CN105607054A - Transmit-receive integrated ultra wide band flight radar timing sampling detection method - Google Patents
Transmit-receive integrated ultra wide band flight radar timing sampling detection method Download PDFInfo
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- CN105607054A CN105607054A CN201610056676.1A CN201610056676A CN105607054A CN 105607054 A CN105607054 A CN 105607054A CN 201610056676 A CN201610056676 A CN 201610056676A CN 105607054 A CN105607054 A CN 105607054A
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- radar
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- dimensional coordinate
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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
- G01S13/885—Radar or analogous systems specially adapted for specific applications for ground probing
Abstract
The invention discloses a transmit-receive integrated ultra wide band flight radar timing sampling detection method, and relates to the technical field of an aircraft and a life detection radar. A flight radar refers to an integral mechanical structure formed by carrying an ultra wide band life detection radar on a rotorcraft. The integrated ultra wide band radar is carried by the rotorcraft so as to perform low and medium-altitude flight and carries out life detection continuously on buried life in a flying process. In a detection process, a GPS positioning apparatus is used for positioning a three-dimensional coordinate position of the aircraft. Distance information between the three-dimensional coordinate position and a life object is continuously transmitted by the flight radar in the flying process, the data is stored in a database, and finally, according to the acquired life distance information and the three-dimensional coordinate position of the aircraft, after data processing is performed through three-sphere method, a real position of buried object life is obtained finally. The method provided by the invention can greatly reduce the workload of rescue personnel, shortens rescue time and improves the life rescue efficiency.
Description
Technical field
The present invention relates to aircraft and life detection radar technical field, relate in particular to a kind of transmitting-receiving integrated ultra broadband flight radar timing sampling Detection Techniques.
Background technology
Along with the continuous progress of social development, the continuous enhancing of living standards of the people and prevention awareness, disaster relief now more and more becomes the emphasis that all circles pay close attention to, and means limitation and the shortcoming of disaster relief are both at home and abroad obvious, there is no one detection means effectively, be exactly detection means especially complexity instead delayed rescue task. Be applied to carry-on Radar Technology so I design to have invented, and this technology is innovated, exploitation of innovation ULTRA-WIDEBAND RADAR timing sampling Detection Techniques out can be applied aircraft and accurately and rapidly buried target life entity be positioned.
Ultra broadband life detection radar system is received antenna to transmitting uwb short pulse based on one one, receives the fine motion information from life entity, thereby realizes the object of life entity location. Domestic and international existing life rescue Radar Products all adopts single-shot list to receive and or Distributed Design. Receiving life rescue radar due to single-shot list is to be generally only fixed on certain a bit to carry out range detection, and the single range information of buried life entity can only be provided, and the detection of difference and the definite location of difference cannot be provided. And distributed life rescue radar is larger to hsrdware requirements amount, cost is higher, is difficult in actual applications realize, and can increase on the contrary the workload of rescue, incurs loss through delay rescue progress. Therefore the present invention has designed this transmitting-receiving integrated ultra broadband flight radar timing sampling Detection Techniques, adopt the method for timing sampling, Multi-point detection, improve the detection probability of buried life entity, increase search coverage, improve detection speed, and the definite positional information of life entity is provided, to can save timely and effectively trapped personnel.
The distance that transmitting-receiving integrated ultra broadband flight radar timing sampling Detection Techniques can obtain life entity is rapidly and accurately to, orientation to information, being conducive to target accurately locates, be the key technology of ultra broadband life detection radar, and in prior art, lack one efficient so fast and accurately " flight radar " real-time detection technology.
Summary of the invention
In view of above-mentioned technical problem, the invention provides a kind of transmitting-receiving integrated ultra broadband flight radar timing sampling detection method.
A kind of transmitting-receiving integrated ultra broadband flight radar timing sampling detection method, it is characterized in that, use rotor craft to carry one one of ultra broadband and receive integral type life detection radar, be called for short flight radar, life detection radar is fixed on rotor craft, on rotor craft, GPS locator is also installed, rotor craft or remotely-piloted vehicle fly by remote controller control, specifically comprise the following steps simultaneously:
Flight radar flies into the buried region O that maybe needs the target life entity of being rescued to exist so that speed V is stable, and flying speed V is controlled between 0.1m/s～5m/s; In carrying out stable low-to-medium altitude flight with speed V in the region O that flight radar may be existed at target life entity, the height that limits flight distance by radar ground is H, the scope of H is apart between ground level 0m～20m, and in flight course, uses GPS positioner position to obtain the to fly three-dimensional coordinate of radar; When GPS locator positions flight radar, location flight radar three-dimensional coordinate information out can be delivered to wireless transmission form on the GPS terminal display of being held in professional's hand, professional stores and record these data again;
In storage flight radar three-dimensional coordinate, life detection radar is also being worked always, and the life entity range information real-time detecting is delivered on the computer that professional controlled with unlimited transmission form with the relative distance information of radar, and demonstrate on computers the relative distance of life entity and radar; The data that professional transmits radar record and are saved in database; After obtain flying radar three-dimensional coordinate position and corresponding life entity and flight radar relative distance synchrodata information, each second of professional can be recorded and preserve these synchrodata information, then carries out follow-up algorithm process (as three sphere algorithm process) and can obtain the actual position place of life entity according to above recorded synchrodata information.
Above-mentioned GPS locator positions and obtains three-dimensional coordinate and synchronize with life detection radar real-time detection life entity range information flight radar, and both information preservations are also synchronous; GPS locator positions and obtains three-dimensional coordinate and life detection radar real-time detection life entity range information can adopt the pattern of interval certain hour to carry out timing sampling detection as required flight radar.
Aircraft described above adopts the material that quality is light, intensity is high, as titanium alloy material.
(3) beneficial effect
Can find out from technique scheme, the transmitting-receiving integrated ultra broadband flight of the present invention radar can timing sampling Detection Techniques have following beneficial effect:
(1) application aircraft carry ULTRA-WIDEBAND RADAR can increase mobility can, make life detection more nimbly and freely;
(2) adopt one one receipts integral type radar arrangement cost-savingly to increase the stability of a system simultaneously, make result of detection more reliable;
(3) by using transmitting-receiving integrated ultra broadband flight radar timing sampling Detection Techniques, can obtain fast a large amount of diverse locations, the fine motion signal of life entity in the same time not, make life detection more convenient, efficient, accurate.
Brief description of the drawings
Fig. 1 is transmitting-receiving integrated ultra broadband flight radar carries out timing sampling detection flow chart to target life entity;
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described in more detail. It should be noted that, in accompanying drawing or description description, similar or identical part is all used identical figure number. The implementation that does not illustrate in accompanying drawing or describe is form known to a person of ordinary skill in the art in affiliated technical field. In addition, although the demonstration of the parameter that comprises particular value can be provided herein, should be appreciated that, parameter is without definitely equaling corresponding value, but can in acceptable error margin or design constraint, be similar to corresponding value. The direction term of mentioning in embodiment, for example " on ", D score, 'fornt', 'back', " left side ", " right side " etc., be only the direction with reference to accompanying drawing. Therefore, the direction term of use is to be not used for limiting the scope of the invention for explanation.
Embodiment 1
A kind of transmitting-receiving integrated ultra broadband flight radar timing sampling detection method, rotor craft carries one one of ultra broadband receives integral type life detection radar, life detection radar is fixed on remotely-piloted vehicle, on remotely-piloted vehicle, GPS locator is also installed simultaneously, remotely-piloted vehicle can be by its flight of remote controller control, and the test data of GPS locator can be created in the equipment of dredging ground by wireless technology. Specifically comprise the following steps:
Steps A: use rotor craft to carry one one receipts integral type life detection radar of ultra broadband (being called for short " flight radar ") and stablize and fly into the buried region O that maybe needs the target life entity of being rescued to exist with speed " V ". Flying speed " V " is controlled between (0.1m/s～5m/s).
Step B: described in steps A, in carrying out stable low-to-medium altitude flight with speed " V " in the region O that allows " flight radar " may exist at target life entity, limiting " flight radar " is " H " apart from the height on ground, the scope of " H " is apart between ground (0m～20m), and in flight course, uses GPS positioner to position to obtain the three-dimensional coordinate of " flight radar ";
Step C: described in step B, when GPS locator positions " flight radar ", can " flight radar " three-dimensional coordinate information out of location with wireless transmission form be delivered in professional's hand, held on GPS terminal display, professional stores and record these data again.
Step D: described in step C, in storage " flight radar " three-dimensional coordinate, ultra broadband integral type radar is also being worked always, and the life entity range information real-time detecting (with the relative distance of radar) is delivered on the computer that professional controlled with unlimited transmission form, and demonstrate on computers the relative distance of life entity and radar. The data that professional transmits radar record and are saved in database.
Step e: described in step D, obtaining after " flight radar " three-dimensional coordinate position and corresponding life entity and distance by radar, each second of professional can be recorded and preserve these data, then carries out three follow-up sphere algorithm process and can obtain the actual position place of life entity according to above recorded data.
In described steps A:
Lightweight is carried by force special facture support below the quadrotor of ability, realize life detection in order to carry one one receipts integral type ultra broadband flight radar, and Big Dipper GPS navigation system has been installed on this aircraft and has realized aircraft and this overall three-dimensional coordinate location of radar. And the entirety of aircraft, radar, the common composition of GPS navigation system is referred to as " flight radar "
On " flight radar ", can carry GPS navigation system and one one receipts integral type ULTRA-WIDEBAND RADAR, consider, processing speed and the position error of gps system and ULTRA-WIDEBAND RADAR system, allow " flight radar " to fly relatively reasonable with the speed of speed " V " (0.1m/s～5m/s) left and right;
In order to ensure " flight radar " with stabilized speed " V " fly in the region O that target life entity may exist, and there is not any accident as far as possible, this process should be professional and realizes by remote controlled rotary-wing aircraft.
In described step B:
Described in step B, the altitude range of " flight radar " stabilized flight is limited to apart from ground " H " (0m～20m), because one one is received integral type ULTRA-WIDEBAND RADAR maximum range is 20m, optimal detection scope is 15m, consider again the distance of buried target life entity apart from ground or barrier, so set aircraft sustained altitude in apart from ground " H " (0m～20m);
In described step C:
According in step C, GPS navigation system on " flight radar " can be delivered to the three-dimensional coordinate position of aircraft in professional's hand of holding GPS display terminal in timing, in order to coordinate aircraft flight speed and ULTRA-WIDEBAND RADAR sampling rate, GPS should be every a bit of time " T " (this time determines according to scene flight radar detection situation), carry out Data Update one time, the three-dimensional coordinate position of current flight device is turned back to terminal and carry out data record and preservation for data acquisition personnel;
In described step D:
Described in step D, ultra broadband integral type radar on " flight radar " can be transferred to the range information of life entity on computer with wireless, when this process should fly into search coverage O with " flight radar ", recorder starts timing while obtaining for the first time the data of radar transmissions, and synchronize with the data that per interval of GPS navigation system " T " sends, per interval " T " is carried out a secondary data preservation to the data that data record person sends according to radar too, this time " T " should determine according to the scene radar detection situation of flying, if detection event more complicated should time expand interval " T " so that record is more credible. finally store life entity range information that " flight radar " three-dimensional coordinate position that the GPS in database locates out and radar transmissions come into synchronously and mutually corresponding.
In described step e:
Described in step e, " flight radar " can be delivered to target life entity range information and " flight radar " three-dimensional coordinate information on computer with wireless transmission method. And the flight control of " flight radar " should to be also professional carry out rocking bar manipulation on the spot, in the time that data record person finds that radar transmissions has been come the range information of life entity target on computers, teleoperator should suitably reduce the position of aircraft to increase the accuracy of surveying.
In the time finding the general orientation of target life entity, the target that teleoperator should allow aircraft may exist around life entity is flown, the coordinate position that makes aircraft projection on the ground can be surrounded life entity completely and may be obtained position, to increase the reliability of detection data, for later data processing provides better foundation, and this process should operate repeatedly, at least measure 5 groups of numbers that surround life entity.
So far, by reference to the accompanying drawings the present embodiment be have been described in detail. Describe according to above, those skilled in the art should have clearly understanding to the transmitting-receiving integrated ultra broadband flight of the present invention radar.
In sum, the present invention utilizes transmitting-receiving integrated ultra broadband flight radar to carry out timing to buried life entity target and surveys, and by radio transmission apparatus, flight radar space coordinates information and the target life information timing detecting being transferred to base station data recorder on hand, the data that final basis transmits are calculated life entity target. Such method is fine must utilize the flexibility of aircraft and the life detection ability of ULTRA-WIDEBAND RADAR, has greatly saved resource and has accelerated data processing speed simultaneously, for life rescue has been striven for a large amount of quality time.
Above-described specific embodiment; object of the present invention, technical scheme and beneficial effect are further described; institute is understood that; the foregoing is only specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any amendment of making, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (6)
1. a transmitting-receiving integrated ultra broadband flight radar timing sampling detection method, is characterized in that, uses rotorAircraft carries one one of ultra broadband receives integral type life detection radar, is called for short flight radar, life detection thunderReach and be fixed on rotor craft, on rotor craft, GPS locator is also installed, rotor craft simultaneouslyOr remotely-piloted vehicle flies by remote controller control, specifically comprise the following steps:
Flight radar is stablized and is flown into the buried district that maybe needs the target life entity of being rescued to exist with speed VTerritory O, flying speed V is controlled between 0.1m/s～5m/s; Flight radar may be existed at target life entityRegion O in when carrying out the flight of stable low-to-medium altitude with speed V, limit flight distance by radar groundBe highly H, the scope of H is apart between ground level 0m～20m, and in flight course, uses GPSPositioner position to obtain the to fly three-dimensional coordinate of radar; At GPS locator, flight radar is carried out, location flight radar three-dimensional coordinate information out can be delivered to specially with wireless transmission form when the locationOn the GPS terminal display of holding in industry personnel's hand, professional stores and remembers these data againRecord;
In storage flight radar three-dimensional coordinate, life detection radar is also being worked always, and will visit in real timeThe life entity range information measuring is delivered to professional people with the relative distance information of radar with unlimited transmission formOn the computer controlled of member, and demonstrate on computers the relative distance of life entity and radar; Specialty peopleThe data that member transmits radar record and are saved in database; Obtain the thunder that fliesReach after three-dimensional coordinate position and corresponding life entity and flight radar relative distance synchrodata information specialtyEach second of personnel can be recorded and preserve these synchrodata information, then according to above recorded synchronousData message carries out follow-up algorithm process can obtain the actual position place of life entity.
2. according to the transmitting-receiving integrated ultra broadband of one claimed in claim 1 flight radar timing sampling detection method,It is characterized in that, GPS locator positions and obtains three-dimensional coordinate and life detection radar reality flight radarTime to survey life entity range information be synchronous, it is also synchronous that both information is preserved.
3. according to the transmitting-receiving integrated ultra broadband of one claimed in claim 1 flight radar timing sampling detection method,It is characterized in that, GPS locator positions and obtains three-dimensional coordinate and life detection radar reality flight radarIn time, is surveyed life entity range information and adopts as required the pattern of interval certain hour to carry out timing sampling detection.
4. according to the transmitting-receiving integrated ultra broadband of one claimed in claim 1 flight radar timing sampling detection method,It is characterized in that, follow-up algorithm process is three sphere algorithm process.
5. according to the transmitting-receiving integrated ultra broadband of one claimed in claim 1 flight radar timing sampling detection method,It is characterized in that, when professional has transmitted the range information of finding life entity target in data messageTime, straighforward operation should suitably reduce the position of aircraft to increase the accuracy of surveying.
6. according to the transmitting-receiving integrated ultra broadband of one claimed in claim 1 flight radar timing sampling detection method,It is characterized in that, in the time finding the general orientation of target life entity, straighforward operation should allow aircraft around lifeThe life body target that may exist is flown, and the coordinate position that makes aircraft projection on the ground can be completeThe full life entity that surrounds may obtain position, to increase the reliability of detection data, for later data processing provides moreGood foundation, and this process should operate repeatedly, at least measures 5 groups of numbers that surround life entities.
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| CN109521792A (en) * | 2018-11-13 | 2019-03-26 | 贵州电网有限责任公司六盘水供电局 | A kind of unmanned aerial vehicle flight control system based on power transmission and transforming equipment threedimensional model |
| CN112066978A (en) * | 2020-09-17 | 2020-12-11 | 西安思丹德信息技术有限公司 | Ground target active positioning method and device suitable for airborne equipment |
| CN113766416A (en) * | 2020-12-02 | 2021-12-07 | 北京京东乾石科技有限公司 | Unmanned aerial vehicle positioning method and device and storage medium |
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