CN114397632B - Calibration method, application and equipment for non-coaxial microwave follow-up striking system - Google Patents
Calibration method, application and equipment for non-coaxial microwave follow-up striking system Download PDFInfo
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- CN114397632B CN114397632B CN202111600206.4A CN202111600206A CN114397632B CN 114397632 B CN114397632 B CN 114397632B CN 202111600206 A CN202111600206 A CN 202111600206A CN 114397632 B CN114397632 B CN 114397632B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
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- G01S7/4052—Means for monitoring or calibrating by simulation of echoes
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Abstract
The invention discloses a calibration method, application and equipment for a non-coaxial microwave follow-up striking system, which at least comprise a receiving antenna and a network camera arranged on a transmitting antenna of microwave striking equipment; the method comprises the steps of determining beam direction by adjusting the angle of a rotary table of a transmitting antenna, collecting maximum received power, calibrating the beam direction by using a network camera additionally arranged at the transmitting antenna, and guiding the striking equipment by the tracking equipment by using a calibration table look-up mode; the space position and the inclination angle of each device are measured through high-precision satellite positioning equipment and an inclinometer, and then the guiding of the detection and early warning device to the tracking device is realized by utilizing a coordinate conversion formula. Aiming at the difficulties that the microwave emission beam is invisible, the feedback is not received, various errors caused by a non-ideal system are difficult to accurately measure, and the like, the invention can effectively improve the optimization efficiency of the tracking process of the microwave follow-up striking system and the guiding precision of the tracking equipment to the microwave striking equipment, and improve the striking precision and the system efficiency.
Description
Technical Field
The invention relates to the technical field of non-coaxial microwave follow-up, in particular to a system (G01S 1/08) which belongs to the field of determining direction and position lines.
Background
The microwave follow-up striking system is characterized in that high-power microwave energy is directionally radiated to a target, and pulse voltage far exceeding the rated value of the pulse voltage is induced on circuits and elements of electronic equipment in the target in a coupling mode of a front door and a rear door, so that the electronic equipment containing modern semiconductor devices is disabled, and electromagnetic interference, disturbance and damage to key systems such as target power, control and the like can be formed. While microwave striking devices need to rely on highly spatially concentrated energy for their function, it is therefore necessary to ensure real-time alignment of the microwave beam with the striking target.
Microwave follow-up striking systems typically include detection and early warning devices (e.g., early warning radar, spectrum detection devices), tracking devices (e.g., photoelectric trackers, tracking radar), and microwave striking devices.
In most application scenes, the number of detection and early warning devices is large and the detection and early warning devices are distributed in a plurality of places, while the number of tracking devices is small, and it is difficult to ensure a one-to-one coaxial relationship between the detection and early warning devices and the tracking devices; the microwave striking device can generate a high-intensity complex electromagnetic environment around the device when radiating high-power microwaves outwards, if the tracking device is too close to the device, electromagnetic compatibility is easy to generate, or more shielding materials are selected to reduce the performance of the tracking device, so that the tracking device and the microwave striking device are spaced apart in a relatively reliable arrangement mode. In general, a non-coaxial arrangement, i.e., independent servo control of the detection and early warning device, the tracking device and the microwave striking device, is a mainstream arrangement of a microwave follow-up striking system.
In order to obtain a longer acting distance, the microwave follow-up striking system generally has a large gain of a transmitting antenna, and meanwhile, the microwave follow-up striking system also means that the size of an array surface is large, the microwave beam is narrow and the requirement on the aiming precision is high, so that the striking acting distance of the system to a target is directly determined by the aiming precision. The aiming precision is the final result of the guiding between the devices through the base line conversion and the coordinate system conversion and the respective corresponding function, wherein the successful completion of the base line conversion and the coordinate system conversion is required to be accurately calibrated by errors caused by the factors such as the position, the inclination angle, the machinery, the measurement and control of the electromechanical devices in the system.
In the linkage process of the non-coaxial microwave follow-up striking system, the method mainly comprises three steps of guiding the tracking equipment by the detection early warning equipment, guiding the microwave striking equipment by the tracking equipment and finishing the countering by the microwave striking equipment. In many systems, the guiding of the tracking device by the detecting device is involved, but proper error analysis and scheme selection are required to be made according to specific requirements; since the microwave striking device belongs to new conceptual equipment and has a high technical threshold, the related research of the second step is relatively less. In the second step, the tracking device guides the microwave striking device, and the actual direction of the antenna is basically the same as the measured value transmitted to the computer by the angle measuring sensor. However, in order to obtain a longer working distance, the microwave follow-up striking system generally has a larger antenna array surface size, and is easy to generate mechanical deformation, so that the actual direction of the antenna is inconsistent with the measured value, and calibration is necessary through actual measurement and other modes.
The beam calibration method of the radar generally uses passive devices such as corner reflectors and the like to reflect radar waves, or directly receives radiation signals of a signal source through a standard gain antenna, and even solar radiation is used as a beacon. However, in either method, radar is an essential step in processing the received signal. For the microwave follow-up striking system, only power is required to be transmitted, and the function of receiving signals is not provided, so that although the beam calibration method of the radar is relatively perfect, the method cannot be directly applied to the microwave follow-up striking system.
On the premise of completing beam calibration, engineering practice shows that when the system is in a non-ideal state (for example, the tracking equipment and the microwave striking equipment are arranged on a non-ideal rigid platform, a servo mechanism comprises gear errors, a central control computer adopts a non-real-time operating system and other factors, the baseline conversion and coordinate system conversion processes are performed in a mode of measuring longitude and latitude and inclination angles and performing theoretical calculation, the action efficiency of the microwave follow-up striking system can be obviously influenced, and improvement on the calibration process is necessary.
Disclosure of Invention
Aiming at the technical problems that a microwave emission beam is invisible, feedback is not received, various errors caused by a non-ideal system are difficult to accurately measure, and the like, the invention provides a calibration method for a non-coaxial microwave follow-up striking system, which can effectively improve the optimization efficiency of a tracking process of the microwave follow-up striking system and the guiding precision of tracking equipment to the microwave striking equipment, and improve the striking precision and the system efficiency.
The technical scheme adopted by the invention is as follows:
A calibration method for a non-coaxial microwave follow-up striking system is characterized in that the angle of a rotary table of a transmitting antenna is adjusted, the maximum receiving power is collected to judge the beam direction, the direction of the beam is calibrated by a network camera additionally arranged at the transmitting antenna, and then the tracking equipment is guided to the striking equipment by a calibration table look-up mode; the space position and the inclination angle of each device are measured through high-precision satellite positioning equipment and an inclinometer, and then the guiding of the detection and early warning device to the tracking device is realized by utilizing a coordinate conversion formula.
In the technical scheme, the method at least comprises the step of calibrating the direction of the microwave beam in a mode of assisting in observation by using the network camera; the method comprises the following specific steps:
Step 1: setting a receiving antenna in a far field area of a transmitting antenna of the microwave striking device, adjusting the transmitting antenna and the receiving antenna of the microwave striking device to be basically aligned and consistent in polarization direction, and enabling a propagation path of a microwave beam to be far away from the ground without obvious shielding;
step 2: starting a microwave striking device to emit microwaves, simultaneously reading and calculating a field intensity value at a receiving antenna on a frequency spectrograph, and recording a rough position of a maximum value of the receiving field intensity;
Step 3: the field intensity maximum is found by scanning the wave beam near the maximum rough position and fitting with the antenna pattern;
Step 4: the method comprises the steps that a rotatable network camera is arranged on a transmitting antenna in a certain range, the network camera is turned to be aligned to the center of a receiving antenna, and the distance between the transmitting antenna and the receiving antenna, the relative position of the network camera and the center of the transmitting antenna and the rotation angle of the network camera at the moment are recorded to serve as calibration results.
In the above technical solution, the calibration method further includes a calibration step of detecting a zero position of the radar device in the early warning and tracking device:
step 1: after the position of the radar equipment is fixed, placing a static target in an effective detection range, recording a target track, or recording a target track or a servo display value in the process of moving and gradually stopping a dynamic target;
Step 2: recording longitude and latitude and height information of a target by using high-precision satellite positioning equipment, comparing the longitude and latitude and height information with longitude and latitude and height information of radar equipment, and calculating to obtain a pointing angle of the target relative to the radar equipment, namely a true value under a geodetic coordinate;
step 3: and subtracting the display value from the true value to obtain a compensation value for compensation in a subsequent use calculation process.
In the above technical solution, the static target is a corner reflector.
In the above technical solution, the dynamic target is an unmanned aerial vehicle.
In the technical scheme, the method further comprises the step of calibrating the zero position of the photoelectric equipment in the detection, early warning and tracking equipment:
Step 1: after the position of the photoelectric equipment is fixed, placing a static target in an effective detection range, recording a target point trace, and aligning the center of an image to the target;
Step 2: recording longitude and latitude and height information of a target by using high-precision satellite positioning equipment, comparing the longitude and latitude and height information with longitude and latitude and height information of radar equipment, and calculating to obtain a pointing angle of the target relative to the radar equipment, namely a true value under a geodetic coordinate;
step 3: and subtracting the display value from the true value to obtain a compensation value for compensation in a subsequent use calculation process.
In the above technical solution, the calibration method further includes a calibration step for the position and posture information of the tracking device:
Calibrating the tracking equipment: measuring position information of the tracking device by using high-precision satellite positioning equipment, wherein the measured values of the position information comprise longitude Lo 1, latitude La 1 and altitude Al 1; acquiring attitude information of the tracking equipment by using an inclinometer, wherein the measured value of the attitude information comprises the following components: a transverse inclination angle He 1 along the azimuth zero direction of the tracking equipment and a longitudinal inclination angle Tr 1 perpendicular to the azimuth zero direction of the tracking equipment;
In the above technical solution, the calibration method further includes a calibration step for the position and posture information of the detection and early warning device:
Calibrating detection and early warning equipment: measuring the position information of the detection early warning device by using high-precision satellite positioning equipment, wherein the measured value of the position information comprises longitude Lo 1, latitude La 1 and height Al 1; acquiring attitude information of the tracking equipment by using an inclinometer, wherein the measured value of the attitude information comprises the following components: a transverse tilt He 1 along the zero position direction of the tracking device and a longitudinal tilt Tr 1 perpendicular to the zero position direction of the tracking device.
In the above technical solution, after the calibration step of the position and posture information of the detection and early warning device and the tracking device, each measured value is converted according to the baseline conversion formula:
wherein the conversion from the geographic coordinate system to the deck coordinate system is according to the following formula:
Where (x d,yd,zd) is the target coordinates in the deck coordinate system centered on the tracking device and (x n,yn,zn) is the target coordinates in the geographic coordinate system centered on the tracking device.
In the above technical solution, the calibration method further includes a calibration step of tracking the corresponding relationship between the angles of the equipment and the microwave striking equipment:
Assuming that the horizontal range is Rhor, the pitch range is Rpit, the striking distance range is Rdis, dividing Rhor, rpit, rdis into a plurality of discrete intervals, and fully arranging all possible interval boundary point combinations;
Enabling the beacons to respectively reach each recording point in a tracking state, simultaneously utilizing a network camera to observe so as to ensure that the transmitting antenna is aligned to the beacons, recording the difference value of the pointing angles of the tracking equipment and the microwave striking equipment servo turntable in the azimuth and the pitching directions at the moment, and forming an angle corresponding relation table of the tracking equipment and the microwave striking equipment;
The pointing angle difference value of the tracking equipment and the microwave striking equipment servo turntable under any angle can be obtained through a table lookup interpolation mode, and the optimal pointing angle of the microwave striking equipment servo turntable is calculated, so that the tracking equipment can accurately guide the microwave striking equipment.
In the technical scheme, the discrete interval reasonably sets the discrete degree according to the striking precision requirement and the workload input condition.
An application of a calibration method for a non-coaxial microwave follow-up striking system is characterized in that: after the relative positions of the detection early warning equipment and the tracking equipment are solidified, the guiding process of the detection early warning equipment to the tracking equipment is corrected, so that the guiding precision and the system reliability are improved.
A beam pointing calibration apparatus, characterized in that: the device comprises microwave striking equipment, a carrying platform, a network camera, a receiving antenna, a supporting rod, an attenuator, a radio frequency coaxial line and a spectrometer;
setting a receiving antenna in a far field area of a transmitting antenna of the microwave striking device, adjusting the transmitting antenna and the receiving antenna of the microwave striking device to be basically aligned and consistent in polarization direction, and enabling a propagation path of a microwave beam to be far away from the ground without obvious shielding;
a network camera rotatable within a certain range is arranged on the transmitting antenna, and the network camera is aligned with the center of the receiving antenna.
The beam pointing calibration method is characterized in that a network camera is used for assisting in calibrating the direction of a microwave beam, and the specific pointing of the microwave beam is characterized in a parameterized manner;
Step 1: setting a receiving antenna in a far field area of a transmitting antenna of the microwave striking device, adjusting the transmitting antenna and the receiving antenna of the microwave striking device to be basically aligned and consistent in polarization direction, and enabling a propagation path of a microwave beam to be far away from the ground without obvious shielding;
step 2: starting a microwave striking device to emit microwaves, simultaneously reading and calculating a field intensity value at a receiving antenna on a frequency spectrograph, and recording a rough position of a maximum value of the receiving field intensity;
Step 3: the field intensity maximum is found by scanning the wave beam near the maximum rough position and fitting with the antenna pattern;
Step 4: the method comprises the steps that a rotatable network camera is arranged on a transmitting antenna in a certain range, the network camera is turned to be aligned to the center of a receiving antenna, and the distance between the transmitting antenna and the receiving antenna, the relative position of the network camera and the center of the transmitting antenna and the rotation angle of the network camera at the moment are recorded to serve as calibration results.
The invention mainly solves the difficulty of calibration in the guiding of the microwave striking equipment by the tracking equipment, and carries out complete carding on the calibration flow of the whole system. The method for calibrating the microwave beam direction by using the network camera to assist in observation and the method for guiding the microwave striking equipment by using fixed-point calibration and table lookup interpolation have stronger guiding significance on the use of the microwave follow-up striking system. The method has the following specific beneficial effects:
(1) The method provides a complete calibration flow of the microwave follow-up striking system under the non-coaxial condition of the detection and early warning equipment, the tracking equipment and the microwave striking equipment, and an application mode of data obtained by calibration in system linkage, and has stronger guiding significance for the use of the microwave follow-up striking system.
(2) The calibration of the microwave beam direction is carried out by utilizing the auxiliary observation mode of the network camera, so that the actual pointing angle of the microwave beam can be rapidly and accurately pointed out under the condition that the tracking equipment and the microwave striking equipment are not coaxial, and the tracking flow optimizing efficiency of the system is greatly improved;
(3) The method can improve the guiding precision of the tracking equipment to the microwave striking equipment under the conditions that the tracking equipment and the microwave striking equipment are not coaxial and a servo mechanism is in an nonideal state through actual measurement data.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a flow chart of the microwave follow-up striking system according to the present invention.
FIG. 2 is a schematic diagram of the beam pointing calibration apparatus employed in the calibration method of the non-coaxial microwave follow-up percussion system of the present invention;
FIG. 3 is a schematic diagram of the calibration of the position and orientation in the calibration method for a non-coaxial microwave follow-up striking system according to the present invention;
FIG. 4 is a schematic diagram of calibration points of the angle correspondence of the microwave striking device in the calibration method for a non-coaxial microwave follow-up striking system according to the present invention;
fig. 5 is a schematic diagram of an application mode of a calibration result in system linkage in the calibration method for the non-coaxial microwave follow-up striking system.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
In the microwave follow-up striking system shown in fig. 1, the detection and early warning device 1 finds the target and acquires the rough direction of the striking target by receiving the radar echo of the striking target 4 or capturing a communication signal of the target to the outside. But the accuracy of the directional information is poor and the update rate is low, which is insufficient to directly guide the microwave striking device 3. The tracking device 2 obtains the exact pointing of the target by receiving optical radiation or radar echoes striking the target 4 on the basis of the given rough pointing information of the target. The microwave striking device 3 acquires the precisely-directed backward-directed emitted microwave beam of the target, and achieves the countering of the struck target. The calibration aims to calibrate errors of various information transmission and decoding links and ensure effective linkage among various devices (detection early warning devices 1 (such as early warning radars and frequency spectrum detection devices), tracking devices 2 (such as photoelectric trackers and tracking radars) and microwave striking devices 3) in a system.
The invention discloses a calibration method for a non-coaxial microwave follow-up striking system, which mainly comprises the steps of calibrating the beam pointing direction of the non-coaxial microwave follow-up striking system, calibrating the zero position of detection and early warning and tracking equipment, calibrating position and posture information, calibrating the angle corresponding relation of the microwave striking equipment and applying a calibration result, and specifically comprises the following steps:
(1) Calibration of beam pointing
The beam pointing calibration device comprises a microwave striking device 3 and a carrying platform 31 thereof, a webcam 32, a receiving antenna 33, a supporting rod 331, an attenuator 34, a radio frequency coaxial line 35, a spectrometer 36 and the like, and the purpose of the beam pointing calibration device is to parametrically characterize the specific pointing direction of a microwave beam as shown in fig. 2.
The method comprises the following specific steps:
Step 1: the receiving antenna 33 is fixed on a supporting rod for lifting, the receiving antenna 33, the attenuator 34 and the frequency spectrograph 36 are connected by utilizing the radio frequency coaxial line 35, the transmitting antenna 310 and the receiving antenna 33 of the microwave striking device 3 are adjusted to be basically aligned, the polarization direction is consistent, the receiving antenna 33 is positioned in the far field area of the transmitting antenna 310, and meanwhile, the propagation path of the microwave beam is far away from the ground without obvious shielding;
step 2: starting the microwave striking device 3 to emit microwaves, simultaneously reading and calculating the field intensity value at the receiving antenna 33 on the spectrometer 36, and recording the rough position of the maximum value of the receiving field intensity;
Step 3: the field intensity maximum is found by scanning the wave beam near the maximum rough position and fitting with the antenna pattern;
Step 4: the network camera 32 which is rotatably mounted on the transmitting antenna 310 and is rotatable within a certain range is turned to be aligned with the center of the receiving antenna 33, and the transceiver antenna distance (the distance between the transmitting antenna 310 and the receiving antenna 33), the relative positions of the centers of the network camera 32 and the transmitting antenna 310, and the rotation angle of the network camera at this time are recorded as calibration results.
(2) Calibration of zero position of detection early warning and tracking equipment
The purpose of zero calibration is to calibrate the relative relation between the servo display value of the detection early warning device and the tracking device and the true value under the geodetic coordinate system, so that the subsequent development of baseline conversion and coordinate system conversion is facilitated. And aiming at different types of detection early warning and tracking equipment, the zero calibration method is adopted. The heading angle is commonly called as the included angle between the azimuth zero position and the north direction.
The calibration steps of the radar equipment are as follows:
Step 1: after the position of the radar equipment is fixed, placing a static target (such as a corner reflector) in an effective detection range, recording a target track, or recording a target track in the process of moving and gradually stopping a dynamic target (such as an unmanned aerial vehicle), namely a servo display value;
Step 2: recording longitude and latitude and height information of a target by using high-precision satellite positioning equipment, comparing the longitude and latitude and height information with longitude and latitude and height information of radar equipment, and calculating to obtain a pointing angle of the target relative to the radar equipment, namely a true value under a geodetic coordinate;
step 3: and subtracting the display value from the true value to obtain a compensation value for compensation in a subsequent use calculation process.
Similarly, in calibration of the electro-optical device, the process of obtaining the servo display value is changed to the process of aligning the image center to the target, and other steps are consistent with the calibration process of the radar device.
(3) Calibration of position and attitude information
On the basis of the zero calibration result, calibration of position and posture information is also required to be completed, as shown in fig. 3, so that baseline conversion and coordinate system conversion are completed, and guiding of the detection and early warning equipment to the tracking equipment is realized.
The calibration in the step is carried out aiming at detection early warning equipment and tracking equipment. As shown in fig. 3, calibration of the tracking device position information is completed by using high-precision satellite positioning equipment, and the calibration platform 11 is performed, wherein the measured values comprise longitude Lo 1, latitude La 1 and altitude Al 1; the attitude information is completed by an inclinometer, and the measured values comprise a transverse inclination angle He 1 (along the azimuth zero direction of the tracking equipment) and a longitudinal inclination angle Tr 1 (perpendicular to the azimuth zero direction of the tracking equipment).
The measurement method of the detection and early warning device is similar and is carried out on the other platform (the calibration platform 22); note that the measurement of the attitude information is also performed along the zero direction of the tracking device azimuth and the zero direction of the vertical tracking device azimuth.
The baseline conversion is according to the following formula:
The conversion from the geographic coordinate system to the deck coordinate system is according to the following formula:
Where (x d,yd,zd) is the target coordinates in the deck coordinate system centered on the tracking device and (x n,yn,zn) is the target coordinates in the geographic coordinate system centered on the tracking device.
After the calibration of the step is completed, the guiding of the detection and early warning equipment to the tracking equipment is realized through baseline conversion and coordinate system conversion.
(4) Calibration of angle corresponding relation between tracking equipment and microwave striking equipment
Assuming a horizontal shot of Rhor and a pitch shot of Rpit and a strike distance of Rdis, rhor, rpit, rdis may be divided into a plurality of discrete intervals, and all possible interval boundary point combinations may be fully arranged.
As shown in fig. 4, the horizontal range is divided into 4 equal parts, and the pitch range and the striking distance range are divided into 2 equal parts, wherein solid dots represent the recording points with the striking distance Rdis, and corresponding coordinates are marked, and the hollow origin represents the recording points with the striking distance Rdis of 0.5. In practical engineering application, the discrete degree (namely the number of equal divisions) can be reasonably set according to the requirement of the striking precision and the condition of workload investment.
In the calibration process, the beacons respectively reach each recording point in the tracking state, meanwhile, the network cameras are used for observation to ensure that the transmitting antennas are also aligned to the beacons, and the difference value of the pointing angles of the tracking equipment and the microwave striking equipment servo turntable in the moment in the azimuth and the pitching directions is recorded to form an angle corresponding relation table of the tracking equipment and the microwave striking equipment. The pointing angle difference value of the tracking equipment and the microwave striking equipment servo turntable under any angle can be obtained through a table lookup interpolation mode, and the optimal pointing angle of the microwave striking equipment servo turntable is calculated, so that the tracking equipment can accurately guide the microwave striking equipment.
(5) Application of calibration result
After the calibration and calibration of the above steps is completed, the workflow of the entire follow-up striking system is shown in fig. 5.
When the conditions exist, after the relative positions of the detection and early warning equipment and the tracking equipment are solidified, the guiding process of the detection and early warning equipment to the tracking equipment can be corrected by using the same method in a mode of actually simulating the hit target, so that the guiding precision and the system reliability are further improved.
It will be understood that modifications and variations will be apparent to those skilled in the art from the foregoing description, and it is intended that all such modifications and variations be included within the scope of the following claims.
Claims (8)
1. A calibration method for a non-coaxial microwave follow-up striking system is characterized in that the angle of a rotary table of a transmitting antenna is adjusted, the maximum receiving power is collected to judge the beam direction, the direction of the beam is calibrated by a network camera additionally arranged at the transmitting antenna, and then the tracking equipment is guided to the striking equipment by a calibration table look-up mode; the space position and the inclination angle of each device are measured through high-precision satellite positioning equipment and an inclinometer, and then the guiding of the detection and early warning device to the tracking device is realized by utilizing a coordinate conversion formula; the method at least comprises the steps of calibrating the microwave beam direction by using a network camera to assist in observation; the method comprises the following specific steps:
Step 1: setting a receiving antenna in a far field area of a transmitting antenna of the microwave striking device, adjusting the transmitting antenna and the receiving antenna of the microwave striking device to be basically aligned and consistent in polarization direction, and enabling a propagation path of a microwave beam to be far away from the ground without obvious shielding;
step 2: starting a microwave striking device to emit microwaves, simultaneously reading and calculating a field intensity value at a receiving antenna on a frequency spectrograph, and recording a rough position of a maximum value of the receiving field intensity;
Step 3: the field intensity maximum is found by scanning the wave beam near the maximum rough position and fitting with the antenna pattern;
step 4: the method comprises the steps that a rotatable network camera is arranged on a transmitting antenna within a certain range, the network camera is turned to be aligned to the center of a receiving antenna, and the distance between the transmitting antenna and the receiving antenna, the relative position of the network camera and the center of the transmitting antenna and the rotation angle of the network camera at the moment are recorded to serve as calibration results;
the method further comprises a calibration step S5 of detecting the zero position of the radar equipment in the early warning and tracking equipment:
Step S51: after the position of the radar equipment is fixed, placing a static target in an effective detection range, recording a target track, or recording a target track or a servo display value in the process of moving and gradually stopping a dynamic target;
Step S52: recording longitude and latitude and height information of a target by using high-precision satellite positioning equipment, comparing the longitude and latitude and height information with longitude and latitude and height information of radar equipment, and calculating to obtain a pointing angle of the target relative to the radar equipment, namely a true value under a geodetic coordinate;
Step S53: and subtracting the display value from the true value to obtain a compensation value for compensation in a subsequent use calculation process.
2. The calibration method for a non-coaxial microwave-driven striking system according to claim 1, further comprising a calibration step S6 of detecting a zero position of an optoelectronic device in the pre-warning and tracking device:
Step S61: after the position of the photoelectric equipment is fixed, placing a static target in an effective detection range, recording a target point trace, and aligning the center of an image to the target;
Step S62: recording longitude and latitude and height information of a target by using high-precision satellite positioning equipment, comparing the longitude and latitude and height information with longitude and latitude and height information of radar equipment, and calculating to obtain a pointing angle of the target relative to the radar equipment, namely a true value under a geodetic coordinate;
Step S63: and subtracting the display value from the true value to obtain a compensation value for compensation in a subsequent use calculation process.
3. The calibration method for a non-coaxial microwave follow-up striking system according to claim 1, characterized in that the calibration method further comprises a calibration step S7 for position and posture information of a tracking device:
Calibrating the tracking equipment: measuring position information of the tracking device by using high-precision satellite positioning equipment, wherein the measured values of the position information comprise longitude Lo 1, latitude La 1 and altitude Al 1; acquiring attitude information of the tracking equipment by using an inclinometer, wherein the measured value of the attitude information comprises the following components: a transverse tilt He 1 along the zero position direction of the tracking device and a longitudinal tilt Tr 1 perpendicular to the zero position direction of the tracking device.
4. The calibration method for a non-coaxial microwave-driven striking system according to claim 1, characterized in that the calibration method further comprises a calibration step for detecting position and posture information of the pre-warning device:
Calibrating detection and early warning equipment: measuring the position information of the detection early warning device by using high-precision satellite positioning equipment, wherein the measured value of the position information comprises longitude Lo 1, latitude La 1 and height Al 1; acquiring attitude information of the tracking equipment by using an inclinometer, wherein the measured value of the attitude information comprises the following components: a transverse tilt He 1 along the zero position direction of the tracking device and a longitudinal tilt Tr 1 perpendicular to the zero position direction of the tracking device.
5. The calibration method for a non-coaxial microwave follow-up striking system according to claim 1, characterized in that the calibration method further comprises the calibration step of tracking the angular correspondence between the device and the microwave striking device:
Assuming that the horizontal range is Rhor, the pitch range is Rpit, the striking distance range is Rdis, dividing Rhor, rpit, rdis into a plurality of discrete intervals, and fully arranging all possible interval boundary point combinations;
Enabling the beacons to respectively reach each recording point in a tracking state, simultaneously utilizing a network camera to observe so as to ensure that the transmitting antenna is aligned to the beacons, recording the difference value of the pointing angles of the tracking equipment and the microwave striking equipment servo turntable in the azimuth and the pitching directions at the moment, and forming an angle corresponding relation table of the tracking equipment and the microwave striking equipment;
The pointing angle difference value of the tracking equipment and the servo turntable of the microwave striking equipment under any angle is obtained in a table look-up interpolation mode, and the optimal pointing angle of the servo turntable of the microwave striking equipment is calculated, so that the tracking equipment can accurately guide the microwave striking equipment.
6. The calibration method for a non-coaxial microwave follow-up striking system according to claim 5, wherein the discrete interval is characterized in that the discrete degree is reasonably set according to the condition of striking precision requirement and workload input.
7. An application system of a calibration method for a non-coaxial microwave follow-up striking system is characterized in that: after the relative positions of the detection and early warning equipment and the tracking equipment are solidified, the guiding precision and the system reliability are improved by correcting the guiding process of the detection and early warning equipment to the tracking equipment, and the calibration method for the non-coaxial microwave follow-up striking system is used for realizing the calibration method for the non-coaxial microwave follow-up striking system according to claim 1 during the system operation.
8. A beam pointing calibration apparatus, characterized in that: a calibration method for a non-coaxial microwave-oriented follow-up striking system according to claim 1; the device comprises microwave striking equipment, a carrying platform, a network camera, a receiving antenna, a supporting rod, an attenuator, a radio frequency coaxial line and a spectrometer;
setting a receiving antenna in a far field area of a transmitting antenna of the microwave striking device, adjusting the transmitting antenna and the receiving antenna of the microwave striking device to be basically aligned and consistent in polarization direction, and enabling a propagation path of a microwave beam to be far away from the ground without obvious shielding;
a network camera rotatable within a certain range is arranged on the transmitting antenna, and the network camera is aligned with the center of the receiving antenna.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111600206.4A CN114397632B (en) | 2021-12-24 | 2021-12-24 | Calibration method, application and equipment for non-coaxial microwave follow-up striking system |
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| CN112857149A (en) * | 2020-11-27 | 2021-05-28 | 河北汉光重工有限责任公司 | Calibration system and method for aiming at same target by multiple devices |
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