CN1308699C - Rotary three dimension scan radar - Google Patents
Rotary three dimension scan radar Download PDFInfo
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- CN1308699C CN1308699C CNB2004100608846A CN200410060884A CN1308699C CN 1308699 C CN1308699 C CN 1308699C CN B2004100608846 A CNB2004100608846 A CN B2004100608846A CN 200410060884 A CN200410060884 A CN 200410060884A CN 1308699 C CN1308699 C CN 1308699C
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- millimeter wave
- loudspeaker
- microwave
- rotary
- wave loudspeaker
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Abstract
The present invention relates to a rotary 3-D scanning radar which comprises an antenna, a data processing unit and a display unit, wherein the antenna comprises millimeter wave loudspeakers, a transmission device and a reception device. The present invention is characterized in that the number of the millimeter wave loudspeakers is 3 to 36, and central axial lines of each loudspeaker share one original point; any two of more than two millimeter wave loudspeakers are not arranged on the same plane; the difference of the central axial lines of all the millimeter wave loudspeakers and an intersection angle of a horizontal plane is an arithmetical progression; orthographic projection axial lines of the millimeter wave loudspeakers on the horizontal plane are uniformly distributed; angles of each millimeter wave loudspeaker and the horizontal plane are different, and openings of the millimeter wave loudspeakers are arranged outwards to scanning space. The present invention can be used for obtaining 3-D space information in a short distance, and has the advantages of low cost.
Description
Technical field
The present invention relates to a kind of rotary 3-D scanning radar, especially can obtain the scanning radar of surrounding environment three-dimensional spatial information.
Background technology
Adopt millimeter wave or submillimeter wave technology, make radar have narrower wave beam, be fit to three dimensions scanning, obtaining target image is carried out suitable processing just can finish image recognition.The research of present radar all is the research that concentrates on two-dimensional directional scanning, or the radar that many radars are fixed on multi-direction measures, and main difficulty is how to obtain three-dimensional space data.Traditional radar does not change the angle of depression of radar usually when ferret out, only with an angle of depression single angle is carried out in the space and carry out spacescan, can not scan the different angles of depression simultaneously.The classic method that changes beam direction is a rotary antenna, make the inswept certain spatial domain of wave beam, ground or sea, be called mechanical scanning, by the antenna spacescan that the two-dimensional electric scanning on elevation direction is realized in rotation on the orientation and while, cost is lower, be fit to respond slow scanning at a distance.
Millimetre-wave radar is a kind of radar that is operated in millimeter wave band, and to work in the radar of 30--300GHz frequency (corresponding wavelength is 10--1.0mm) be millimetre-wave radar for IEEE regulation now.In general, electromagnetic wave is propagated at free space decay, and its damping capacity increases with the increase of frequency, but it should be noted that in millimere-wave band, owing in the atmosphere water vapor and oxygen are arranged, thereby have high absorbing window.Therefore we should draw attention when selecting frequency range.One way atmospheric attenuation figure when Fig. 7 is clear sky on sea level and height above sea level 4km height.
As can be seen from Figure 7, millimeter wave is propagated " window " frequency (35,94,140,220GHz etc.) that also has several losses less in atmosphere, and therefore, millimetre-wave radar mostly is selected on these " window " frequencies.For easy to use, the wave band symbol that present most western countries adopted sees Table 1--1.
The Hesperian wave band symbol of table 1--1
| Current operation symbol | Frequency range | The former symbol of using | Wavelength coverage |
| A | 100-300MHz | VHF | 100-300cm |
| B | 300-500MHz | UHF | 60-100cm |
| C | 0.5-1GHz | UHF | 30-60cm |
| D | 1-2GHz | L | 15-30cm |
| E | 2-3GHz | S | 10-15cm |
| F | 3-4GHz | S | 7.5-10cm |
| G | 4-6GHz | C | 5-7.5cm |
| H | 6-8GHz | C | 3.75-5cm |
| I | 8-10GHz | X | 3-3.75cm |
| J | 10-20GHz | X-Ku | 1.3-3cm |
| K | 20-40GHz | K-Ka | 7.5mm-1.5cm |
| L | 40-60GHz | V | 5-7.5mm |
| M | 60-100GHz | W | 3-5mm |
Before half a century, begin exploration microwave is used for radar, its major impetus is to wish to improve angular resolution with the antenna size of " suitably ".
Summary of the invention
The object of the present invention is to provide a kind of rotary 3-D scanning radar that the three dimensions different angles is carried out spacescan.
To achieve these goals, technical scheme of the present invention is: rotary 3-D scanning radar, it comprises antenna, data processing unit, display unit, antenna comprises the millimeter wave loudspeaker, emitter, receiving trap, it is characterized in that: the millimeter wave loudspeaker are 3-36, the cener line of each loudspeaker is initial point altogether, wantonly 2 or wantonly more than 2 the millimeter wave loudspeaker not at grade, the difference of the angle of all millimeter wave loudspeaker central axis and surface level is a tolerance, each millimeter wave loudspeaker is uniform on surface level at the orthogonal projection axis of surface level, and each millimeter wave loudspeaker outwards scans the space with angle different with surface level and opening.
Each millimeter wave loudspeaker is connected with a receiving device with a corresponding emitter with it respectively.
Perhaps adopt all millimeter loudspeaker all to be connected with a receiving device with an emitter, emission and the microwave signal of accepting are controlled by the timesharing microwave switch, microwave switch is by data processing and control single chip computer controlled microwave tdm controller, through microwave tdm controller controlled microwave switch microwave is assigned in each loudspeaker or each loudspeaker are received signal to be transferred on the receiving device.
The front end of described millimeter wave loudspeaker is provided with microwave lens.
Described data processing unit is linked to each other with microcomputer by infrared signal transmission, by the three-dimensional radar information of Computer Processing radargrammetry, and by display display space three-dimensional information.
Rotary 3-D scanning radar is made up of three parts basically: antenna, data processing unit, display unit, and the technical indicator of frequency modulated continuous wave radar is:
1. central task frequency f
0=(35,94,140,220GHz)
2. frequency modulation width Delta f
m=1GHz
3. export minimum noise acoustic ratio s
0/ N
0〉=10
4. intermediate frequency AGC controlling depth 〉=40dB
Its working method is such: at first producing an electricity accent bandwidth by electrically tunable oscillator (VCO) is the Continuous Wave with frequency modulation signal of 1GHz, and a signal part is outwards launched through waveguide to antenna; A part is met target when transmitting through the t time and will be produced reflected signal as the receiver local oscillation signal, and reflected signal is back to antenna through the t time again, produces difference frequency signal with the mixing of local oscillation signal frequency then, this signal is amplified through behind the wave filter again.In order to make difference frequency signal passage and make and waveform distortion in intermediate frequency amplifier, adopt intermediate frequency AGC control not when the large-signal, increase the amplifier dynamic range.And then this signal is carried out voltage ratio comprise triangular wave gamma correction, digital counting, accuracy compensation in the digital processing to digital processing in the back.Last signal is presented at three-dimension space image on the screen through the microcomputer simulation material object.
Signal acquisition periods is received the influence of two aspects, is the signal period influence of radar emission on the one hand, and electromagnetic speed is c=3 * 10
8Meter per second if set up the 3-D scanning space of a m * n coral lattice scope, needs to gather m * n data, and refreshing frequency is per second k time, and then signal acquisition periods is:
T＝L/(m×n×k)。
On the other hand, signal acquisition periods is subjected to the influence of measuring distance, if the maximum distance around gathering is L, the round time that needs of electromagnetic wave is:
t＝2×L/(c)。
The theoretical of visiting farthest is:
L＝c×t/2。
In order to reduce interference between signals,
L＝λ×c×t/2。
Wherein λ is the data acquisition safety coefficient, guarantees that each data acquisition do not disturb λ=0.1～0.3 mutually.
The time that signal comes and goes must could guarantee that so each signal of measuring emission does not disturb mutually less than signal acquisition periods.
Spatial information on every side can position by three-dimensional polar form, and promptly the angle of the elevation angle, rotation, space length are determined the surrounding environment location.
The present invention adopts n (3-36) millimeter wave loudspeaker, and adopt above-mentioned layout, antenna circles, because of n millimeter wave loudspeaker are arranged, thereby antenna circle each loudspeaker with the different elevations angle or the angle of depression launch in the different periods, received signal, promptly n millimeter wave loudspeaker have carried out line scanning to n different angle.Each loudspeaker rotates a circle and launches m radargrammetry signal 2, measures the space length of surrounding environment, has constituted m * n matrix 3, if the antenna gyro frequency is k; Obtain three-dimensional spatial information on every side by MICROCOMPUTER PROCESSING, promptly per second carries out k scanning to the space, gathers the three-dimensional information of space certain limit.
In order to have reduced the radar cost, all shared emission of all loudspeaker and receiving device are launched and the microwave signal of acceptance is controlled by the timesharing microwave switch.Microwave switch is by data processing and control single chip computer controlled microwave tdm controller, process microwave tdm controller controlled microwave switch is assigned to microwave in each loudspeaker or each loudspeaker is received signal and is transferred on the receiving device, each loudspeaker can not launched at the same time and accept detectable signal like this, and each audible warning is done very little mutually.
The millimeter wave loudspeaker are 3-36, wantonly 2 or wantonly more than 2 the millimeter wave loudspeaker not at grade, each millimeter wave loudspeaker is uniform in the orthogonal projection of surface level, all millimeter wave loudspeaker differential seat angle each other becomes tolerance.Can guarantee that like this in certain visual angle and sweep limit radar antenna can scan the locus of object, and will carry out spacescan in certain rotating range and in the angular field of view, measure the space orientation data that the object in this scope reflects, by COMPUTER CALCULATION in this scope landforms or the spatial information of object depict; Three-dimension space image is presented on the screen.Compare with existing collision avoidance radar technology, the spacescan that do not need two-dimensional electric scanning realize of millimeter wave loudspeaker on elevation direction, scan mode is simple; The distance of radargrammetry and loudspeaker number, survey frequency, gyro frequency are relevant, and the present invention is adapted to short distance D and is:
Wherein λ is the data acquisition safety coefficient, guarantees that each data acquisition do not disturb λ=0.1～0.3 mutually.
C is the light velocity, is 3 * 108 meter per seconds
K is the frequency of antenna rotation, and unit is revolutions per second
M radar signal frequency acquisition
The distance of general measure is in 20 kilometers.
The present invention compares with existing phased-array radar, has the low characteristics of cost.
The present invention adopts the front end of millimeter wave loudspeaker 1 to establish microwave lens 5, and the microwave lobe 6 that adds microwave lens is narrower than the microwave lobe 7 that does not add microwave lens, and measuring accuracy is higher.
Description of drawings
Fig. 1 is principle of the invention figure
Fig. 2 be different millimeter wave loudspeaker on different planes, different rotary angular emission microwave measurement signal schematic representation
Fig. 3 is the orthogonal projection distribution plans of each millimeter wave loudspeaker at surface level
Fig. 4 is the angle synoptic diagram of each millimeter wave loudspeaker and surface level
Fig. 5 is that microwave lens reduces the wave beam schematic diagram on the millimeter wave loudspeaker
Fig. 6 is infrared signal transmitting device figure
Fig. 7 millimeter wave atmospheric attenuation curve map
Among the figure: 1-millimeter wave loudspeaker, the 2-pulse signal, 3-pulse scanning lattice m * n battle array square, 4-surface level, 5-microwave lens, 6-add the microwave lobe of microwave lens, and 7-does not add the microwave lobe of microwave lens.
Embodiment
As Fig. 1, Fig. 2, Fig. 3, shown in Figure 4, rotary 3-D scanning radar, it mainly is made up of millimeter wave loudspeaker (or submillimeter wave loudspeaker), emitter, receiving trap, data processing unit, display unit, microcomputer, rotating mechanism, and millimeter wave loudspeaker (or submillimeter wave loudspeaker), emitter, receiving trap, data processing unit, display unit, microcomputer, rotating mechanism are prior art.Millimeter wave loudspeaker 1 are 3, the cener line of 3 loudspeaker is initial point altogether, wantonly 2 millimeter wave loudspeaker are not at grade, 3 millimeter wave loudspeaker differential seat angle each other becomes tolerance α, α is divided into n-1 equal portions by n loudspeaker with θ, wherein each equal portions is α, and θ be uppermost loudspeaker and horizontal plane angle and nethermost loudspeaker and surface level angle (below surface level) and, this parameter has reflected the angular field of view up and down of radar.3 millimeter wave loudspeaker are uniform in the orthogonal projection of surface level 4, and 3 millimeter wave loudspeaker outwards scan the space with angle different with surface level and opening.
Microwave switch is by data processing and control single chip computer controlled microwave tdm controller, process microwave tdm controller controlled microwave switch is assigned to microwave in each loudspeaker or each loudspeaker is received signal and is transferred on the receiving device, each loudspeaker can not launched at the same time and accept detectable signal like this, and each audible warning is done very little mutually.
As shown in Figure 5, the front end of millimeter wave loudspeaker 1 is established microwave lens 5, and the microwave lobe 6 that adds microwave lens is narrower than the microwave lobe 7 that does not add microwave lens, and measuring accuracy is higher.
Microcomputer links to each other with data processing unit by wireless transmission.As shown in Figure 6, microcomputer links to each other with data processing unit by infrared signal transmission, and advantage is that circuit is simple.
Millimeter wave loudspeaker, emitter, receiving trap are formed an antenna jointly.In order to adapt to collection spatial information data as much as possible in the unit interval, in n (3) radar antenna, each antenna all is independently an emission and a receiving device, can launch simultaneously and acknowledge(ment) signal in different orientation, 360 degree scopes are scanned, because the space angle difference of each radar, interference each other is very little, improves data acquisition rate; All antennas and circuit all are integrated on the rotating mechanism, drive antenna 360 degree rotations by a stepper motor,
The entire circuit power supply is by two swivel eye contact brush power supplies,
The data that detect send by a pair of duplexing infrared signal that is installed in turning axle one end and accept circuit to computing machine transmission measurement spatial data, avoid signal directly to produce undesired signal, the accuracy that influence is measured at rotation contact brush transmission mid point spark.
For example: the sweep test of radar realizes by three radar antennas of a stepper motor, and the horizontal field range of front is decided to be 120 degree, by 5 degree 120 degree is divided into Unit 24, i.e. 5 degree * 24=120 degree; To go up downwards angle of visibility 60 degree by 5 degree and be divided into Unit 12, i.e. 5 degree * 12=60 degree, each cellar area scope is that 5 degree * 5 are spent like this.By radar each unit of 24 * 12 is scanned, obtain the three-dimensional spatial information of front highway, and, be presented on the computer screen, the three dimensions situation around understanding by Computer Processing.Screen refresh rate is 10 hertz, the rotating speed that is radar is that per second 10 changes, the cycle of per minute acquired signal second is 1/ (24 * 12 * 10)=0.0003472 second, and general microwave switch control rate is in 50 nanoseconds, and microwave switch fully can guarantee the signals collecting speed of radar.
The present invention adopts n (3-36) millimeter wave loudspeaker, and adopt above-mentioned layout, each loudspeaker with the different elevations angle or the angle of depression launch in the different periods, received signal, be that n millimeter wave loudspeaker have carried out line scanning to n different angle, each loudspeaker rotates a circle and launches m radargrammetry signal 2, measure the space length of surrounding environment, constituted m * n matrix 3, if the antenna gyro frequency is k; Obtain three-dimensional spatial information on every side by MICROCOMPUTER PROCESSING, be that per second carries out k scanning to the space, gather the three-dimensional information of space certain limit, all shared emission of all loudspeaker and receiving device, emission and the microwave signal of accepting are controlled by the timesharing microwave switch, microwave switch is by data processing and control single chip computer controlled microwave tdm controller, process microwave tdm controller controlled microwave switch is assigned to microwave in each loudspeaker or each loudspeaker is received signal and is transferred on the receiving device, the millimeter wave loudspeaker wantonly 2 or wantonly more than 2 the millimeter wave loudspeaker not at grade, each millimeter wave loudspeaker is uniform in the orthogonal projection of surface level, all millimeter wave loudspeaker differential seat angle each other becomes tolerance, radar antenna can scan the locus of object in certain visual angle and sweep limit, and will carry out spacescan in certain rotating range and in the angular field of view, measure the space orientation data that the object in this scope reflects, by COMPUTER CALCULATION in this scope landforms or the spatial information of object depict, three-dimension space image is presented on the screen.
Claims (5)
1. rotary 3-D scanning radar, it comprises antenna, data processing unit, display unit, antenna comprises the millimeter wave loudspeaker, emitter, receiving trap, it is characterized in that: the millimeter wave loudspeaker are 3-36, the cener line of each loudspeaker is initial point altogether, wantonly 2 or wantonly more than 2 the millimeter wave loudspeaker not at grade, the difference of the angle of all millimeter wave loudspeaker central axis and surface level is a tolerance, each millimeter wave loudspeaker is uniform on surface level at the orthogonal projection axis of surface level, and each millimeter wave loudspeaker outwards scans the space with angle different with surface level and opening.
2. rotary 3-D scanning radar according to claim 1 is characterized in that: each millimeter wave loudspeaker is connected with a receiving device with a corresponding emitter with it respectively.
3. rotary 3-D scanning radar according to claim 1, it is characterized in that: all loudspeaker all are connected with a receiving device with an emitter, emission and the microwave signal of accepting are controlled by the timesharing microwave switch, microwave switch is by data processing and control single chip computer controlled microwave tdm controller, through microwave tdm controller controlled microwave switch microwave is assigned in each loudspeaker or each loudspeaker are received signal to be transferred on the receiving device.
4. rotary 3-D scanning radar according to claim 1, it is characterized in that: the front end of described millimeter wave loudspeaker is provided with microwave lens.
5. rotary 3-D scanning radar according to claim 1, it is characterized in that: described data processing unit is linked to each other with microcomputer by infrared signal transmission.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100608846A CN1308699C (en) | 2004-09-21 | 2004-09-21 | Rotary three dimension scan radar |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100608846A CN1308699C (en) | 2004-09-21 | 2004-09-21 | Rotary three dimension scan radar |
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| CN1308699C true CN1308699C (en) | 2007-04-04 |
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| CN102269812B (en) * | 2011-05-09 | 2013-08-14 | 张鹿平 | Method for detecting high-speed moving target by mechanical conical scanning beams |
| CN103630892B (en) * | 2013-12-04 | 2017-02-08 | 中国电子科技集团公司第五十研究所 | High-resolution imaging radar for detecting foreign objects of runways |
| CN105652270B (en) * | 2016-02-17 | 2018-03-27 | 中山银利智能科技股份有限公司 | A kind of automatic gate inhibition with identification function |
| CN114755672A (en) * | 2017-04-11 | 2022-07-15 | 深圳市大疆创新科技有限公司 | Radar subassembly and unmanned aerial vehicle |
| CN107015241B (en) * | 2017-04-14 | 2020-07-17 | 北京佳讯飞鸿电气股份有限公司 | Multi-radar detection method and device |
| CN112286231A (en) * | 2020-06-20 | 2021-01-29 | 芜湖易来达雷达科技有限公司 | Civil millimeter wave radar multi-antenna measurement and control system based on three-dimensional space scanning |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1062418A (en) * | 1990-12-11 | 1992-07-01 | 荷兰塞纳拉帕拉塔公司 | Radar system |
| DE4302122A1 (en) * | 1993-01-27 | 1994-08-11 | Geesthacht Gkss Forschung | Device for determining and displaying a three-dimensional wave spectrum from wave parameters detected by means of a radar system |
| JPH09178790A (en) * | 1995-12-22 | 1997-07-11 | Mitsubishi Electric Corp | Device and method for measuring antenna pattern |
| RU2155354C1 (en) * | 1999-11-04 | 2000-08-27 | Закрытое акционерное общество "Морские комплексы и системы" | Radar system |
| US6556174B1 (en) * | 2001-12-05 | 2003-04-29 | Gary M. Hamman | Surveillance radar scanning antenna requiring no rotary joint |
-
2004
- 2004-09-21 CN CNB2004100608846A patent/CN1308699C/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1062418A (en) * | 1990-12-11 | 1992-07-01 | 荷兰塞纳拉帕拉塔公司 | Radar system |
| DE4302122A1 (en) * | 1993-01-27 | 1994-08-11 | Geesthacht Gkss Forschung | Device for determining and displaying a three-dimensional wave spectrum from wave parameters detected by means of a radar system |
| JPH09178790A (en) * | 1995-12-22 | 1997-07-11 | Mitsubishi Electric Corp | Device and method for measuring antenna pattern |
| RU2155354C1 (en) * | 1999-11-04 | 2000-08-27 | Закрытое акционерное общество "Морские комплексы и системы" | Radar system |
| US6556174B1 (en) * | 2001-12-05 | 2003-04-29 | Gary M. Hamman | Surveillance radar scanning antenna requiring no rotary joint |
Non-Patent Citations (1)
| Title |
|---|
| 宽带毫米波全向天线研究 沈丽英 卿显明，红外与毫米波学报，第15卷第5期 1996 * |
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