Full-angle measurement method for radar cross-sectional area of unmanned aerial vehicle

Abstract

The invention relates to the field of radar detection, in particular to an unmanned aerial vehicle radar cross-sectional area full-angle measurement method, which comprises the following steps of: measuring the radar cross-sectional area of a to-be-measured unmanned aerial vehicle by using an unmanned aerial vehicle with radar equipment as a measuring device; the measuring device and the to-be-measured unmanned aerial vehicle are lifted to a preset height, and the measuring device points the antenna beam direction of the radar equipment to the to-be-measured unmanned aerial vehicle; recording radar output signal power under each group of attitude angles when the to-be-measured unmanned aerial vehicle flies to a specified position with a radar distance R from the measuring device; acquiring position information and attitude angle information of the measuring device and the to-be-measured unmanned aerial vehicle; and aligning the output signal power measured by the radar with the attitude angle of the to-be-measured unmanned aerial vehicle in time, and calculating the radar scattering cross-sectional area at each attitude angle to realize the full-angle measurement of the radar scattering cross-sectional area of the unmanned aerial vehicle. According to the method, the radar cross-sectional area of the unmanned aerial vehicle can be measured at a low altitude, interference of ground clutters on the radar is avoided, and the method is not limited by a measurement space.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of radar detection, in particular to a method for measuring the full-angle radar cross section of an unmanned aerial vehicle. BACKGROUND

[0002] With the rapid development of low-altitude economy, various types of unmanned aerial vehicles are widely used in industries such as delivery, firefighting, and photography. Using radar to detect and track unmanned aerial vehicles is an important means of monitoring the flight process of unmanned aerial vehicles and ensuring low-altitude safety. Unmanned aerial vehicles have the characteristics of low flight altitude, slow speed, and small size. Changes in the flight attitude of unmanned aerial vehicles cause changes in the radar cross section of unmanned aerial vehicles, which has an important influence on the accurate detection and tracking of unmanned aerial vehicles by radar. Therefore, it is very important to measure the radar cross section of unmanned aerial vehicles.

[0003] The conventional method for measuring the radar cross section (RCS) of an unmanned aerial vehicle is to use a microwave anechoic chamber, which provides a controllable and clutter-free environment. However, the microwave anechoic chamber is limited by the measurement frequency range, and the size of the space also limits the size of the target that can be measured. Moreover, the construction cost is high, and the measurement efficiency is low.

[0004] Therefore, it is necessary to provide a method for measuring the radar cross section of an unmanned aerial vehicle using the echo intensity of radar electromagnetic waves from an unmanned aerial vehicle at low altitudes, to improve the measurement efficiency. SUMMARY

[0005] According to the above technical problems, a method for measuring the full-angle radar cross section of an unmanned aerial vehicle is provided. The present application mainly uses radar to measure the full-angle radar cross section of an unmanned aerial vehicle at low altitudes, to solve the technical problems of microwave anechoic chamber measurement, radar operating frequency range, anechoic chamber size, and target size, while reducing the measurement cost and improving the measurement flexibility.

[0006] The technical means adopted by the present application are as follows: A method for measuring the full-angle radar cross section of an unmanned aerial vehicle is applied to an unmanned aerial vehicle, comprising: Using an unmanned aerial vehicle equipped with a radar device as a measurement device to measure the radar cross section of a to-be-measured unmanned aerial vehicle; The measurement device and the to-be-measured unmanned aerial vehicle are raised to a predetermined height, the measurement device is kept hovering and the attitude is adjusted, and the antenna beam direction of the radar device is pointed towards the to-be-measured unmanned aerial vehicle; The to-be-measured unmanned aerial vehicle flies to a specified position at a radar distance R from the measurement device according to a predetermined route; The attitude angle of the measurement device is controlled, and the radar output signal power under each set of attitude angle is recorded; The position information and attitude angle information of the measurement device and the to-be-measured unmanned aerial vehicle are obtained respectively; The output signal power of the radar measurement and the attitude angle of the unmanned aerial vehicle to be measured are aligned in time, the radar scattering cross section of the unmanned aerial vehicle to be measured at each attitude angle is calculated, and full-angle measurement of the radar scattering cross section of the unmanned aerial vehicle is realized.

[0007] Further, the radar scattering cross section of the unmanned aerial vehicle to be measured at each attitude angle is calculated based on the radar equation:

[0008] wherein, is the radar scattering cross section of the unmanned aerial vehicle to be measured, denotes the azimuth angle of the attitude of the unmanned aerial vehicle to be measured, denotes the pitch angle of the attitude of the unmanned aerial vehicle to be measured, is the output signal power of the radar receiving chain, is the noise power, R is the distance between the unmanned aerial vehicle to be measured and the radar of the testing device, k is the Boltzmann constant, T is the ambient temperature, B denotes the intermediate frequency bandwidth of the radar of the testing device, F is the noise figure of the radar receiving chain of the testing device, is the power of the electromagnetic wave emitted by the radar of the testing device, is the gain of the radar transmitting antenna, is the gain of the radar receiving antenna, is the operating wavelength of the radar.

[0009] Further, the predetermined height Y ranges from 20 meters to 300 meters.

[0010] Further, the distance R ranges from 5 meters to 100 meters.

[0011] Further, the attitude angle of the measuring device is controlled to change in the range of -180° to +180° in azimuth angle and in the range of -90° to +90° in pitch angle. Further, the attitude angle of the measuring device is controlled to change in the range of -180° to +180° in azimuth angle and in the range of -90° to +90° in pitch angle. Further, the attitude angle of the measuring device is controlled to change in the range of -180° to +180° in azimuth angle and in the range of -90° to +90° in pitch angle. Further, the attitude angle of the measuring device is controlled to change in the range of -180° to +180° in azimuth angle and in the range of -90° to +90° in pitch angle.

[0012] Further, the distance R between the unmanned aerial vehicle to be measured and the radar of the measuring device is calculated based on the position information of the testing device and the position information of the unmanned aerial vehicle to be measured. .

[0013] ​​​​​Compared with the prior art, the present application has the following advantages: The unmanned aerial vehicle radar cross section full-angle measurement method provided by the present application uses an unmanned aerial vehicle equipped with a radar device as a measuring device to measure the radar cross section of a to-be-measured unmanned aerial vehicle. The radar measures the radar cross section of the unmanned aerial vehicle at a low altitude, thereby avoiding the interference of ground clutter on the radar and not being limited by the measurement space. In addition, the radar carried by the unmanned aerial vehicle can work at different frequency bands, and the radar cross section of the unmanned aerial vehicle at different frequency bands can be obtained, which has high measurement flexibility. The high-precision inertial measurement system carried by the unmanned aerial vehicle can accurately obtain the attitude angle information of the unmanned aerial vehicle, thereby avoiding the dependence on high-precision mechanical angle control devices in the prior art.

[0014] Based on the above reasons, the present application can be widely promoted in the field of radar detection. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0016] Figure 1 The flow chart of the unmanned aerial vehicle radar cross section full-angle measurement method in the present application.

[0017] Figure 2 The unmanned aerial vehicle radar cross section measured at a distance of 10m in embodiment 1 of the present application.

[0018] Figure 3 The unmanned aerial vehicle radar cross section measured at a distance of 15m in embodiment 2 of the present application.

[0019] Figure 4 The unmanned aerial vehicle radar cross section measured under the condition that the distance and the attitude angle change simultaneously in embodiment 3 of the present application. DETAILED DESCRIPTION It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the drawings and in combination with the embodiments.

[0020] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will combine the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. The following description of at least one example embodiment is actually only illustrative, but not as any limitation on the present application and its application or use. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0021] It should be noted that the terms used herein are only intended to describe specific embodiments, and are not intended to limit the exemplary embodiments according to the present application. As used herein, the singular form is intended to include the plural form unless the context clearly indicates otherwise, and it should also be understood that when the terms "comprise" and / or "include" are used in the specification, there is a feature, step, operation, device, component and / or combination thereof.

[0022] Unless specifically stated otherwise, the relative arrangement of components and steps, numerical expressions, and numerical values set forth in the various embodiments described herein are not meant to limit the scope of the present application. At the same time, it should be clear that the sizes of the various parts shown in the drawings are not drawn in proportion. The techniques, methods and devices known to those of ordinary skill in the relevant art can not be discussed in detail, but should be considered as part of the specification under appropriate circumstances. In all examples shown and discussed herein, any specific value should be interpreted as merely exemplary, and not as a limitation. Therefore, other examples of exemplary embodiments can have different values. It should be noted that similar reference numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0023] As shown in Figure 1 The present application provides a method for measuring the full-angle radar cross section of an unmanned aerial vehicle, which is applied to an unmanned aerial vehicle, comprising: Using an unmanned aerial vehicle equipped with a radar device as a measuring device to measure the radar cross section of the unmanned aerial vehicle to be measured; The measuring device and the unmanned aerial vehicle to be measured are raised to a predetermined height, the measuring device is kept hovering and adjusting the attitude, and the antenna beam direction of the radar device is pointed to the unmanned aerial vehicle to be measured; The unmanned aerial vehicle to be measured flies to a specified position at a radar distance R from the measuring device according to a predetermined route; The attitude angle of the measuring device is controlled, and the radar output signal power under each set of attitude angle is recorded; Obtain position information and attitude angle information of the measuring device and the unmanned aerial vehicle to be measured respectively; Align the output signal power of the radar measurement and the attitude angle of the unmanned aerial vehicle to be measured in time, calculate the radar scattering cross section area of the unmanned aerial vehicle to be measured at each attitude angle, and realize full-angle measurement of the radar scattering cross section area of the unmanned aerial vehicle.

[0024] In specific implementation, as a preferred embodiment of the present application, the calculation of the radar scattering cross section area of the unmanned aerial vehicle to be measured at each attitude angle is based on the radar equation:

[0025] wherein, is the radar scattering cross section area of the unmanned aerial vehicle to be measured, denotes the azimuth angle of the attitude of the unmanned aerial vehicle to be measured, denotes the pitch angle of the attitude of the unmanned aerial vehicle to be measured, is the output signal power of the radar receiving link, is the noise power, R is the distance between the unmanned aerial vehicle to be measured and the radar of the testing device, k is the Boltzmann constant, T is the ambient temperature, B denotes the intermediate frequency bandwidth of the radar of the testing device, F is the noise coefficient of the radar receiving link of the testing device, is the power of the electromagnetic wave emitted by the radar of the testing device, is the gain of the radar transmitting antenna, is the gain of the radar receiving antenna, is the working wavelength of the radar.

[0026] In specific implementation, as a preferred embodiment of the present application, the range of the predetermined height Y is 20 meters to 300 meters.

[0027] In specific implementation, as a preferred embodiment of the present application, the range of the distance R is 5 meters to 100 meters.

[0028] In specific implementation, as a preferred embodiment of the present application, the attitude angle of the measuring device is controlled to change in the range of -180° to +180° in azimuth angle and in the range of -90° to +90° in pitch angle.

[0029] ​​​​​​In a specific implementation, as a preferred embodiment of the present application, the radar distance R between the unmanned aerial vehicle to be measured and the measuring device is determined by the position information of the testing device and the position information of the unmanned aerial vehicle to be measured Calculation: .

[0030] In a specific implementation, as a preferred embodiment of the present application, Example 1 Set parameters ：R = 10 m, k = 1.38 x 10-23 J / K, T = 290 K, B = 10 MHz, F = 10 dB, = 3 dBm, = 90 dB, = 10 dB, = 10 dB, = 12.4 mm, = 0°, unmanned aerial vehicle attitude angle Corresponding radar output signal power According to formula (1), we get As shown in Figure 2 .

[0031] Example 2 Set parameters ：R = 15 m, k = 1.38 x 10-23 J / K, T = 290 K, B = 10 MHz, F = 10 dB, = 3 dBm, = 90 dB, = 10 dB, = 10 dB, = 12.4 mm, = 0°, unmanned aerial vehicle attitude angle Corresponding radar output signal power According to formula (1), we get As shown in Figure 3 .

[0032] Example 3 Set parameters ：k = 1.38 x 10-23 J / K, T = 290 K, B = 10 MHz, F = 10 dB, = 3 dBm, = 10 dB, = 10 dB, = 12.4 mm, = 0°. The UAV attitude angle and position R corresponding radar output signal power and noise power , according to formula (1) to obtain . As shown in Figure 4 .

[0033] From the above three embodiments and the accompanying drawings, it can be seen that the method of the present application can realize full-angle measurement of the radar scattering cross section area of the UAV.

[0034] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for full angle measurement of radar cross section of unmanned aerial vehicle, applied on unmanned aerial vehicle, characterized in that, The application relates to a method for measuring the radar cross section of an unmanned aerial vehicle (UAV). The method comprises the following steps: a UAV equipped with a radar device is used as a measuring device to measure the radar cross section of a to-be-measured UAV; the measuring device and the to-be-measured UAV are lifted to a predetermined height, the measuring device is kept hovering and the attitude is adjusted, and the antenna beam direction of the radar device is pointed to the to-be-measured UAV; the to-be-measured UAV flies to a specified position with a predetermined route and at a radar distance R from the measuring device; the attitude angle of the measuring device is controlled, and the radar output signal power under each set of attitude angles is recorded; the position information and the attitude angle information of the measuring device and the to-be-measured UAV are respectively acquired; 2. The UAV radar cross section full angle measurement method of claim 1, wherein, the output signal power of the radar measurement and the attitude angle of the to-be-measured UAV are aligned in time, the radar cross section of the to-be-measured UAV at each attitude angle is calculated, and the full-angle measurement of the radar cross section of the UAV is realized. wherein, is the radar cross section of the drone under test, denotes the azimuth angle of the attitude of the drone under test, denotes the pitch angle of the attitude of the drone under test, is the output signal power of the radar receiving chain, is the noise power, R is the distance between the drone under test and the radar of the testing device, k is the Boltzmann constant, T is the ambient temperature, B denotes the intermediate frequency bandwidth of the radar of the testing device, F is the noise figure of the radar receiving chain of the testing device, is the power of the electromagnetic waves emitted by the radar of the testing device, is the gain of the radar transmitting antenna, is the gain of the radar receiving antenna, is the operating wavelength of the radar.

3. The UAV radar cross section full angle measurement method of claim 1, wherein, The radar cross section of the to-be-measured UAV at each attitude angle is calculated based on a radar equation.

4. The UAV radar cross section full angle measurement method of claim 1, wherein, The predetermined height Y ranges from 20 m to 300 m. The distance R ranges from 5 m to 100 m.

5. The UAV radar cross section full angle measurement method of claim 1, wherein, Controlling the attitude angle of the measuring device azimuth The pitch angle varies from -180° to +180°. The range of change is -90° to +90°, traversing all... Combine angles and record each set of posture angles. Radar output signal power .

6. The UAV radar cross section full angle measurement method of claim 1, wherein, The radar distance R between the unmanned aerial vehicle to be tested and the measuring device is calculated from the position information of the testing device and the position information of the unmanned aerial vehicle to be tested Calculation: 。

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