CN103176477B - A kind of carried SAR flight route method of combination based on wind speed and direction dynamic conditioning - Google Patents
A kind of carried SAR flight route method of combination based on wind speed and direction dynamic conditioning Download PDFInfo
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Abstract
The invention discloses a kind of carried SAR flight route method of combination based on wind speed and direction dynamic conditioning, in real time adjustment air speed size and course-and-bearing, thus improve SAR imaging effect.The course line of this method first initialization carrier aircraft and the correlation parameter of SAR system, according to ground velocity and the air speed of actual measurement, obtain the wind speed of current carrier aircraft in the flying height of executing the task, utilize air speed, vector correlation between ground velocity and wind speed three, dynamic conditioning air speed size and course-and-bearing, make carrier aircraft reach best ground velocity and the drift angle of carried SAR system imaging, and meet SAR system stable platform orientation to operating angle scope, eliminate wind disturbance on the impact of carried SAR system imaging.The present invention effectively can improve carrier aircraft and tackle the real-time change of aerial wind to the impact of its carried SAR system imaging, effectively improves imaging effect, and can not cause the complicated of SAR hardware system.
Description
Technical field
The present invention relates to the remote sensing of such as carried SAR system and so on, observation, imaging system, be specifically related to a kind of carrier aircraft based on actual measurement wind speed and direction SAR imaging, adjustment air speed size and course-and-bearing, carry out air route layout, thus improve the method for imaging effect in real time.
Background technology
Airborne synthetic aperture radar (Synthesis Aperture Radar, be called for short SAR) be the active microwave remote sensor of a kind of advanced person, utilize and make the small-bore antenna of relative motion with target and adopt the method for signal transacting to obtain high resolving power coherent imaging.SAR is used on aircraft or spacecraft, have observation wide, provide that information is fast, clear picture, all weather operations feature, and effectively can identify camouflage, have and penetrate recognition capability, therefore military and civilian field is widely used in, as: disaster prevention, military surveillance etc.
Synthetic-aperture radar has high-resolution imaging radar as one, and its principle utilizes the motion of carrier of radar to simulate wide aperture antenna, thus obtains the radar image data of high orientation explanation.Compared with optical sensor, the function of its real time imagery has round-the-clock, round-the-clock, remote, wide characteristic of drawing band, substantially increases the information obtaining ability of radar.Along with development and the raising of SAR technology, its resolution is more and more higher, at present close to or exceed the resolution of optical imagery, be thus widely used in earth remote sensing, oceanographic observation, resource exploration, forecast of natural calamity and the field such as military surveillance, airborne and spaceborne RS.
Because carried SAR system is moved by flight carrier to form the virtual-antenna of radar, thus obtain radar image data, as shown in Figure 1.Fig. 1 give positive side-looking SAR system orientation to distance to schematic diagram, flight carrier flies along the line of flight, launch radar bearing beam pulses simultaneously, along with the motion of flight carrier, band is surveyed and drawn in the region defining a radar bearing beam namely, and obtains the radar image data in mapping band.Therefore, the state of flight of carried SAR system to carrier aircraft has strict requirement: the linear uniform motion of level is done in the region that general hypothesis radar is imaged relatively.But, in practical flight, maneuverability impact required by equipment performance, driving technology, air draught and military task, the actual flight state of carrier aircraft often departs from uniform rectilinear's translation motion state, this produces very important impact by the image forming job of SAR system, even can not imaging time serious.
According to the image-forming principle of carried SAR system, carrier aircraft and the relative motion be imaged between region obtain orientation to high-resolution key.In practical flight, due to the impact of air-flow and the restriction of carrier aircraft performance, the actual flight state of carrier aircraft often can not meet uniform rectilinear's translation motion requirement strict like this, especially the body when carrier aircraft is less, flying height is low, and when flying speed is slow, air draught can produce a very large impact the speed of carrier aircraft, drift angle, make carrier aircraft depart from Desired Track, produce the kinematic error in position, speed, attitude angle.At this moment, the robust motion of carrier aircraft is difficult to the ideal movements state that controls to required by SAR system imaging.
Traditional carried SAR system is the angular motion utilizing stable platform to isolate carrier aircraft, eliminates the kinematic error of carrier aircraft course and attitude angle, provides carrier aircraft simultaneously and depart from the site error of ideal trajectory and the speed along ideal trajectory.But owing to being usually subject to the disturbance of extraneous enchancement factor when carrier aircraft is flown in an atmosphere, the body particularly when carrier aircraft is less, and flying height is low, when flying speed is slow, the impact that carrier aircraft is subject to air draught is comparatively large, departs from linear uniform motion state.Such as, under quiet landscape condition, the air speed of carrier aircraft overlaps with ground velocity, the direction in the current course line of target pointing, and SAR system normally works; If when having crosswind (wind speed, wind direction are within the scope of the wind disturbance resistance kinetic force of carrier aircraft) in the air, if carrier aircraft employing is that when flight-path angle controls instead of crab angle controls, carrier aircraft is along airline operation, but its head will depart from predetermined flight path direction; Because crosswind affects, the head of carrier aircraft and ground velocity are by existence angle, and namely head departs from the angle of flight path, and this angle is called drift angle.If when the orientation that described drift angle exceeds SAR system stable platform is to working range, SAR system is difficult to normal work, even cannot imaging.
For the impact of crosswind on carried SAR system imaging effect, traditional method often can only overcome the impact having the wind of accurate forecast or less constant value wind, for can not the wind of accurate forecast or larger wind, caused random perturbation and the impact produced, often can not overcome.Simultaneously, traditional method often can not adjust according to the flight of actual wind speed wind direction to carrier aircraft in real time, if this just make the weather data that obtains in advance wrong or carrier aircraft meets with fluctuating wind when executing the task time, due to the imaging characteristic of SAR system, the state of flight of carrier aircraft can not meet the imaging requirements of SAR system, SAR system possibly cannot normal imaging, even cannot work.
Summary of the invention
The object of the invention is effectively to overcome the impact of larger crosswind on carried SAR system imaging effect to solve described classic method, propose a kind of carried SAR flight route method of combination based on wind speed and direction dynamic conditioning, the method can adjust the motion of carrier aircraft and the direction in course line in real-time online ground, thus effectively improves the impact of wind on carried SAR system imaging.
Based on a carried SAR flight route method of combination for wind speed and direction dynamic conditioning, comprise the following steps:
Step one: the course line of initialization carrier aircraft and the correlation parameter of SAR system;
The correlation parameter of SAR system comprises: the minimum value V of carrier aircraft air speed
kminwith maximal value V
kmax, the best ground velocity value V of carried SAR system imaging
dbest, best ground-speed range [v
dbestmin, V
dbestmaxl and ground velocity adjustment threshold value V
d0, and SAR system stable platform orientation to operating angle scope [-η
max, η
max] and drift angle adjustment threshold value η
0.
Step 2: the ground velocity V reading the actual measurement of carrier aircraft upper sensor in real time
dwith air speed V
ksize and direction, wherein, the direction of ground velocity is consistent with the direction in current course line, and the direction of air speed is consistent with the crab angle of carrier aircraft; According to air velocity vector
ground vector
and wind vector
the relation of three:
obtain the wind speed of current carrier aircraft in the flying height of executing the task
Step 3: judge ground velocity V
dsize whether at best ground velocity pre-adjustment scope [(V
dbeStmin+ V
d0), (V
dbestmax-V
d0)] in, if not, perform step 4, otherwise, perform step 5;
Step 4: adjustment carrier aircraft air speed, specifically: according to air velocity vector
ground vector
and wind vector
the relation of three, at scope [V
kmin, V
kmax] interior adjustment air speed V
ksize, make ground velocity V
dsize equal described in step one best ground velocity value V
dbest;
Step 5: the air speed current according to carrier aircraft and ground velocity, obtains drift angle η, and judges whether drift angle η exceeds the pre-adjustment scope [-(η of drift angle
max-η
0), (η
max-η
0)], if so, perform step 6, otherwise, keep current course-and-bearing, perform step 7;
Step 6: adjustment course-and-bearing, specifically: keep the size of the current ground velocity of carrier aircraft constant, the size and Orientation of adjustment course-and-bearing, air speed, makes the size of drift angle η equal 0 degree, in the process of adjustment course-and-bearing, ground velocity direction and course-and-bearing is made to remain consistent; Then three execution are gone to step;
Step 7: judge whether current carrier aircraft completes and execute the task, returns step 2 if not and continues to perform, if so, method ends.
Advantage and the good effect of the carried SAR flight route method of combination based on wind speed and direction dynamic conditioning of the present invention are:
(1) the inventive method is applicable to carrier aircraft is aircraft, unmanned plane and other the small aircraft that body is less, requirement particularly because executing the task, when carrier aircraft needs to carry out low latitude, low-speed operations, effectively can improve carrier aircraft and tackle the real-time change of aerial wind to the impact of its carried SAR system imaging, effectively improve imaging effect, and the complicated of SAR hardware system can not be caused;
(2) for the situation that can not obtain wind speed, wind direction data accurately in advance, application the inventive method can according to the sporting flying state of the adjustment carrier aircraft of the wind speed calculated in real time, wind direction data real-time online, improve the imaging effect of carried SAR system, eliminate wind disturbance to the impact of carried SAR system imaging, for the normal imaging of carried SAR system provides safeguard.
Accompanying drawing explanation
Fig. 1 is the geometric relationship schematic diagram of carried SAR system imaging;
Fig. 2 is the schematic diagram that air speed adjusts and course-and-bearing adjusts in the inventive method;
Fig. 3 is air speed, ground velocity and wind vector and graph of a relation;
Fig. 4 is the process flow diagram of carried SAR flight route method of combination of the present invention.
Embodiment
Below in conjunction with example and accompanying drawing, the present invention is described in further detail.
A kind of carried SAR flight route method of combination based on wind speed and direction dynamic conditioning provided by the invention, according to the best ground-speed range of carried SAR system imaging and antenna stabilization platform of airborne SAR orientation to operating angle scope, utilize air speed, vector correlation between ground velocity and wind speed three, according to the wind speed and direction of actual measurement, dynamic conditioning air speed size and course-and-bearing, carrier aircraft is made to reach best ground velocity and the drift angle of carried SAR system imaging, and meet SAR system stable platform orientation to operating angle scope, to ensure the imaging effect of carried SAR system, eliminate wind disturbance to the impact of carried SAR system imaging, to obtain best imaging effect.Fig. 2 is air speed of the present invention adjustment and course-and-bearing adjustment schematic diagram, and first composition graphs 2 illustrates the thinking of the inventive method below.
As shown in Figure 2, first according to the wind vector calculated in real time
course-and-bearing MN with current, makes ground velocity V
ddirection consistent with course-and-bearing, utilize air speed V
k, ground velocity V
dwith wind speed V
wthe vector relation of three, at air speed V
kspan in, adjust its size, make ground velocity V
dmeet best ground-speed range.Known current wind vector
if aircraft flies to M along current course line from N, when air speed gets minimum value V
kmintime, the value of ground velocity is V
d1, corresponding drift angle size is η
max, when air speed gets maximal value V
kmaxtime, the value of ground velocity is V
d2, corresponding drift angle size is η
min, when air speed gets certain suitable value V
ktime, ground velocity is best ground velocity value V
dbestotherwise, if aircraft flies from M to N, in like manner.According to the air speed V after adjustment
kwith ground velocity V
d, determine drift angle η, and judge η whether meet SAR system stable platform orientation to operating angle scope, if meet, keep current course-and-bearing MN; If do not met, then adjust course-and-bearing be M ' N ', make drift angle meet SAR system stable platform orientation to operating angle scope.
The invention provides the carried SAR flight route method of combination based on wind speed and direction dynamic conditioning, as shown in Figure 4, realized by following step:
Step one: the course line of initialization carrier aircraft and the correlation parameter of SAR system;
The requirement of imaging task is performed, the setting course line of initialization carrier aircraft according to carrier aircraft; Setting carrier aircraft air speed V
kminimum value V
kminwith maximal value V
kmax; The best ground velocity value V of setting carried SAR system imaging
dbest, best ground-speed range: [V
dbestmin, V
dbestmax] and ground velocity adjustment threshold value V
d0, V
dbestmintrepresent best ground velocity minimum value, V
dbestmaxrepresent best ground velocity maximal value; Setting SAR system stable platform orientation to operating angle scope: [-η
max, η
max] and drift angle adjustment threshold value η
0, η
maxrepresent SAR system stable platform orientation to maximum functional angle.
Step 2: Real-time Obtaining wind speed and direction data;
The ground velocity V of real-time reading carrier aircraft upper sensor actual measurement
dwith air speed V
ksize and direction, wherein, the direction of ground velocity is consistent with the direction in current course line, and the direction of air speed is consistent with the crab angle of carrier aircraft, according to the ground velocity read and the size of air speed, according to air velocity vector as shown in Figure 3
ground vector
and wind vector
the relation of three, determines the wind vector in the flying height that carrier aircraft is executed the task
this wind speed and direction within the scope of the wind disturbance resistance kinetic force of carrier aircraft, should meet Safety of Flight Requirements.
Step 3: judge current ground velocity V
dsize | V
d| whether within the scope of best ground velocity pre-adjustment.
According to the initial parameter described in step one, judge that the size of ground velocity is whether within the scope of best ground velocity pre-adjustment, namely whether formula (2) is set up:
|Vd|∈[(V
dbestmin+V
d0)，(V
dbestmax-V
d0)] (2)
Wherein, ground velocity adjustment threshold value V
d0be traditionally arranged to be 5m/s, the benefit arranging ground velocity adjustment threshold value is that of avoiding when ground velocity arrives critical value just carries out planning and adjusting, arranges best ground velocity pre-adjustment scope and effectively can reduce and to cause because ground velocity goes beyond the scope SAR system inoperable possible.
If current ground velocity size does not meet fast pre-adjustment scope best, then enter step 4, the adjustment mode of planning carrier aircraft air speed; If meet best ground velocity pre-adjustment scope, then enter step 5, judge whether the size of drift angle exceedes the pre-adjustment scope of drift angle.
Step 4: adjustment carrier aircraft air speed, then performs step 5.
Change for wind disturbance very little at short notice, therefore suppose that wind speed and direction is constant at short notice, according to the wind vector result of calculation that the initial parameter described in step one and step 2 obtain
utilize the relation of air speed, ground velocity and the wind vector described in formula (1), adjustment air speed V
ksize | V
k|, air speed V
ksize | V
k| between the minimum value of the air speed described in step one and maximal value, namely meet formula (3):
|V
k|∈[V
kmin，V
kmax] (3)
Make ground velocity V
dsize to equal or closest to best ground velocity value V
dbest;
According to the wind speed and direction data calculated in real time, when the ground velocity size that carrier aircraft sensor is surveyed exceeds best ground-speed range, the air speed of planning and adjusting carrier aircraft, makes the size of ground velocity meet best ground-speed range, and closest to best ground velocity value; This is conducive to the adjustment number of times reducing air speed, thus makes unmanned plane keep stabilized flight.
Step 5: judge whether the size of drift angle exceedes the pre-adjustment scope of drift angle, if exceed this scope, then performs step 6, if do not exceed this scope, keep current course-and-bearing, performs step 7.
According to air speed and the ground velocity of current carrier aircraft, take a drift η, and judge whether the size of drift angle η exceeds the setting range of drift angle, namely whether meets:
η∈[-(η
max-η
0)，(η
max-η
0)] (4)
Equally, drift angle adjustment threshold value η
0be traditionally arranged to be 3 °, the benefit arranging drift angle adjustment threshold value is that of avoiding when drift angle arrives critical value just carries out planning and adjusting, arranges drift angle pre-adjustment scope and effectively can reduce and to cause because drift angle goes beyond the scope SAR system inoperable possible.
In this step, be in best ground-speed range in current ground velocity, judge whether the size of drift angle exceeds the setting range of drift angle, if exceeded, then enter step 6 adjustment course-and-bearing; The setting range of drift angle be less than SAR system stable platform orientation to operating angle scope, this is conducive to the normal work ensureing SAR system.
Step 6: adjustment course-and-bearing, then goes to step three execution.
Adjustment course-and-bearing, keeps the size of current ground velocity constant, and the size and Orientation of adjustment course-and-bearing, air speed, makes the size of drift angle η equal or closest to 0 degree; In the process of adjustment course-and-bearing, ground velocity direction and course-and-bearing is made to be consistent.
Step 7: judge whether current carrier aircraft completes and execute the task, if not, returns step 2 and continues to perform, real-time calculation of wind speed wind direction; If so, method ends.
Carrier aircraft is in the process of executing the task, by step 2 to step 7, repeatedly carry out judging and adjusting, according to the wind speed and direction data of actual measurement, real-time online adjusts described air speed size and course-and-bearing, reach best ground velocity and drift angle, to ensure the imaging effect of carried SAR system, eliminate wind disturbance to the impact of carried SAR system imaging.
Embodiment:
The method based on the real-time course line adjustment of actual measurement wind speed and direction provided by the invention is further illustrated below by way of specific embodiment and data.
The present invention is applied to the carried SAR system imaging of certain unmanned spacecraft, the orientation of the SAR radar stable platform that this unmanned plane loads is ± 18 ° to operating angle scope, its certain to perform the flying height of imaging task be 1500m, when calm, ground velocity is equal with air speed, i.e. Vd=Vk=60m/s, the concrete steps of application the inventive method are:
Step one: the course line of initialization carrier aircraft and the correlation parameter of SAR system;
According to the execution imaging task requirement of this unmanned plane, initializing set course line, the direction in course line is 0 °, and the parallel specified course region that enters starts flight, this unmanned plane air speed V
kminimum value V
kmin=40m/s and maximal value V
kmax=80m/s, the best ground velocity value of carried SAR system imaging is V
dbest=60m/s, two end values of best ground-speed range are V
dbestmin=40m/s, V
dbestmax=80m/s, ground velocity adjustment threshold value V
d0=5m/s and η
maxbe 18 °, drift angle adjustment threshold value η
0=3 °, namely SAR system stable platform orientation to pre-adjustment scope be ± 15 °.
Step 2: Real-time Obtaining wind speed and direction
Read the ground velocity V of this unmanned plane upper sensor actual measurement
dsize is 43.3m/ and air speed V
ksize is 58.6m/s, and the direction of ground velocity is consistent with course-and-bearing is 0 °, and the size that the direction of air speed equals crab angle is 14.6 °; According to air speed V
k, ground velocity V
dwith wind speed V
wthe vector relation of three:
form vector triangle as shown in Figure 3, calculate the wind vector in flying height that carrier aircraft executes the task
wherein, wind speed size is 19.9m/s, and wind direction is 132 °.
Step 3: judge ground velocity whether within the scope of best ground velocity pre-adjustment;
According to the ground velocity 43.3m/s of this unmanned plane upper sensor actual measurement, judge, within the scope of the best ground velocity pre-adjustment of current ground velocity size whether described in step one, have:
current ground velocity size does not meet fast pre-adjustment scope best, then enter step 4, adjustment carrier aircraft air speed.
Step 4: adjustment carrier aircraft air speed.
Change very little at short notice for wind disturbance, therefore suppose that wind speed and direction is constant at short notice, according to the initial parameter described in step one and the wind vector result of calculation described in step 2, the size of wind speed is 19.9m/s, wind direction is 132 ° of vector relations according to air speed, ground velocity and wind speed, at air speed V
kavailable setting range in, that is:
| V
k| ∈ [40,80]; Make ground velocity V
dthe scope meeting the best ground velocity described in step one, that is:
| V
d| ∈ [45,75]; In the present embodiment, as ground velocity V
dsize be V
dbestduring=60m/s, air speed V
ksize be 74.9m/S.
Step 5: judge whether the size of drift angle exceedes the pre-adjustment scope of drift angle;
In the present embodiment, according to the air speed after step 4 planning and ground velocity, take a drift η=11.4 ° judge whether drift angle η exceeds the pre-adjustment scope of drift angle, has:
11.4 ° of ∈ [-15 °, 15 °]; Do not exceed this scope, then keep current course-and-bearing, enter step 7, according to the motion of program results adjustment carrier aircraft;
Step 7: judge whether current carrier aircraft completes and execute the task, if so, method ends, if not, returns step 2 and continues to perform.
Current carrier aircraft is not finished the work, and continues to perform step 2.
Step 2: calculation of wind speed wind direction in real time
Read the ground velocity size of this unmanned plane upper sensor actual measurement | V
d|=65.3m/s and current air speed size | V
k|=74.9m/s, the direction of ground velocity is consistent with course-and-bearing, and the size that the direction of air speed equals crab angle is 9.4 °; According to air speed V
k, ground velocity V
dwith wind speed V
wthe vector correlation of three:
the wind vector in the current carrier aircraft flying height of executing the task
wherein, wind speed size is 14.9m/s, and wind direction is 125 °.
Step 3: judge ground velocity whether within the scope of best ground velocity pre-adjustment;
According to the ground velocity V of this unmanned plane upper sensor actual measurement
dsize 65.3m/s, judges current ground velocity size whether within the scope of best ground velocity pre-adjustment, has:
653 ∈ [45,751: current ground velocity size meets best ground velocity pre-adjustment scope, then enter step 5, judge whether the size of drift angle exceedes the pre-adjustment scope of drift angle;
Step 5: judge whether the size of drift angle exceedes the pre-adjustment scope of drift angle;
In the present embodiment, according to air speed and ground velocity, take a drift η=9.4 °, and judge whether drift angle η exceeds the pre-adjustment scope of drift angle, has:
9.4 ° of ∈ [-15 °, 15 °]; Do not exceed this scope, then keep current course-and-bearing, enter step 7;
Step 7: judge whether current carrier aircraft completes and execute the task, if so, method ends, if not, returns step 2 and continues to perform.
Claims (1)
1., based on a carried SAR flight route method of combination for wind speed and direction dynamic conditioning, adjust the motion of carrier aircraft and the direction in course line for real-time online, it is characterized in that, comprise following step:
Step one: the course line of initialization carrier aircraft and the correlation parameter of SAR system; The correlation parameter of SAR system comprises: the minimum value V of carrier aircraft air speed
kminwith maximal value V
kmax, the best ground velocity value V of carried SAR system imaging
dbest, best ground-speed range [V
dbestmin, V
dbestmax] and ground velocity adjustment threshold value V
d0, and SAR system stable platform orientation to operating angle scope [-η
max, η
max] and drift angle adjustment threshold value η
0; Described ground velocity adjustment threshold value V
d0be set to 5m/s; Described drift angle adjustment threshold value η
0be set to 3 °;
Step 2: the ground velocity V reading the actual measurement of carrier aircraft upper sensor in real time
dwith air speed V
ksize and direction, wherein, the direction of ground velocity is consistent with the direction in current course line, and the direction of air speed is consistent with the crab angle of carrier aircraft; According to air velocity vector
ground vector
and wind vector
the relation of three:
obtain the wind vector of current carrier aircraft in the flying height of executing the task
Step 3: judge ground velocity V
dsize whether at best ground velocity pre-adjustment scope [(V
dbestmin+ V
d0), (V
dbestmax-V
d0)] in, if so, perform step 5, otherwise, perform step 4;
Step 4: adjustment carrier aircraft air speed, specifically: according to air velocity vector
ground vector
and wind vector
the relation of three, at scope [V
kmin, V
kmax] interior adjustment air speed V
ksize, make ground velocity V
dsize to equal or closest to the best ground velocity value V described in step one
dbest;
Step 5: according to current air speed and ground velocity, determine drift angle η, and judge whether drift angle η exceeds the pre-adjustment scope [-(η of drift angle
max-η
0), (η
max-η
0)], if so, perform step 6, otherwise, keep current course-and-bearing, perform step 7;
Step 6: adjustment course-and-bearing, specifically: keep the size of current ground velocity constant, the size and Orientation of adjustment course-and-bearing, air speed, makes the size of drift angle η equal 0 degree, in the process of adjustment course-and-bearing, ground velocity direction and course-and-bearing is made to remain consistent; Then three execution are gone to step;
Step 7: judge whether current carrier aircraft completes and execute the task, returns step 2 if not and continues to perform, if so, method ends.
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