Ground verification system and verification method for millimeter wave radar navigation

Abstract

The application discloses a ground verification system and verification method for millimeter wave radar navigation, and the ground verification system comprises a millimeter wave radar subsystem, a radar gravity compensation system, a dynamics module, a millimeter wave radar echo simulation system, a six-degree-of-freedom motion control system and a navigation solution and evaluation module. The millimeter wave radar subsystem is used for measuring the relative distance and angle between the tracked targets; the radar gravity compensation system is used for simulating a weightless environment; the dynamics module generates position and attitude simulation information; the millimeter wave radar echo simulation system transmits echo signals; the six-degree-of-freedom motion control system controls the movement of a test signal transmitting antenna; and the navigation solution and evaluation module evaluates the navigation results. The ground verification system and verification method for millimeter wave radar navigation simulate the on-orbit environment on the ground, verify the complete application of the millimeter wave radar subsystem in the semi-physical test of the aircraft, and evaluate the navigation precision of the millimeter wave radar subsystem.

Description

Technical Field

[0001] This invention relates to the field of space technology, and in particular to a ground verification system for millimeter-wave radar navigation. Background Technology

[0002] As the types of missions for spacecraft in orbit become increasingly diverse, the navigation requirements for spacecraft are also growing. Millimeter-wave radar, as a single-unit tracking and aiming system that combines ranging and angle measurement, has wide applications in spacecraft navigation. For millimeter-wave radar with a drive mechanism, ground testing conditions differ significantly from in-orbit conditions. Therefore, it is necessary to test the navigation application of millimeter-wave radar on the ground under conditions that simulate the in-orbit environment as closely as possible. This includes the complete application of millimeter-wave radar in semi-physical testing of spacecraft, and the evaluation of the navigation performance of millimeter-wave radar. Thorough ground testing before flight testing ensures the reliability and safety of in-orbit use. Summary of the Invention

[0003] The purpose of this invention is to provide a ground verification system and verification method for millimeter-wave radar navigation.

[0004] To achieve the above objectives, the present invention provides a ground verification system for millimeter-wave radar navigation, comprising:

[0005] A millimeter-wave radar subsystem including a radar antenna, the millimeter-wave radar subsystem being used to measure the relative distance and angle between itself and the tracked target;

[0006] A radar gravity compensation system, connected to the radar antenna, is used to compensate for the gravity acting on the radar antenna to simulate the radar antenna being in a weightless environment.

[0007] A dynamics module, which generates position and attitude simulation information of the aircraft equipped with the radar antenna and the tracked target during their on-orbit operation;

[0008] The system includes a millimeter-wave radar echo simulation system with a test signal transmitting antenna. The millimeter-wave radar echo simulation system is connected to the dynamics module and transmits echo signals to the radar antenna for reception through the test signal transmitting antenna based on the relative position and relative velocity information between the aircraft and the tracked target sent by the dynamics module to the millimeter-wave radar echo simulation system.

[0009] The system includes a six-degree-of-freedom motion control system for a motion platform, wherein the test signal transmitting antenna is mounted on the motion platform, the six-degree-of-freedom motion control system is connected to the dynamics module, and the six-degree-of-freedom motion control system controls the movement of the test signal transmitting antenna according to the relative position information of the aircraft and the tracked target sent by the dynamics module.

[0010] A navigation calculation and evaluation module is connected to the millimeter-wave radar subsystem. It is used to receive distance and angle information measured by the millimeter-wave radar subsystem, perform navigation calculation, and evaluate the navigation results.

[0011] Optionally, the millimeter-wave radar subsystem further includes a signal processor and a drive mechanism. The drive mechanism is connected to the radar antenna and is used to drive the radar antenna to move. The signal processor is connected to the drive mechanism and the navigation calculation and evaluation module. The signal processor sends radar antenna control information to the drive mechanism and receives angle information of the radar antenna from the drive mechanism. The signal processor is also used to send the distance and angle information measured by the millimeter-wave radar subsystem to the navigation calculation and evaluation module.

[0012] Optionally, the radar gravity compensation system includes:

[0013] A hoisting assembly for connecting the radar antenna;

[0014] A traction assembly connected to the hoisting assembly to traction the hoisting assembly in a vertical direction;

[0015] A motion component, wherein the other end of the traction component is connected to the motion component, and the motion component is used to drive the traction component to move;

[0016] A guide rail for mounting the motion component so that the motion component can move along the guide rail;

[0017] A force sensor, mounted on the motion assembly, is used to measure the traction force exerted by the traction assembly on the hoisting assembly.

[0018] A controller, connected to the force sensor, is used to control the motion component to move on the guide rail based on the measurement results of the force sensor to achieve gravity compensation for the radar antenna.

[0019] Optionally, the guide rail includes an air-bearing track, on which the motion component moves.

[0020] Optionally, the millimeter-wave radar echo simulation system further includes a signal simulation source and a host computer. The host computer is connected to the dynamics module and the signal simulation source. The host computer is used to receive the relative position and relative velocity information between the aircraft and the tracked target sent by the dynamics module, and send it to the signal simulation source. The signal simulation source is connected to the test signal transmitting antenna. The signal simulation source is used to generate the echo signal of the millimeter-wave radar when it is in orbit based on the information sent by the host computer and transmit it through the test signal transmitting antenna.

[0021] Optionally, the six-degree-of-freedom motion control system further includes a simulator and a motion platform controller. The motion platform controller is connected to the simulator and the motion platform, respectively. The simulator is connected to the dynamics module. The simulator is used to receive the relative position information of the aircraft and the tracked target sent by the dynamics module and convert it into the corresponding position information of the motion platform. The motion platform controller receives the corresponding position information of the motion platform sent by the simulator and controls the motion platform to move to a set position.

[0022] The present invention also provides a ground verification method for millimeter-wave radar navigation, wherein the verification method is implemented using the ground verification system for millimeter-wave radar navigation as described above, and the verification method includes:

[0023] S10. Calculate the yaw angle of the radar antenna relative to the tracked target in the millimeter-wave radar coordinate system. α and pitch angle β ;

[0024] S20, Obtain the yaw angle α and the pitch angle β The position of the motion platform when both are 0° and the distance L between the radar antenna and the motion platform;

[0025] S30. The drive mechanism drives the radar antenna to point to a position where both the yaw angle and the pitch angle are 0°, adjusts the position of the motion platform, and records the position x0 of the motion platform in the X direction under the millimeter-wave radar coordinate system.

[0026] S40. Control the motion platform to move along the Y and Z directions in the millimeter-wave radar coordinate system. The radar antenna receives the beam of the test signal transmitting antenna. Determine the beam center of the test signal transmitting antenna based on the beam. Move the motion platform to the beam center position.

[0027] S50. Adjust the position of the motion platform so that the yaw angle and elevation angle of the radar antenna are both 0°. Repeat this three times and record the position of the motion platform (y1, z1), (y2, z2), and (y3, z3). Take the average value of the three motion platform positions as the initial test position (y0, z0).

[0028] S60. The millimeter-wave radar enters the tracking state and controls the motion platform to move from the initial test position to different positions in the Y or Z direction, and records the elevation angle and yaw angle data of the radar antenna and the coordinate data of the motion platform accordingly.

[0029] S70. Calculate the distance L between the radar antenna and the motion platform based on the elevation angle and yaw angle data of the corresponding radar antenna and the data of the motion platform.

[0030] Optionally, in step S60, controlling the motion platform to move from the initial test position to different positions in the Y or Z direction includes: taking the initial test position (y0, z0) as the origin, keeping the position of the motion platform unchanged in the X direction, selecting a point every 0.4m within the range of y0±2m and z0±2m, and sequentially moving the motion platform to different positions (y0±2m, z0±2m). i ,z i Record the corresponding yaw and pitch angles. α i, β i ).

[0031] Optionally, the motion platform can be moved to different positions (y i ,z i ) and the corresponding yaw and pitch angles ( α i , β i By fitting the measurement data using the least squares method, the distance L between the radar antenna and the moving platform when both the yaw angle and the pitch angle are 0° is obtained.

[0032] Optionally, the motion platform can be used to move to different positions (y i ,z i ) and the corresponding yaw and pitch angles ( α i , β i The method for calculating the distance L between the radar antenna and the moving platform using the least squares method is as follows:

[0033] .

[0034] In summary, compared with the prior art, the ground verification system for millimeter-wave radar navigation provided by the present invention has the following beneficial effects:

[0035] The ground verification system and verification method for millimeter-wave radar navigation of the present invention can verify the complete application of the millimeter-wave radar subsystem in the semi-physical test of the aircraft in a simulated on-orbit environment on the ground before the aircraft flight test, and evaluate the navigation accuracy of the millimeter-wave radar subsystem. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the ground verification system for millimeter-wave radar navigation according to the present invention.

[0037] Figure 2 This is a schematic diagram showing the relative relationship between the motion platform and the radar antenna of the ground verification system for millimeter-wave radar navigation according to the present invention. Detailed Implementation

[0038] The following will be combined with the appendix in the embodiments of the present invention. Figure 1 ~Attached Figure 2 The technical solutions, structural features, objectives and effects achieved in the embodiments of the present invention will be described in detail.

[0039] It should be noted that the accompanying drawings are in a very simplified form and use non-precise proportions. They are only used to facilitate and clarify the purpose of illustrating the embodiments of the present invention, and are not intended to limit the implementation conditions of the present invention. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportional relationship, or adjustments to the size should still fall within the scope of the technical content disclosed in the present invention, provided that they do not affect the effects and objectives that the present invention can produce.

[0040] It should be noted that, in this invention, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only the expressly listed elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus.

[0041] like Figure 1 and Figure 2As shown, the present invention provides a ground verification system for millimeter-wave radar navigation, characterized in that the ground verification system includes a millimeter-wave radar subsystem, a radar gravity compensation system, a dynamics module, a millimeter-wave radar echo simulation system, a six-degree-of-freedom motion control system, and a navigation calculation and evaluation module.

[0042] The millimeter-wave radar subsystem includes a radar antenna, a signal processor, and a drive mechanism. The millimeter-wave radar subsystem is used to measure the relative distance and angle between itself and the target it is tracking. The drive mechanism is connected to the radar antenna and is used to drive the radar antenna's movement. The signal processor is connected to the drive mechanism and the navigation calculation and evaluation module. The signal processor sends radar antenna control information to the drive mechanism and receives angle information from the drive mechanism. The signal processor is also used to send the distance and angle information measured by the millimeter-wave radar subsystem to the navigation calculation and evaluation module.

[0043] The radar gravity compensation system is used to compensate for the gravity acting on the radar antenna to simulate the radar antenna being in a weightless environment. This allows for the simulation of the radar antenna being in a weightless state on the ground, enabling the evaluation of the navigation accuracy of the millimeter-wave radar subsystem on the ground.

[0044] The radar gravity compensation system includes a hoisting assembly, a traction assembly, a motion assembly, a guide rail, a force sensor, and a controller. The hoisting assembly connects to the radar antenna. One end of the traction assembly is connected to the hoisting assembly to pull it vertically. The other end of the traction assembly is connected to the motion assembly, which drives the traction assembly to move. The guide rail mounts the motion assembly, allowing it to move along the rail. In this embodiment, the guide rail includes an air-bearing track on which the motion assembly moves. Air buoyancy reduces friction during movement, improving control accuracy. The force sensor is mounted on the motion assembly to measure the traction force exerted by the traction assembly on the hoisting assembly. The controller is connected to the force sensor and controls the movement of the motion assembly on the guide rail based on the force sensor's measurement results to achieve gravity compensation for the radar antenna.

[0045] The dynamics module is used to generate position and attitude simulation information for the aircraft and the tracked target while they are in orbit, which are equipped with radar antennas.

[0046] The millimeter-wave radar echo simulation system includes a test signal transmitting antenna, a signal simulation source, and a host computer. The host computer is connected to the dynamics module and transmits echo signals to the radar antenna via the test signal transmitting antenna based on the relative position and velocity information between the aircraft and the tracked target sent by the dynamics module. The host computer is connected to both the dynamics module and the signal simulation source. It receives the relative position and velocity information and sends it to the signal simulation source. The signal simulation source, connected to the test signal transmitting antenna, generates the echo signal for the millimeter-wave radar during on-orbit operation based on the information from the host computer and transmits it via the test signal transmitting antenna.

[0047] The six-degree-of-freedom (6DOF) motion control system comprises a motion platform, a simulator, and a motion platform controller. A test signal transmitting antenna is mounted on the motion platform. The 6DOF motion control system is connected to the dynamics module via its internal simulator. The 6DOF motion control system controls the movement of the test signal transmitting antenna based on the relative position information of the aircraft and the tracked target sent by the dynamics module. The motion platform controller is connected to both the simulator and the motion platform. The simulator receives the relative position information of the aircraft and the tracked target from the dynamics module and converts it into corresponding position information for the motion platform. The motion platform controller receives this corresponding position information from the simulator and controls the motion platform to move to the set position.

[0048] The navigation calculation and evaluation module is connected to the millimeter-wave radar subsystem. It is used to receive distance and angle information measured by the millimeter-wave radar subsystem, perform navigation calculations, and evaluate the navigation results.

[0049] This invention also provides a ground verification method for millimeter-wave radar navigation. The verification method is implemented using the ground verification system for millimeter-wave radar navigation described above, and includes:

[0050] S10. Calculate the yaw angle of the radar antenna relative to the tracked target in the millimeter-wave radar coordinate system. α and pitch angle β The specific calculation method is as follows:

[0051]

[0052] Where [x,y,z] represents the position of the target within the aircraft's own system, and r represents the distance between the target and the aircraft.

[0053] S20, Obtain yaw angle α and pitch angle β The position of the motion platform and the distance L between the radar antenna and the motion platform are both at 0°.

[0054] S30. Drive the radar antenna to a position where the yaw and elevation angles are both 0°, adjust the position of the motion platform, and record the position x0 of the motion platform in the X direction in the millimeter-wave radar coordinate system.

[0055] S40. Control the motion platform to move along the Y and Z directions in the millimeter-wave radar coordinate system. The radar antenna receives the beam of the test signal transmitting antenna. Determine the beam center of the test signal transmitting antenna based on the beam, and move the motion platform to the beam center position.

[0056] S50. Adjust the position of the motion platform so that the yaw and elevation angles of the radar antenna are both 0°. Repeat this three times, recording the positions of the motion platform (y1, z1), (y2, z2), and (y3, z3). Take the average of the three motion platform positions as the initial test position (y0, z0). The average value is calculated as follows:

[0057] .

[0058] S60: The millimeter-wave radar enters the tracking state, controlling the motion platform to move from the initial test position to different positions in the Y or Z direction, and correspondingly recording the elevation angle and yaw angle data of the radar antenna and the coordinate data of the motion platform.

[0059] In step S60, controlling the motion platform to move from the initial test position to different positions in the Y or Z direction includes: taking the initial test position (y0, z0) as the origin, keeping the position of the motion platform in the X direction unchanged, selecting a point every 0.4m within the range of y0±2m and z0±2m, and sequentially moving the motion platform to different positions (y0±2m, z0±2m). i ,z i Record the corresponding yaw and pitch angles. α i , β i The relationship between the measured angle and the position of the motion platform is shown in the following formula:

[0060]

[0061]

[0062] S70. Calculate the distance L between the radar antenna and the moving platform based on the corresponding radar antenna elevation and yaw angle data and the moving platform data. For moving the platform to different positions (y... i ,z i ) and the corresponding yaw and pitch angles ( α i , β iBy fitting the measurement data using the least squares method, the distance L between the radar antenna and the moving platform when both the yaw and pitch angles are 0° is obtained.

[0063] Using a motion platform to different positions (y i ,z i ) and the corresponding yaw and pitch angles ( α i , β i The method for calculating the distance L between the radar antenna and the moving platform using the least squares method is as follows: .

[0064] The position of the motion platform [x',y',z'] can be calculated using the following formula:

[0065] , , .

[0066] The navigation calculation and evaluation module evaluates the navigation performance of millimeter-wave radar using the following methods.

[0067] Calculate the mean error :

[0068]

[0069] Among them, X dh For navigation, the calculated position and velocity, X dlx denoted as dynamic position velocity, and n as the number of samples.

[0070] Calculate data variance and standard deviation

[0071] .

[0072] Determined based on standard deviation Navigation accuracy.

[0073] Although the present invention has been described in detail through the preferred embodiments above, it should be understood that the above description should not be considered as a limitation of the present invention. Various modifications and substitutions to the present invention will be apparent to those skilled in the art after reading the above description. Therefore, the scope of protection of the present invention should be defined by the appended claims.

Claims

1. A ground verification system for millimeter-wave radar navigation, characterized in that, The ground verification system includes: a millimeter-wave radar subsystem with a radar antenna, used to measure the relative distance and angle between itself and the tracked target; a radar gravity compensation system connected to the radar antenna, used to compensate for the gravity acting on the radar antenna to simulate a weightless environment; a dynamics module used to generate position and attitude simulation information of the aircraft carrying the radar antenna and the tracked target during on-orbit operation; and a millimeter-wave radar echo simulation system including a test signal transmitting antenna, connected to the dynamics module, and based on the aircraft data sent by the dynamics module to the millimeter-wave radar echo simulation system. The relative position and relative velocity information between the aircraft and the tracked target are transmitted to the radar antenna via the test signal transmitting antenna, which then transmits echo signals for the radar antenna to receive. The system includes a six-degree-of-freedom motion control system for the motion platform, with the test signal transmitting antenna mounted on the platform and connected to the dynamics module. The six-degree-of-freedom motion control system controls the movement of the test signal transmitting antenna based on the relative position information between the aircraft and the tracked target transmitted by the dynamics module. A navigation calculation and evaluation module is connected to the millimeter-wave radar subsystem, used to receive distance and angle information measured by the millimeter-wave radar subsystem, perform navigation calculations, and evaluate the navigation results.

2. The ground verification system for millimeter-wave radar navigation as described in claim 1, characterized in that, The millimeter-wave radar subsystem also includes a signal processor and a drive mechanism. The drive mechanism is connected to the radar antenna and is used to drive the radar antenna to move. The signal processor is connected to the drive mechanism and the navigation calculation and evaluation module. The signal processor sends radar antenna control information to the drive mechanism and receives angle information of the radar antenna from the drive mechanism. The signal processor is also used to send the distance and angle information measured by the millimeter-wave radar subsystem to the navigation calculation and evaluation module.

3. The ground verification system for millimeter-wave radar navigation as described in claim 1, characterized in that, The radar gravity compensation system includes: a hoisting assembly for connecting the radar antenna; a traction assembly connected to the hoisting assembly to traction the hoisting assembly vertically; a motion assembly, the other end of which is connected to the motion assembly for moving the traction assembly; a guide rail for mounting the motion assembly so that the motion assembly can move along the guide rail; a force sensor mounted on the motion assembly to measure the traction force exerted by the traction assembly on the hoisting assembly; and a controller connected to the force sensor for controlling the motion assembly to move on the guide rail based on the measurement result of the force sensor to achieve gravity compensation for the radar antenna.

4. The ground verification system for millimeter-wave radar navigation as described in claim 3, characterized in that, The guide rail includes an air-bearing track, and the motion component moves on the air-bearing track.

5. The ground verification system for millimeter-wave radar navigation as described in claim 1, characterized in that, The millimeter-wave radar echo simulation system also includes a signal simulation source and a host computer. The host computer is connected to the dynamics module and the signal simulation source. The host computer is used to receive the relative position and relative velocity information between the aircraft and the tracked target sent by the dynamics module, and send it to the signal simulation source. The signal simulation source is connected to the test signal transmitting antenna. The signal simulation source is used to generate the echo signal of the millimeter-wave radar when it is in orbit based on the information sent by the host computer and transmit it through the test signal transmitting antenna.

6. The ground verification system for millimeter-wave radar navigation as described in claim 1, characterized in that, The six-degree-of-freedom motion control system further includes a simulator and a motion platform controller. The motion platform controller is connected to the simulator and the motion platform, respectively. The simulator is connected to the dynamics module. The simulator is used to receive the relative position information of the aircraft and the tracked target sent by the dynamics module and convert it into the corresponding position information of the motion platform. The motion platform controller receives the corresponding position information of the motion platform sent by the simulator and controls the motion platform to move to a set position.

7. A ground verification method for millimeter-wave radar navigation, characterized in that, The verification method is implemented using the ground verification system for millimeter-wave radar navigation as described in claim 2. The verification method includes: S10, calculating the yaw angle of the radar antenna relative to the tracked target in the millimeter-wave radar coordinate system. α and pitch angle β S20. Obtain the yaw angle. α and the pitch angle β S30: The driving mechanism drives the radar antenna to point to a position where both the yaw angle and the pitch angle are 0°, adjusts the position of the motion platform, and records the position x0 of the motion platform in the X direction under the millimeter-wave radar coordinate system; S40: The motion platform is controlled to move along the Y and Z directions under the millimeter-wave radar coordinate system, the radar antenna receives the beam of the test signal transmitting antenna, the beam center of the test signal transmitting antenna is determined according to the beam, and the motion platform is moved to the beam center position; S50: The position of the motion platform is adjusted so that... The yaw and pitch angles of the radar antenna are both 0°, repeated three times, and the positions of the moving platform (y1, z1), (y2, z2), and (y3, z3) are recorded. The average of the three positions of the moving platform is taken as the initial test position (y0, z0). S60: The millimeter-wave radar enters the tracking state and controls the moving platform to move from the initial test position to different positions in the Y or Z direction, and the pitch and yaw angle data of the radar antenna and the coordinate data of the moving platform are recorded accordingly. S70: The distance L between the radar antenna and the moving platform is calculated based on the corresponding pitch and yaw angle data of the radar antenna and the data of the moving platform.

8. The ground verification method for millimeter-wave radar navigation as described in claim 7, characterized in that, In step S60, controlling the motion platform to move from the initial test position to different positions in the Y or Z direction includes: taking the initial test position (y0, z0) as the origin, keeping the X-direction position of the motion platform unchanged, selecting a point every 0.4m within the range of y0±2m and z0±2m, and sequentially moving the motion platform to different positions (y0±2m, z0±2m). i ,z i Record the corresponding yaw and pitch angles. α i , β i ).

9. The ground verification method for millimeter-wave radar navigation as described in claim 8, characterized in that, To move the motion platform to different positions (y i ,z i ) and the corresponding yaw and pitch angles ( α i , β i By fitting the measurement data using the least squares method, the distance L between the radar antenna and the moving platform when both the yaw angle and the pitch angle are 0° is obtained.

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