A zero position calibration device for airborne radar servo system

Abstract

The present invention proposes a zero-position calibration device and calibration method for an airborne radar servo system, comprising a sensing part and a processing and display part. The sensing part adopts a high-precision six-axis attitude sensor as a main component to realize real-time acquisition of attitude; the processing and display part mainly comprises three parts: an MCU, a power supply part, and a data display part, and adopts Arduino open source hardware as a main control chip to realize data processing and analysis; the interactive display part mainly comprises three LED digital tubes to display the measured angle information in real time. The present invention overcomes the shortcomings of high difficulty and high professional requirements in zero-position determination, and designs a convenient device for zero-position calibration of an airborne radar servo system. The present invention adopts four six-axis attitude sensors, combined with the structural characteristics of the flat-plate crack antenna itself, to perform three-degree-of-freedom zero-position calibration, thereby ensuring the accuracy of zero-point positioning and antenna detection.

Description

Technical Field

[0001] The present invention relates to the technical field of radar servo testing, and in particular to a zero position calibration device for an airborne radar servo system. Background Art

[0002] Radar, a major invention in the field of electronic engineering in the 20th century, can detect targets hundreds or even thousands of kilometers away. It is widely used in defense, meteorology, measurement and control, air traffic control, water conservancy, disaster relief, and other fields, and is indispensable in modern construction. Depending on the platform, radar can be divided into airborne, shipborne, and ground-based types. Airborne radars are categorized by antenna scanning method, including mechanically scanned radars and phased array radars. For mechanically scanned radars, the periodic scanning function is implemented by a servo system, and determining the antenna zero position directly affects the radar's detection and tracking capabilities. Therefore, a zero position calibration device for the airborne radar servo system is crucial to the radar's operational effectiveness.

[0003] For airborne 2D and 3D mechanical scanning radars, since they involve two or three degrees of freedom in spatial scanning, zero-point positioning of the pan, pitch, and roll axes has always required specialized equipment for precise operation. This requires high operator skill and is complex. Due to manufacturing process requirements, zeroing is only required during antenna pedestal assembly and is not performed thereafter. Due to the long testing, transportation, and installation process, the electrically measured zero position often deviates from the actual zero position, resulting in a deviation between the electrical scanning angle and the mechanical scanning angle, which can often cause target loss during tracking.

[0004] Therefore, there is an urgent need to develop a fast and portable zero-position calibration method so that zero-position detection can be carried out at any time during product debugging, repair of returned parts, and field flight tracking. Summary of the Invention

[0005] The present invention overcomes the shortcoming in the prior art that the system's inherent (assembly) errors cannot be self-corrected. At the same time, it can adapt to the characteristics of two to three degrees of freedom of airspace motion of airborne radar servo, and provides an airborne radar servo system zero-position calibration device, which can realize auxiliary calibration during servo system testing and rework processes.

[0006] In order to achieve the purpose of the invention, the technical solutions adopted are as follows:

[0007] A zero-position calibration device for an airborne radar servo system comprises a sensing section and a processing and display section. The sensing section uses a high-precision six-axis attitude sensor as its main component and is supported by connecting rods installed vertically and horizontally. The connecting rods are approximately 30 cm × 8 cm in size, and four six-axis attitude sensors are placed at the ends of the connecting rods to achieve real-time attitude acquisition. The processing and display section mainly comprises an MCU, a power supply section, and a data display section. Arduino open-source hardware is used as the main control chip to achieve data processing and analysis. A rechargeable 3.7V lithium battery is used for power supply, and the device is equipped with a charging module, a boost module, and a power monitoring module to power the test device and display device. The interactive display section mainly includes three LED digital tubes to display measured angle information in real time.

[0008] The present invention also includes a method for calibrating a zero-position calibration device of an airborne radar servo system, comprising the following steps:

[0009] 1) Build a servo test platform and stably install the antenna base on the servo test frame;

[0010] 2) Turn on the zero calibration device and start self-test;

[0011] 3) Install the zero calibration device;

[0012] 4) Open the servo debugging software of the corresponding model, control the antenna base to rotate it to the electrical angle zero position, and observe the angle readings displayed by the three LED digital tubes. If the difference between the readings of the LED digital tubes and the readings of the reference value is less than 0.1°, it is considered that the antenna base zero position is in a normal state. If the difference between the readings of the LED digital tubes and the readings of the reference value is greater than 0.1°, it is considered that the antenna base zero position is in an abnormal state, and the resolver or mechanical angle needs to be re-zeroed;

[0013] 5) If the difference in step 4) is greater than 0.1°, disassemble the antenna base and rework it, re-zero it, and repeat steps 1) to 4) to verify the accuracy of the zero position until the difference between the attitude sensor and the resolver readings is less than 0.1°.

[0014] 6) If the difference in step 4) is less than 0.1°, the resolver is considered to have completed zeroing and the calibration is complete.

[0015] Furthermore, in step 3), the zero position calibration device is installed as follows: during installation, one of the two orthogonal connecting rods must be ensured to be parallel to the cracks at the two midlines of the antenna.

[0016] Furthermore, the method for setting the reference value in step 4) is as follows: select the antenna base that has just completed zero adjustment as the standard part, at which time the electrical angle of the antenna base coincides with the mechanical angle zero position, install the antenna base on the antenna base debugging and mounting frame of this type, complete the installation of the zero position calibration device according to step (3), turn on the servo control system, control the electrical angle to zero position, read out the azimuth, pitch, and roll three LED digital tube indications, and the indications can be used as the reference value of this type of antenna base.

[0017] This invention utilizes four six-axis attitude sensors, combined with the structural characteristics of the flat-plate slot antenna, to facilitate zero-position verification of two to three degrees of freedom, ensuring the accuracy of zero-point positioning and antenna detection. This overcomes the inherent difficulties and technical requirements of zero-position determination, designing a convenient zero-position verification device for airborne radar servo systems. This device facilitates real-time detection during antenna pedestal commissioning, repair of returned parts, and field flight tracking, effectively eliminating the potential risks of mechanical and electrical angle deviations that may occur during the process and ensuring the accuracy of antenna detection and tracking. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] 1. Figure 1 Schematic diagram of the sensing portion of the zero-position calibration device for an airborne radar servo system of the present invention;

[0019] 2. Figure 2 Schematic diagram of a back-end processing device of a zero-position calibration device for an airborne radar servo system according to the present invention;

[0020] 3. Figure 3 Schematic diagram of the system block diagram of the zero position calibration device of the airborne radar servo system of the present invention;

[0021] 4. Figure 4 A schematic diagram of the system usage status of the zero position calibration device of the airborne radar servo system of the present invention;

[0022] 5. Figure 5 A reference value acquisition flow chart of the zero position calibration device of the airborne radar servo system of the present invention;

[0023] 6. Figure 6 This is a flowchart of the zero position calibration operation of the zero position calibration device of the airborne radar servo system of the present invention.

[0024] Description of the accompanying drawings: . DETAILED DESCRIPTION

[0025] The specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0026] Figure 1 Schematic diagram of the sensing portion of the zero-position calibration device for an airborne radar servo system of the present invention; Figure 2 Schematic diagram of a back-end processing device of a zero-position calibration device for an airborne radar servo system according to the present invention; Figure 3 Schematic diagram of the system block diagram of the zero position calibration device of the airborne radar servo system of the present invention; Figure 4 A schematic diagram of the system usage status of the zero position calibration device of the airborne radar servo system of the present invention; Figure 5 A reference value acquisition flow chart of the zero position calibration device of the airborne radar servo system of the present invention; Figure 6 This is a flowchart of the zero position calibration operation of the zero position calibration device of the airborne radar servo system of the present invention.

[0027] The zero-position calibration device for an airborne radar servo system of the present invention primarily comprises a sensing portion and a processing and display portion. The sensing portion utilizes a high-precision six-axis attitude sensor as its primary component, supported by connecting rods mounted vertically and horizontally. The connecting rods are approximately 30 cm × 8 cm in size, and four six-axis attitude sensors are placed at the ends of the connecting rods to achieve real-time attitude acquisition. The initially recommended model is the BWT61P, which has a built-in microprocessor that enables signal preprocessing (Kalman filtering). The sensor parameters are as follows:

[0028]

[0029] The processing and display part mainly consists of three parts: MCU, power supply and data display. It uses Arduino open source hardware as the main control chip to realize data processing and analysis. The power supply adopts a rechargeable 3.7V lithium battery, equipped with a charging module, a boost module, and a power monitoring module to power the test device and display device. The interactive display part mainly includes three LED digital tubes, which display the measured angle information in real time.

[0030] The embodiment of the present invention discloses a zero-position calibration device for an airborne radar servo system. The test items applicable to this embodiment include zero-point positioning in the horizontal, pitch, and roll directions, and the device comprises the following steps:

[0031] (1) Build a servo test platform and stably install the antenna base on the servo test frame;

[0032] (2) Turn on the zero calibration device to start self-test. The self-test logic is: Assume that the azimuth angle is defined as , the pitch angle is defined as , the roll angle is defined as ,when ,and ,and

[0033] When the self-test is successful, otherwise the self-test fails, and the four-redundancy judgment is used to ensure the stable performance of each sensor;

[0034] (3) Install the zero-position calibration device. Due to the structural characteristics of the flat-plate crack antenna, the direction of the crack is always perpendicular or parallel to the roll axis, regardless of vertical or horizontal polarization. Therefore, during installation, as long as one of the two orthogonal connecting rods is parallel to the cracks at the two center lines of the antenna, the roll zero position in the current state can be aligned. Since the zero-position calibration in the azimuth and pitch directions has no correlation with the relative position between the sensor and the antenna, no special adjustment is required;

[0035] (4) Open the servo debugging software of the corresponding model and click on the zero position in the test software to control the antenna base to rotate it to the electrical angle zero position. At this time, observe the angle readings displayed by the three LED digital tubes. If the difference between the readings of the LED digital tubes and the reference value (affected by factors such as the antenna base mounting frame, the reference value of each antenna base is different) is less than 0.1°, it is considered that the antenna base zero position is in a normal state at this time. If the difference between the readings of the LED digital tubes and the reference value is greater than 0.1°, it is considered that the antenna base zero position is in an abnormal state at this time, and the rotary transformer or mechanical angle needs to be re-adjusted to zero. Regarding the setting of reference values, the steps are as follows: select the antenna base that has just completed zero adjustment as the standard part. At this time, the electrical angle of the antenna base coincides with the mechanical angle zero position. Install the antenna base on the antenna base debugging and mounting frame of this type. Complete the installation of the zero position calibration device according to step (3). Turn on the servo control system, control the electrical angle to zero position, and read the azimuth, pitch, and roll three LED digital tube readings. These readings can be used as the reference value of this type of antenna base. Since the antenna base test mounting frame is fixed and the assembly method remains unchanged, the reference value can be considered fixed. By referring to this method, the reference values ​​of all antenna bases can be measured together.

[0036] (5) If the difference is greater than 0.1°, the antenna base needs to be disassembled and reworked, and the zero adjustment operation needs to be repeated. After zeroing, repeat steps (1) to (4) to verify the accuracy of the zero position until the difference between the attitude sensor and the rotary transformer readings is less than 0.1°.

[0037] (6) When the error is less than 0.1°, it is considered that the resolver has completed zeroing and the calibration work is completed.

[0038] This invention proposes a zero-position calibration method for an airborne radar servo system, which relates to a test method for an airborne radar servo subsystem. This method overcomes the difficulties and technical requirements of zero-position determination, designing a convenient device for zero-position calibration of airborne radar servo systems. The method utilizes four six-axis attitude sensors, combined with the structural characteristics of a flat-plate slot antenna, to perform three-degree-of-freedom zero-position calibration, ensuring the accuracy of zero-point positioning and antenna detection.

[0039] Thus far, the technical solutions of the present invention have been described in conjunction with preferred embodiments. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is clearly not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art may make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will fall within the scope of protection of the present invention.

Claims

1. A zero-position calibration method for an airborne radar servo system, characterized by: The calibration method is implemented based on a zero-position calibration device for an airborne radar servo system. The device includes a sensing part and a processing and display part. The sensing part uses a six-axis attitude sensor, supported by connecting rods installed vertically and horizontally. The connecting rods are approximately 30 cm × 8 cm in size. Four six-axis attitude sensors are placed at the ends of the connecting rods to achieve real-time attitude acquisition. The processing and display part consists of an MCU, a power supply, and a data display. Arduino open-source hardware is used as the main control chip for data processing and analysis. The power supply is a rechargeable 3.7V lithium battery and is equipped with a charging module, a boost module, and a power monitoring module. The display part includes three LED digital tubes to display the measured angle information in real time. The method specifically comprises the following steps: 1) Build a servo test platform and stably install the antenna base on the servo test frame; 2) Turn on the zero calibration device and start self-test; 3) Install the zero calibration device; 4) Open the servo debugging software of the corresponding model, control the antenna base to rotate it to the electrical angle zero position, and observe the angle readings displayed by the three LED digital tubes. If the difference between the readings of the LED digital tubes and the readings of the reference value is less than 0.1°, it is considered that the antenna base zero position is in a normal state. If the difference between the readings of the LED digital tubes and the readings of the reference value is greater than 0.1°, it is considered that the antenna base zero position is in an abnormal state, and the resolver or mechanical angle needs to be re-zeroed; 5) If the difference in step 4) is greater than 0.1°, disassemble the antenna base and rework it, re-zero it, and repeat steps 1) to 4) to verify the accuracy of the zero position until the difference between the attitude sensor and the resolver readings is less than 0.1°. 6) If the difference in step 4) is less than 0.1°, the resolver is considered to have completed zeroing and the calibration is complete.

2. The method for calibrating the zero position calibration device of an airborne radar servo system according to claim 1, characterized in that: In step 3), the zero calibration device is installed as follows: during installation, ensure that one of the two orthogonal connecting rods is parallel to the cracks at the two center lines of the antenna.

3. The method for calibrating the zero position calibration device of an airborne radar servo system according to claim 1, characterized in that: The method for setting the reference value in step 4) is as follows: select the antenna base that has just completed zero adjustment as the standard part. At this time, the electrical angle of the antenna base coincides with the mechanical angle zero position. Install the antenna base on the antenna base debugging and mounting frame of this type. Complete the installation of the zero position calibration device according to step (3). Turn on the servo control system, control the electrical angle to zero position, and read the three LED digital tube indications of azimuth, pitch, and roll. The indications can be used as the reference value of this type of antenna base.

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