiating a second detection waveform while at [ -5 θ ] 0.5 ,5θ 0.5 ]Stepping the range theta by a fixed angle within the range 0.5 /20 scanning the target of the benchmark with the scanning result of theta 1max 、θ 2max 、φ 1max And phi 2max ，θ 0.5 Is the antenna half beamwidth. The signal processing module calculates and obtains the azimuth beam pointing angle theta corresponding to the maximum amplitude value (namely target pointing) of the echo signals of the first radar and the second radar under the current irradiation angle 1max And theta 2max Elevation beam pointing angle phi 1max And phi 2max Obtaining the azimuth angle difference Delta theta of the two wave beam centers max And a difference in pitch angle of delta phi max Comprises the following steps:
Δθ max ＝θ 1max -θ 2max
Δφ max ＝φ 1max -φ 2max
the inertial navigation compensation module enables the azimuth angle difference delta theta obtained in the fourth step to be obtained max Angle difference from pitch angle delta phi max Compensating for the second radar to direct the beam at an angle (theta) 2 ,φ 2 ) Compensation is performed to generate a correct beam control direction:
θ′ 2 ＝θ 2 +Δθ max
φ′ 2 ＝φ 2 +Δφ max
finally, under the unified control of the beam control module, the first radar and the second radar respectively point to the angle (theta) according to the beam 1 ,φ 1 ) And (theta' 2 ,φ′ 2 ) Parallel beam irradiation is carried out on the target, and multi-radar dynamic cooperative detection of the detected target is realized. Therefore, the compensation of the error of the multi-radar dynamic pointing collaborative inertial navigation is completed.
Preferably, in any of the above embodiments, step 1 specifically is:
controlling the first radar to transmit a detection waveform to a detection target through a beam control module, and extracting detection target information according to an echo signal of the detection waveform, wherein the detection target information is a position coordinate of the detection target.
It should be noted that, the beam control module controls the first radar to emit the first detection waveform in the direction of the target, acquires the target echo signal, and extracts the position (θ) of the target 1 ,φ 1 ,R 1 )，θ 1 Is the azimuth angle, phi, of the beam pointing angle and the normal direction 1 Included angle of elevation, R, of beam pointing angle to normal direction 1 Is the distance between the first radar and the target.
Preferably, in any of the above embodiments, step 2 is specifically:
and converting the detection target information of the first radar into the beam pointing angle of the second radar through three attitude angles in the inertial navigation information of the first radar, three attitude angles in the inertial navigation information of the second radar, the geodetic longitude and latitude of the second radar and the ellipsoidal height of the second radar by a beam compensation module.
It should be noted that the beam compensation module utilizes three attitude angles (Head) in the first radar inertial navigation information 1 ，Pitch 1 ，Roll 1 ) T Three attitude angles (Head) in the second radar inertial navigation information 2 ,Pitch 2 ,Roll 2 ) T Geodetic longitude and latitude of the second radar, and ellipsoidal height (L) of the second radar 2 ,B 2 ,H 2 ) Transposing (theta) position information of the first radar detection target 1 ,φ 1 ,R 1 ) T Converted into corresponding position information (theta) of the second radar detection target 2 ,φ 2 ,R 2 ) T . Wherein, Head 1 Is the heading angle, Head, of the first radar 2 Is the heading angle of the second radar, whereinThe heading angle represents an included angle between the heading of the platform and the north, and the clockwise direction from the north is positive; pitch 1 Pitch angle of the first radar 2 The pitch angle of the second radar is a pitch angle, wherein the pitch angle represents an included angle between a longitudinal axis of a rectangular coordinate system of the platform and the horizontal plane, and the head of the platform is raised to be positive; roll 1 Roll angle of the first radar 2 And the roll angle of the second radar is represented by the roll angle, wherein the roll angle represents the included angle between the horizontal axis of the rectangular coordinate system of the platform and the horizontal plane, and the starboard of the carrier descends to be positive. L is 2 Geodetic longitude, B, of origin of coordinates of north heaven coordinate system of second radar 2 The geodetic latitude, H, of the origin of coordinates of the north heaven coordinate system of the second radar 2 The height of an ellipsoid which is the origin of coordinates of the north heaven coordinate system of the second radar.
Preferably, in any of the above embodiments, step 3 is specifically:
controlling, by a beam control module, radiation of a first detection waveform to the detection target information, controlling a second radar to radiate a second detection waveform to the beam pointing angle, scanning a target of a target pole by a fixed angle within a preset range, in the scanning process, calculating, by a signal processing module, a first direction beam pointing angle and a first pitch beam pointing angle corresponding to a maximum amplitude of an echo signal of the first radar at a current irradiation angle, and calculating, by the signal processing module, a second direction beam pointing angle and a second pitch beam pointing angle corresponding to a maximum amplitude of the echo signal of the second radar at the current irradiation angle, obtaining an azimuth angle difference by the first direction beam pointing angle and the second direction beam pointing angle, and obtaining a pitch angle difference by the first pitch beam pointing angle and the second pitch beam pointing angle, wherein the beam pointing error comprises: the first direction beam pointing angle, second direction beam pointing angle, the first elevation beam pointing angle, and second elevation beam pointing angle.
It should be noted that the target is a target simulator. The target simulator (i.e., the target of the benchmarking) is probed. The beam steering module controls the first radar to a target position (theta) 1 ,φ 1 ,R 1 ) T Irradiating the first detection waveform to control the second radar to a target position (theta) 2 ,φ 2 ,R 2 ) T Irradiating a second detection waveform at [ -5 θ ] 0.5 ,5θ 0.5 ]Stepping the range theta by a fixed angle within the range 0.5 20 scan, [ theta ] 0.5 Is the antenna half beamwidth. The signal processing module calculates and obtains the azimuth beam pointing angle theta corresponding to the maximum amplitude value (namely target pointing) of the echo signals of the first radar and the second radar under the current irradiation angle 1max And theta 2max Elevation beam pointing angle phi 1max And phi 2max Obtaining the azimuth angle difference delta theta of the two wave beam centers max And a difference of pitch angle delta phi max Comprises the following steps:
Δθ max ＝θ 1max -θ 2max
Δφ max ＝φ 1max -φ 2max 。
preferably, in any of the above embodiments, step 4 is specifically:
and compensating the azimuth angle difference and the pitch angle difference to the beam pointing angle of the second radar to obtain the electric wave beam control pointing direction.
It should be noted that the inertial navigation compensation module uses the azimuth angle difference Δ θ obtained in the fourth step max Angle difference from pitch angle delta phi max Compensating for the second radar to direct the beam at an angle (theta) 2 ,φ 2 ) Compensation is performed to generate a correct beam control direction:
θ′ 2 ＝θ 2 +Δθ max
φ′ 2 ＝φ 2 +Δφ max
finally, under the unified control of the beam control module, the first radar and the second radar respectively follow the beam pointing angle (theta) 1 ,φ 1 ) And (theta' 2 ,φ′ 2 ) And irradiating the target by parallel beams to realize multi-radar dynamic cooperative detection of the detected target. Therefore, the compensation of the error of the multi-radar dynamic pointing collaborative inertial navigation is completed.
As shown in fig. 2, a multi-radar dynamic-pointing collaborative inertial navigation error compensation system includes:
an obtaining module 100, configured to obtain detection target information of a first radar;
a first calculating module 200, configured to calculate a beam pointing angle of a second radar according to the detection target information;
a second calculating module 300, configured to calculate a beam pointing error according to the detection target information and the beam pointing angle;
and the compensation module 400 is configured to complete inertial navigation error compensation according to the beam pointing error.
In some possible implementation modes, beam synchronization and coherent synthesis can be realized under the condition that errors exist in multi-radar dynamic pointing collaborative inertial navigation, and deviated beam angles can be corrected in time.
Preferably, in any of the embodiments described above, the obtaining module 100 is specifically configured to:
and controlling the first radar to transmit a detection waveform to a detection target through a beam control module, and extracting detection target information according to an echo signal of the detection waveform, wherein the detection target information is a position coordinate of the detection target.
Preferably, in any of the above embodiments, the first calculating module 200 is specifically configured to:
and converting the detection target information of the first radar into the beam pointing angle of the second radar through three attitude angles in inertial navigation information of the first radar, three attitude angles in inertial navigation information of the second radar, the geodetic longitude and latitude of the second radar and the ellipsoidal height of the second radar by a beam compensation module.
Preferably, in any of the above embodiments, the second calculating module 300 is specifically configured to:
controlling the first radar to radiate a first detection waveform to the detection target information through a beam control module, controlling the second radar to radiate a second detection waveform to the detection target information, scanning a target of a marker post through a fixed angle in a preset range, calculating a first direction beam pointing angle and a first pitching beam pointing angle corresponding to the maximum value of the amplitude of an echo signal of the first radar under the current irradiation angle through a signal processing module in the scanning process, calculating a second direction beam pointing angle and a second pitching beam pointing angle corresponding to the maximum value of the amplitude of the echo signal of the second radar under the current irradiation angle through the signal processing module, obtaining an azimuth angle difference through the first direction beam pointing angle and the second direction beam pointing angle, and obtaining a pitching angle difference through the first pitching beam pointing angle and the second pitching beam pointing angle, wherein the beam pointing error comprises: the first direction beam pointing angle, second direction beam pointing angle, the first elevation beam pointing angle, and second elevation beam pointing angle.
Preferably, in any of the above embodiments, the compensation module 400 is specifically configured to:
and compensating the azimuth angle difference and the pitch angle difference to the beam pointing angle of the second radar to obtain the electric wave beam control pointing direction.
Another technical solution of the present invention for solving the above technical problems is as follows: a storage medium having instructions stored therein, which when read by a computer, cause the computer to execute a multi-radar dynamic pointing collaborative inertial navigation error compensation method according to any one of the above.
In some possible implementation modes, beam synchronization and coherent synthesis can be realized under the condition that errors exist in multi-radar dynamic pointing collaborative inertial navigation, and deviated beam angles can be corrected in time.
Another technical solution of the present invention for solving the above technical problems is as follows: an electronic device comprising a memory, a processor and a program stored in the memory and running on the processor, wherein the processor executes the program to implement a multi-radar dynamic pointing collaborative inertial navigation error compensation method according to any one of the above aspects.
In some possible implementation modes, beam synchronization and coherent synthesis can be realized under the condition that errors exist in multi-radar dynamic pointing collaborative inertial navigation, and deviated beam angles can be corrected in time.
The reader should understand that in the description of this specification, reference to the description of the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described method embodiments are merely illustrative, and for example, the division of steps into only one logical functional division may be implemented in practice in another way, for example, multiple steps may be combined or integrated into another step, or some features may be omitted, or not implemented.
The above method, if implemented in the form of software functional units and sold or used as a stand-alone product, can be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention essentially or partially contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
While the invention has been described with reference to specific embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (5)
1. A multi-radar dynamic pointing collaborative inertial navigation error compensation method is characterized by comprising the following steps:
step 1, acquiring detection target information of a first radar;
step 2, calculating a beam pointing angle of a second radar according to the detection target information;
step 3, calculating a beam pointing error according to the detection target information and the beam pointing angle;
step 4, inertial navigation error compensation is completed according to the beam pointing error;
the beam control module controls the first radar to emit a first detection waveform to the direction of the target, obtains a target echo signal, and extracts the position (theta) of the target 1 ,φ 1 ,R 1 )，θ 1 Is the azimuth angle, phi, of the beam pointing angle and the normal direction 1 Included angle of elevation, R, of beam pointing angle to normal direction 1 Is the distance between the first radar and the target;
the beam compensation module utilizes three attitude angles (Head) in the first radar inertial navigation information 1 ,Pitch 1 ,Roll 1 ) T Three attitude angles (Head) in the second radar inertial navigation information 2 ,Pitch 2 ,Roll 2 ) T Geodetic longitude and latitude of the second radar, and ellipsoidal height (L) of the second radar 2 ,B 2 ,H 2 ) Transposing (theta) position information of the first radar detection target 1 ,φ 1 ,R 1 ) T Converting into corresponding position information (theta) of the second radar detection target through coordinate conversion 2 ,φ 2 ,R 2 ) T ；
Controlling the first radar to radiate a first detection waveform to the detection target information and controlling the second radar to radiate a second detection waveform to the detection target information through a beam control module, scanning a target of a marker post through a fixed angle in a preset range, calculating a first direction beam pointing angle and a first pitch beam pointing angle corresponding to the maximum amplitude of an echo signal of the first radar under the current irradiation angle by a signal processing module, calculating a second direction beam pointing angle and a second pitch beam pointing angle corresponding to the maximum amplitude of the echo signal of the second radar under the current irradiation angle by the signal processing module, obtaining an azimuth angle difference through the first direction beam pointing angle and the second direction beam pointing angle, and obtaining a pitch angle difference through the first pitch beam pointing angle and the second pitch beam pointing angle, wherein the beam pointing error comprises: the first direction beam pointing angle, second direction beam pointing angle, the first elevation beam pointing angle, and second elevation beam pointing angle.
2. The method for compensating the error of the multi-radar dynamic-pointing collaborative inertial navigation according to claim 1, wherein the step 4 specifically comprises:
and compensating the azimuth angle difference and the pitch angle difference to the beam pointing angle of the second radar to obtain the electric wave beam control pointing direction.
3. A multi-radar dynamic pointing collaborative inertial navigation error compensation system is characterized by comprising:
the acquisition module is used for acquiring detection target information of the first radar;
the first calculation module is used for calculating the beam pointing angle of the second radar according to the detection target information;
the second calculation module is used for calculating beam pointing errors according to the detection target information and the beam pointing angles;
the compensation module is used for completing inertial navigation error compensation according to the beam pointing error;
the beam control module controls the first radar to emit a first detection waveform to the direction of the target, obtains a target echo signal, and extracts the position (theta) of the target 1 ,φ 1 ,R 1 )，θ 1 Is the azimuth angle, phi, of the beam pointing angle and the normal direction 1 Included angle of elevation, R, of beam pointing angle to normal direction 1 Is the distance between the first radar and the target;
the beam compensation module utilizes three attitude angles (Head) in the first radar inertial navigation information 1 ,Pitch 1 ,Roll 1 ) T Three attitude angles (Head) in the second radar inertial navigation information 2 ,Pitch 2 ,Roll 2 ) T Geodetic longitude and latitude of the second radar, and ellipsoidal height (L) of the second radar 2 ,B 2 ,H 2 ) Transposing (theta) position information of the first radar detection target 1 ,φ 1 ,R 1 ) T Converting into corresponding position information (theta) of the second radar detection target through coordinate conversion 2 ,φ 2 ,R 2 ) T ；
Controlling the first radar to radiate a first detection waveform to the detection target information and controlling the second radar to radiate a second detection waveform to the detection target information through a beam control module, scanning a target of a marker post through a fixed angle in a preset range, calculating a first direction beam pointing angle and a first pitch beam pointing angle corresponding to the maximum amplitude of an echo signal of the first radar under the current irradiation angle by a signal processing module, calculating a second direction beam pointing angle and a second pitch beam pointing angle corresponding to the maximum amplitude of the echo signal of the second radar under the current irradiation angle by the signal processing module, obtaining an azimuth angle difference through the first direction beam pointing angle and the second direction beam pointing angle, and obtaining a pitch angle difference through the first pitch beam pointing angle and the second pitch beam pointing angle, wherein the beam pointing error comprises: the first directional beam pointing angle, second directional beam pointing angle, the first elevation beam pointing angle, and second elevation beam pointing angle.
4. A storage medium having stored therein instructions, which when read by a computer, cause the computer to execute a multi-radar dynamic pointing collaborative inertial navigation error compensation method according to any one of claims 1 or 2.
5. An electronic device comprising a memory, a processor and a program stored in the memory and running on the processor, wherein the processor implements the multi-radar dynamic pointing collaborative inertial navigation error compensation method according to any one of claims 1 or 2 when executing the program.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110710257.6A CN113359098B (en) | 2021-06-25 | 2021-06-25 | Multi-radar inertial navigation error compensation method and system, storage medium and electronic equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110710257.6A CN113359098B (en) | 2021-06-25 | 2021-06-25 | Multi-radar inertial navigation error compensation method and system, storage medium and electronic equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113359098A CN113359098A (en) | 2021-09-07 |
| CN113359098B true CN113359098B (en) | 2022-09-02 |
Family
ID=77536417
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110710257.6A Active CN113359098B (en) | 2021-06-25 | 2021-06-25 | Multi-radar inertial navigation error compensation method and system, storage medium and electronic equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113359098B (en) |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19937723C2 (en) * | 1999-08-10 | 2001-10-04 | Bosch Gmbh Robert | Method and device for determining a height angle error of a multi-beam radar sensor |
| US7522097B2 (en) * | 2005-12-08 | 2009-04-21 | The Boeing Company | Radar platform angular motion compensation |
| CN107064880A (en) * | 2017-04-10 | 2017-08-18 | 南京航空航天大学 | Distributed many base radar transmit-receive beam Synchronizations and the accuracy method of wave beam control |
| CN109387836A (en) * | 2018-12-11 | 2019-02-26 | 北京无线电测量研究所 | A kind of imaging method of Inverse Synthetic Aperture Radar |
| CN110673101A (en) * | 2019-10-14 | 2020-01-10 | 成都航天科工微电子系统研究院有限公司 | Radar system dynamic compensation method based on combined navigation attitude |
| CN111665482B (en) * | 2020-04-17 | 2023-10-03 | 四川九洲防控科技有限责任公司 | Target resolution method based on digital beam forming, storage medium and electronic equipment |
| CN112067019B (en) * | 2020-09-09 | 2022-06-17 | 中国航空工业集团公司雷华电子技术研究所 | Inertial navigation delay real-time estimation method under large-maneuvering condition of carrier |
| CN112255615B (en) * | 2020-09-30 | 2022-08-09 | 四川九洲空管科技有限责任公司 | Radar moving platform electron beam stabilization and compensation system |
-
2021
- 2021-06-25 CN CN202110710257.6A patent/CN113359098B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN113359098A (en) | 2021-09-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111708038B (en) | Unmanned ship laser radar point cloud data correction method based on attitude sensor and GNSS | |
| US10756428B2 (en) | Systems and methods for inertial navigation system to RF line-of sight alignment calibration | |
| US11081788B1 (en) | System and method for near-field testing of a phased array antenna | |
| KR102080310B1 (en) | Method for detecting target using monopulse radar and recording medium | |
| CN110837086B (en) | A method and positioning system for submarine target positioning based on side scan sonar | |
| CN117420570B (en) | Laser radar attitude compensation wind measuring method, device and storage medium | |
| US11721894B2 (en) | System and method for near-field testing of a phased array antenna | |
| CN107202975A (en) | A kind of a burst of first attitude error rectification method of two-dimensional vector | |
| CN102466799B (en) | Simulation Method of Interferometric SAR Echo Data Based on POS Motion Data | |
| CN113359098B (en) | Multi-radar inertial navigation error compensation method and system, storage medium and electronic equipment | |
| CN117459176A (en) | Multidirectional noise modulation method for digital phased array antenna | |
| RU2666360C1 (en) | Target coordinates determining method and system in the “request-response” system | |
| CN116299227A (en) | SAR radar two-dimensional antenna pattern measurement method, system, medium and equipment | |
| CN107390204B (en) | A kind of moving target detection method, detecting devices and mobile detection system | |
| CN113608191B (en) | Near-field target azimuth recognition method | |
| CN115524692A (en) | Hanging sonar transmitting beam pitching stabilization method based on cognitive feedback | |
| CN112068087B (en) | Shore-based multi-channel radar aircraft-simulated sea clutter measurement method | |
| CN116482688A (en) | Collaborative operation method for shipborne multi-band phased array radar ship target detection and RCS measurement | |
| CN115932774A (en) | Fusion simulation method and device of radar target based on conversion matrix | |
| CN116299444A (en) | Phased array system spaceborne SAR non-along trace mode beam control method | |
| CN113514804A (en) | Security radar angle measurement correction method based on FMCW | |
| CN114167418A (en) | A double base positioning method based on template matching | |
| CN112485778A (en) | Airborne radar clutter distance bending correction method | |
| CN108828508B (en) | A performance analysis method for direct positioning model of over-the-horizon radiation source | |
| CN118101022B (en) | Digital phased receiving array polarization tracking method, system, equipment and medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |