Method for monitoring three-dimensional deformation of terrain based on single-pulse phased array radar

Abstract

The present disclosure provides a kind of terrain three-dimensional deformation monitoring method based on single pulse phased array radar.The method comprises: according to the multiple echo signal sets received by single pulse phased array radar at each time point, construct beam data set;The beam data set is converted and handled, and the distance-Doppler domain channel data set is obtained, and the distance-Doppler domain channel data set includes target and beam, target difference beam;According to distance-Doppler domain channel data set and angle discrimination slope formula, the target space three-dimensional coordinates corresponding to the scattering point in the monitoring area corresponding to target difference beam are generated;The echo data corresponding to distance-Doppler domain channel data set is handled using differential interferometry method, and the three-dimensional deformation coordinates of scattering point are generated;The target space three-dimensional coordinates and three-dimensional deformation coordinates corresponding to different time points are compared respectively, and comparison result is obtained, wherein, comparison result represents the three-dimensional deformation condition of scattering point in monitoring area.

Description

Technical Field

[0001] This disclosure relates to the field of radar technology, and more specifically, to a method for monitoring three-dimensional terrain deformation based on a monopulse phased array radar. Background Technology

[0002] Long-distance, non-contact deformation monitoring is an advanced monitoring technology with broad application prospects. It has important applications in the fields of national production and safety monitoring of major facilities. For example, it can detect changes in terrain and prevent geological changes such as landslides and mudslides.

[0003] In related technologies, synthetic aperture technology is used to monitor changes in terrain. It mainly utilizes antennas to form straight or circular trajectories through antenna movement to achieve high azimuth resolution through synthetic aperture processing, or to move the virtual phase center through multiple beam transmissions and receptions to directly measure the three-dimensional deformation of the deformed area.

[0004] In realizing the present invention, the inventors discovered that the related technology has at least the following problems: the three-dimensional deformation results of the terrain detected by the related technology during the monitoring of terrain are not accurate enough. Summary of the Invention

[0005] In view of this, embodiments of this disclosure provide a method for monitoring three-dimensional terrain deformation based on a monopulse phased array radar, including:

[0006] A beam dataset is constructed based on the multiple echo signal sets received by the monopulse phased array radar at each time point. Each time point corresponds to one echo signal set, and the echo signal set includes multiple echo data. The echo data is formed by the monopulse phased array radar transmitting a signal to the monitoring area and then reflecting the transmitted signal through the monitoring area. The beam dataset includes azimuth difference beams and difference beams. The difference beams include one of the following: azimuth difference beams and elevation difference beams.

[0007] The above beam dataset is transformed to obtain a range-Doppler domain channel dataset, which includes a target and beam, and a target difference beam. The target difference beam includes one of the following: target azimuth difference beam and target elevation difference beam.

[0008] Based on the range-Doppler domain channel dataset and the angle discrimination slope formula, the three-dimensional coordinates of the target space corresponding to the scattering point in the monitoring area corresponding to the target difference beam are generated, wherein the origin of the three-dimensional coordinates of the target space is the position of the monopulse phased array radar.

[0009] The echo data corresponding to the aforementioned range-Doppler domain channel dataset is processed using differential interferometry to generate the three-dimensional deformation coordinates of the aforementioned scattering points.

[0010] The three-dimensional spatial coordinates and three-dimensional deformation coordinates of the target corresponding to different time points are compared to obtain the comparison results, wherein the comparison results characterize the three-dimensional deformation of the scattering points in the monitoring area.

[0011] According to embodiments of this disclosure, by processing the echo signal set received by a monopulse phased array radar at each time point, a beam dataset including a sum beam, an azimuth difference beam, and an elevation difference beam is obtained. The beam dataset is then converted to obtain a range-Doppler domain channel dataset. Based on the range-Doppler domain channel dataset and combined with the angle discrimination slope formula, the three-dimensional coordinates of the target space corresponding to the scattering point in the monitoring area corresponding to the target difference beam can be obtained. Combined with the three-dimensional deformation coordinates generated by differential interferometry, the three-dimensional coordinates of the target space corresponding to the scattering point generated at multiple time points and the three-dimensional deformation coordinates can be compared to determine whether the scattering point has undergone three-dimensional deformation. Therefore, this method at least partially overcomes the technical problem of poor detection effect of terrain deformation when monitoring terrain, thereby improving the accuracy of the detection results of three-dimensional terrain deformation in the monitoring area. Attached Figure Description

[0012] The above and other objects, features and advantages of this disclosure will become clearer from the following description of embodiments with reference to the accompanying drawings, in which:

[0013] Figure 1 A flowchart illustrating a method for monitoring three-dimensional terrain deformation based on a monopulse phased array radar according to an embodiment of the present disclosure is shown.

[0014] Figure 2 A schematic front view of a multi-dimensional active phased array radar according to an embodiment of the present disclosure is shown.

[0015] Figure 3 A schematic diagram illustrating the distance-Doppler domain on the channel according to an embodiment of the present disclosure is shown.

[0016] Figure 4 A schematic diagram of the range-Doppler domain on the azimuth difference channel according to an embodiment of the present disclosure is shown.

[0017] Figure 5 A schematic diagram of the range-Doppler domain on the pitch difference channel according to an embodiment of the present disclosure is shown.

[0018] Figure 6 A schematic diagram illustrating the actual azimuth and actual pitch angles of multiple scattering points according to embodiments of the present disclosure is shown.

[0019] Figure 7 This schematic diagram illustrates the three-dimensional spatial coordinate distribution of multiple scattering points according to an embodiment of the present disclosure;

[0020] Figure 8 A schematic diagram illustrating the three-dimensional deformation results of multiple scattering points according to an embodiment of the present disclosure is shown. Detailed Implementation

[0021] The embodiments of the present disclosure will now be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the disclosure. In the following detailed description, numerous specific details are set forth to provide a thorough understanding of the embodiments of the present disclosure for ease of explanation. However, it will be apparent that one or more embodiments may be practiced without these specific details. Furthermore, descriptions of well-known structures and techniques are omitted in the following description to avoid unnecessarily obscuring the concepts of the present disclosure.

[0022] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this disclosure. The terms “comprising,” “including,” etc., as used herein indicate the presence of the stated features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0023] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted in a manner consistent with the context of this specification, and not in an idealized or overly rigid way.

[0024] When using expressions such as "at least one of A, B, and C", they should generally be interpreted in accordance with the meaning that is commonly understood by a person skilled in the art (e.g., "a system having at least one of A, B, and C" should include, but is not limited to, a system having A alone, a system having B alone, a system having C alone, a system having A and B, a system having A and C, a system having B and C, and / or a system having A, B, and C, etc.).

[0025] This disclosure provides a method for monitoring three-dimensional terrain deformation based on a monopulse phased array radar. The method includes constructing a beam dataset based on multiple echo signal sets received by the monopulse phased array radar at each time point. Each time point corresponds to one echo signal set, which includes multiple echo data points. The echo data are formed by the monopulse phased array radar transmitting a signal to the monitoring area and then reflecting the transmitted signal back into the monitoring area. The beam dataset includes sum beams and difference beams, with the difference beams including either an azimuth difference beam or an elevation difference beam. The beam dataset is then transformed to obtain a range-Doppler domain channel dataset, which includes a target sum beam, a target difference beam, and a target difference beam. The beam includes one of the following: target azimuth difference beam and target elevation difference beam; based on the range-Doppler domain channel dataset and the angle discrimination slope formula, the three-dimensional coordinates of the scattering points in the monitoring area corresponding to the target difference beam are generated, where the origin of the three-dimensional coordinates of the target space is the position of the monopulse phased array radar; the echo data corresponding to the range-Doppler domain channel dataset is processed using differential interferometry to generate the three-dimensional deformation coordinates of the scattering points; the three-dimensional coordinates of the target space and the three-dimensional deformation coordinates corresponding to different time points are compared to obtain the comparison results, where the comparison results characterize the three-dimensional deformation of the scattering points in the monitoring area.

[0026] Figure 1 A flowchart illustrating a method for monitoring three-dimensional terrain deformation based on a monopulse phased array radar according to an embodiment of the present disclosure is shown.

[0027] like Figure 1 As shown, the terrain three-dimensional deformation monitoring method based on monopulse phased array radar includes operations S101 to S105.

[0028] In operation S101, a beam dataset is constructed based on the multiple echo signal sets received by the monopulse phased array radar at each time point. Each time point corresponds to one echo signal set, which includes multiple echo data. The echo data is formed by the monopulse phased array radar transmitting a signal to the monitoring area and then reflecting the transmitted signal back to the monitoring area. The beam dataset includes azimuth difference beams and difference beams. The difference beams include one of the following: azimuth difference beams and elevation difference beams.

[0029] In operation S102, the beam dataset is transformed to obtain the range-Doppler domain channel dataset, which includes the target and beam, and the target difference beam. The target difference beam includes one of the following: the target azimuth difference beam and the target elevation difference beam.

[0030] In operation S103, based on the range-Doppler domain channel dataset and the angle discrimination slope formula, the three-dimensional coordinates of the target space corresponding to the scattering point in the monitoring area corresponding to the target difference beam are generated. The origin of the three-dimensional coordinates of the target space is the position of the monopulse phased array radar.

[0031] In operation S104, the echo data corresponding to the range-Doppler domain channel dataset is processed using the differential interferometry method to generate the three-dimensional deformation coordinates of the scattering point.

[0032] In operation S105, the target space three-dimensional coordinates and three-dimensional deformation coordinates corresponding to different time points are compared to obtain the comparison results. The comparison results characterize the three-dimensional deformation of the scattering points in the monitoring area.

[0033] According to embodiments of this disclosure, each radiator of an active phased array radar is equipped with a T / R module (transmit / receive module), and each T / R module can transmit and receive electromagnetic wave signals. A monopulse phased array radar can refer to a radar with multiple T / R modules in multiple dimensions, such as azimuth and elevation dimensions. When a monopulse phased array radar is operating, it can reciprocate by controlling the transmission direction of the transmitted signals to scan the monitoring area, wherein the wave positions of multiple transmitted signals maintain a certain repetition rate.

[0034] According to embodiments of this disclosure, when monitoring the topography of a distant monitoring area, a monopulse phased array radar can be mounted on a support frame, wherein the length of the monopulse phased array radar is greater than its height, so as to achieve a high angular resolution in the azimuth direction.

[0035] According to the embodiments of this disclosure, the multiple subarray receiving channels of the completed monopulse phased array radar can send a transmission signal to the monitoring area at multiple time points. For a given time point, the echo data formed by the monitoring area reflecting the multiple transmission signals transmitted by the multiple subarray receiving channels is received by the monopulse phased array radar, thereby constructing an echo signal set including the sum beam, azimuth difference beam, and elevation difference beam.

[0036] According to embodiments of this disclosure, the echo signal set is converted to the range-Doppler domain to form a range-Doppler domain channel dataset, which includes a target and beam S(r,d), a target azimuth difference beam D1(r,d), and a target elevation difference beam D2(r,d).

[0037] According to embodiments of this disclosure, for the target azimuth difference beam D1(r,d) or the target elevation difference beam D2(r,d), by combining the target and beam S(r,d) and the angle discrimination slope formula, the three-dimensional coordinates of the target space corresponding to the scattering point in the monitoring area corresponding to the target difference beam can be generated, thereby realizing the generation of the target space three-dimensional coordinates by single-pulse angle measurement technology.

[0038] According to embodiments of this disclosure, since the echo data contains phase information ph(r, d, n) of the scattering point, the echo data corresponding to the range-Doppler domain channel dataset can be processed using differential interferometry to generate the three-dimensional deformation coordinates of the scattering point.

[0039] According to the embodiments of this disclosure, the target space three-dimensional coordinates and three-dimensional deformation coordinates corresponding to different time points are compared to obtain the comparison results. Based on the comparison results, it can be determined whether the scattering points in the monitoring area have undergone three-dimensional deformation, such as whether geological depressions, landslides, or collapses caused by mining resources have occurred.

[0040] It should be noted that one echo data corresponds to one or more scattering points. The embodiments of this disclosure are only illustrated by referring to one scattering point and are not intended to limit the scope of protection of this disclosure.

[0041] According to embodiments of this disclosure, by processing the echo signal set received by a monopulse phased array radar at each time point, a beam dataset including a sum beam, an azimuth difference beam, and an elevation difference beam is obtained. The beam dataset is then converted to obtain a range-Doppler domain channel dataset. Based on the range-Doppler domain channel dataset and combined with the angle discrimination slope formula, the three-dimensional coordinates of the target space corresponding to the scattering point in the monitoring area corresponding to the target difference beam can be obtained. Combined with the three-dimensional deformation coordinates generated by differential interferometry, the three-dimensional coordinates of the target space corresponding to the scattering point generated at multiple time points and the three-dimensional deformation coordinates can be compared to determine whether the scattering point has undergone three-dimensional deformation. Therefore, this method at least partially overcomes the technical problem of poor detection effect of terrain deformation when monitoring terrain, thereby improving the accuracy of the detection results of three-dimensional terrain deformation in the monitoring area.

[0042] According to embodiments of this disclosure, a monopulse phased array radar includes a multi-dimensional active phased array radar, which includes at least two subarray receiving channels in both the azimuth and elevation dimensions.

[0043] According to the embodiments of this disclosure, by employing a multi-dimensional active phased array radar without mechanical servo, it is convenient to quickly transport the radar to the work area when monitoring the terrain of a certain monitoring area. At the same time, the installation, use and maintenance are relatively simple, which also facilitates the promotion and use of the radar data processing device and multi-dimensional active phased array radar of this disclosure.

[0044] Figure 2 A schematic front view of a multi-dimensional active phased array radar according to an embodiment of the present disclosure is shown.

[0045] like Figure 2 As shown, when a multi-dimensional active phased array radar includes two subarray receiving channels in both the azimuth and elevation dimensions, the multi-dimensional active phased array radar includes the first subarray receiving channel (e.g., Figure 2 As shown in A), the second subarray receiving channel (as shown in A) Figure 2 As shown in B), the third subarray receiving channel (as shown in B) Figure 2 (as shown in C) and the fourth subarray receiving channel (as shown in C) Figure 2 As shown in Figure D), the third and fourth subarray receiving channels are located below the first and second subarray receiving channels, respectively.

[0046] The echo signal set includes the first echo data, the second echo data, the third echo data, and the fourth echo data;

[0047] According to embodiments of this disclosure, the first echo data may be the echo data received by the T / R component in the first subarray receiving channel. Similarly, the second echo data, the third echo data, and the fourth echo data are the echo data received by the T / R components in the second subarray receiving channel, the third subarray receiving channel, and the fourth subarray receiving channel, respectively.

[0048] According to embodiments of this disclosure, a beam dataset is constructed based on multiple echo signal sets received by a monopulse phased array radar at each time point, including the following operations:

[0049] For a given point in time, the sum of the first echo data, the second echo data, the third echo data, and the fourth echo data is determined as the sum beam, where the first echo data, the second echo data, the third echo data, and the fourth echo data are the data received by the first subarray receiving channel, the second subarray receiving channel, the third subarray receiving channel, and the fourth subarray receiving channel, respectively.

[0050] The difference between the first sum and the second sum is defined as the pitch difference beam, where the first sum is the sum between the first echo data and the second echo data, and the second sum is the sum between the third echo data and the fourth echo data.

[0051] The difference between the third and fourth sums is defined as the azimuth difference beam, where the first sum is the sum between the first and second echo data, and the second sum is the sum between the third and fourth echo data.

[0052] According to an embodiment of this disclosure, a beam dataset at a given time point is shown in formula (1).

[0053]

[0054] Among them, ∑, Δ a Δ p These represent the sum beam, azimuth difference beam, and elevation difference beam, respectively. A, B, C, and D represent the first echo data, the second echo data, the third echo data, and the fourth echo data, respectively.

[0055] According to embodiments of this disclosure, based on the range-Doppler domain channel dataset and the angle discrimination slope formula, the three-dimensional coordinates of the target space corresponding to the scattering point in the monitoring area corresponding to the target difference beam are generated, including the following operations:

[0056] The actual azimuth and actual elevation angles of the scattering points in the monitoring area corresponding to the target difference beam are determined based on the range-Doppler domain channel dataset and the angle discrimination slope formula.

[0057] The target's three-dimensional spatial coordinates are generated based on the actual azimuth angle, actual elevation angle, and the distance between the monopulse phased array radar and the scattering point.

[0058] According to an embodiment of this disclosure, the actual azimuth angle θ(r,d) and actual elevation angle δ(r,d) of the scattering point in the monitoring area corresponding to the target difference beam are determined based on the range-Doppler domain channel dataset and the angle discrimination slope formula. Based on the actual azimuth angle θ(r,d) and actual elevation angle δ(r,d) and the distance between the monopulse phased array radar and the scattering point, the target spatial three-dimensional coordinates as shown in formula (2) are generated.

[0059]

[0060] Where X, Y, and Z represent the three-dimensional coordinates of the scattering point after three-dimensional decomposition, respectively. When calculating the vertical axis coordinate Z, δ and θ are the actual azimuth angle and the actual elevation angle, respectively, and R represents the distance between the monopulse phased array radar and the scattering point.

[0061] According to embodiments of this disclosure, determining the actual azimuth and actual elevation angles of scattering points in the monitoring area corresponding to the target difference beam based on the range-Doppler domain channel dataset and the angle discrimination slope includes the following operations:

[0062] Based on the target and beam and the target azimuth difference beam, determine the first ratio. Based on the first ratio and the angle discrimination slope formula, determine the actual azimuth angle. Based on the target and beam and the target elevation difference beam, determine the second ratio. Based on the second ratio and the angle discrimination slope formula, determine the actual elevation angle.

[0063] According to embodiments of this disclosure, a first ratio K(r, d) as shown in formula (3) and a second ratio as shown in formula (4) are determined based on the target and beam, the target azimuth difference beam, and the target elevation difference beam, respectively.

[0064]

[0065]

[0066] Where r represents the range element of a monopulse phased array radar system, the range element is the ratio of the distance between the radar and the scattering point to the resolution of the radar system, and d represents the Doppler pulse number in the range-Doppler domain.

[0067] According to embodiments of this disclosure, based on a first ratio K(r, d) and a second ratio Using the slope formula, determine the actual azimuth angle θ(r,d) and the actual pitch angle δ(r,d).

[0068] According to embodiments of this disclosure, determining the actual azimuth angle based on a first ratio and an angle slope formula includes the following operations:

[0069] The relative azimuth angle is determined based on the first ratio and the angle discrimination slope formula. The actual azimuth angle is determined based on the relative azimuth angle and the reference azimuth angle obtained from the monopulse phased array radar, where the reference azimuth angle represents the azimuth angle in which the beam center of the detection and monitoring area points.

[0070] According to an embodiment of the present disclosure, the relative azimuth angle θ0(r,d) is determined as shown in formula (5) based on the first ratio K(r,d) and the angle slope formula.

[0071]

[0072] Where, k x0 This represents the theoretical value of the azimuth-direction normal beam slope determined in the azimuth slope formula, β. These represent the elevation angle and azimuth angle of the beam center pointing to the detection and monitoring area, respectively, i.e., the reference elevation angle and the reference azimuth angle.

[0073] According to embodiments of this disclosure, after determining the relative azimuth angle θ0(r, d), a reference azimuth angle is considered. Determine the actual azimuth angle θ(r, d) as shown in formula (6).

[0074]

[0075] Where θ0 is the relative azimuth angle.

[0076] According to embodiments of this disclosure, the actual pitch angle is determined based on the second ratio and the angle slope formula, including the following operations:

[0077] The relative elevation angle is determined based on the second ratio and the angle discrimination slope formula. The actual elevation angle is then determined based on the relative elevation angle and the reference elevation angle obtained from the monopulse phased array radar, where the reference elevation angle represents the azimuth angle of the beam center pointing to the detection and monitoring area.

[0078] According to embodiments of this disclosure, based on the second ratio Using the slope formula, the relative pitch angle δ0(r,d) is determined as shown in formula (7).

[0079]

[0080] Where, k y0 This represents the theoretical value of the slope of the pitch-up normal beam, as determined in the slope formula.

[0081] According to an embodiment of the present disclosure, after determining the relative pitch angle δ0(r,d), the actual pitch angle δ(r,d) is determined as shown in formula (8) by combining the reference pitch angle β.

[0082] δ(r,d)=δ0(r,d)+β (8)

[0083] According to embodiments of this disclosure, the formula for the slope of the angle is as shown in formula (9):

[0084]

[0085] Among them, β, These represent the reference elevation angle and reference azimuth angle pointing to the beam center of the detection and monitoring area, respectively; k x0 k y0 These are the theoretical values ​​of the azimuth and elevation beam angle slopes, respectively; d x d y λ represents the distance between the apertures of adjacent subarray receiving channels in the azimuth and elevation directions, respectively, with the aperture representing the center of the subarray receiving channel; λ is the wavelength.

[0086] According to embodiments of this disclosure, the echo data corresponding to the range-Doppler domain channel dataset is processed using a differential interferometry method to generate three-dimensional deformation coordinates of the scattering points, including the following operations:

[0087] Phase information of the scattering point is determined from the echo data corresponding to the range-Doppler domain channel dataset. The phase information is processed using differential interferometry to determine the radial deformation of the scattering point. The radial deformation of the scattering point is then decomposed into three dimensions to obtain the three-dimensional deformation coordinates.

[0088] According to the embodiments of this disclosure, since the echo data contains the phase information ph(r, d, n) of the scattering point, the radial deformation def(r, d, n) of the scattering point in the monitoring environment can be obtained by using the differential interferometry method. The radial deformation def(r, d, n) of the scattering point is decomposed in three dimensions to obtain the three-dimensional deformation coordinates as shown in formula (10).

[0089]

[0090] Where defx, defy, and defz represent the three-dimensional deformation coordinates of the scattering point after radial deformation decomposition, and δ and θ are the actual azimuth and elevation angles of the scattering point relative to the center of the radar antenna, obtained by using single-pulse angle measurement technology.

[0091] According to embodiments of this disclosure, the terrain three-dimensional deformation monitoring method based on monopulse phased array radar further includes the following operations:

[0092] Channel equalization is performed on multiple echo signal sets to obtain multiple new echo signal sets after balancing system errors. The channel equalization process includes error balancing of at least one of multiple parameters of the echo data, including signal strength, signal delay and signal phase.

[0093] According to embodiments of this disclosure, in order to reduce the impact of system errors on the comparison results of this disclosure, channel equalization processing can be performed on different echo signals, mainly to process the errors of signal strength, signal delay and signal phase, so as to make the final comparison results more accurate.

[0094] According to embodiments of this disclosure, the beam dataset is transformed to obtain a range-Doppler domain channel dataset, including the following operations:

[0095] Range pulse compression is performed on the beam dataset to obtain the relative beam dataset. A fast Fourier transform is then performed on the relative beam dataset to obtain the range-Doppler domain channel dataset.

[0096] Figure 3 A schematic diagram of the distance-Doppler domain on the channel is shown according to an embodiment of the present disclosure. Figure 4 A schematic diagram of the range-Doppler domain on the azimuth difference channel according to an embodiment of the present disclosure is shown. Figure 5 A schematic diagram of the range-Doppler domain on the pitch difference channel according to an embodiment of the present disclosure is shown.

[0097] In one exemplary embodiment, the relevant parameters of the monopulse phased array radar are shown in the table below.

[0098] Center frequency 16.0GHz Scan cycle 10 milliseconds Antenna height 12mm*8 Azimuth beamwidth 3.3° Antenna length 9mm*32 Pitch beamwidth 10° Number of directional subarrays 2 Scan range ±60° Number of pitch subarrays 2 Scan wave number 74 System pulse repetition frequency (PRF) 1000 Dwell pulse count 128

[0099] According to embodiments of this disclosure, by processing the acquired echo signal set using the terrain three-dimensional deformation monitoring method based on monopulse phased array radar of this disclosure, a corresponding beam dataset can be obtained. After converting the beam dataset to the range-Doppler domain, the following can be obtained: Figures 3-5 The range-Doppler domain map shown can be used to obtain the range-Doppler domain channel dataset. The range-Doppler domain maps corresponding to the target and beam are as follows: Figure 3 As shown, the range-Doppler domain diagram corresponding to the target azimuth difference beam is as follows: Figure 4 As shown, the range-Doppler domain diagram corresponding to the target pitch difference beam is as follows: Figure 5 As shown.

[0100] Figure 6 The diagram illustrates the actual azimuth and actual elevation angles of a plurality of scattering points according to embodiments of the present disclosure.

[0101] According to embodiments of this disclosure, since the echo data information of the scattering points in the monitoring area is mainly concentrated in the strongest Doppler channel in the middle, the effective range gate interval data can be selected, for example, the data of the 100-500 range gate can be selected, thereby obtaining... Figure 6 (a) shows the actual azimuth angle and as shown in the figure Figure 6 (b) shows the actual pitch angle.

[0102] Figure 7 A schematic diagram illustrating the three-dimensional spatial coordinate distribution of multiple scattering points according to an embodiment of the present disclosure is shown.

[0103] According to embodiments of this disclosure, the actual azimuth and actual elevation angles of the scattering point are calculated using the terrain three-dimensional deformation monitoring method based on monopulse phased array radar of this disclosure. Based on the actual azimuth, actual elevation angles, and the distance between the monopulse phased array radar and the scattering point, a method is generated as follows: Figure 7 The target space three-dimensional coordinates are shown.

[0104] Figure 8 A schematic diagram illustrating the three-dimensional deformation results of multiple scattering points according to an embodiment of the present disclosure is shown.

[0105] According to embodiments of this disclosure, deformation information determined from echo data obtained from two repeated scans at different time points can ultimately yield the following: Figure 8 The three-dimensional deformation results, characterizing the three-dimensional deformation, are shown. See also... Figure 8 The scattering point indicated by the middle arrow shows that its position shifted during repeated scans, indicating that the scattering point underwent three-dimensional deformation.

[0106] The embodiments of this disclosure have been described above. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of this disclosure. Although various embodiments have been described above, this does not mean that the measures in the various embodiments cannot be used advantageously in combination. The scope of this disclosure is defined by the appended claims and their equivalents. Various substitutions and modifications can be made by those skilled in the art without departing from the scope of this disclosure, and all such substitutions and modifications should fall within the scope of this disclosure.

Claims

1. A method for monitoring three-dimensional terrain deformation based on monopulse phased array radar, comprising: A beam dataset is constructed based on multiple echo signal sets received by the monopulse phased array radar at each time point. Each time point corresponds to one echo signal set, and each echo signal set includes multiple echo data. The echo data is formed by the monopulse phased array radar transmitting a signal to the monitoring area and then reflecting the transmitted signal back into the monitoring area. The beam dataset includes azimuth difference beams and difference beams. The difference beams include one of the following: azimuth difference beams and elevation difference beams. The beam dataset is transformed to obtain a range-Doppler domain channel dataset, wherein the range-Doppler domain channel dataset includes a target and a beam, and a target difference beam, wherein the target difference beam includes one of the following: a target azimuth difference beam and a target elevation difference beam; Based on the range-Doppler domain channel dataset and the angle discrimination slope formula, the three-dimensional coordinates of the target space corresponding to the scattering point in the monitoring area corresponding to the target difference beam are generated, wherein the origin of the three-dimensional coordinates of the target space is the position of the monopulse phased array radar; The echo data corresponding to the range-Doppler domain channel dataset is processed using differential interferometry to generate the three-dimensional deformation coordinates of the scattering point; The target spatial three-dimensional coordinates and the three-dimensional deformation coordinates corresponding to different time points are compared to obtain comparison results, wherein the comparison results characterize the three-dimensional deformation of the scattering points within the monitoring area.

2. The method according to claim 1, wherein, The monopulse phased array radar includes a multi-dimensional active phased array radar, which includes at least two subarray receiving channels in both the azimuth and elevation dimensions.

3. According to claim 2, when the multi-dimensional active phased array radar includes two subarray receiving channels in both azimuth and elevation dimensions, the multi-dimensional active phased array radar includes a first subarray receiving channel, a second subarray receiving channel, a third subarray receiving channel, and a fourth subarray receiving channel, wherein the third subarray receiving channel and the fourth subarray receiving channel are respectively located below the first subarray receiving channel and the second subarray receiving channel. The echo signal set includes first echo data, second echo data, third echo data, and fourth echo data; in, The beam dataset is constructed based on the set of multiple echo signals received by the monopulse phased array radar at each time point, including: For a given time point, the sum of the first echo data, the second echo data, the third echo data, and the fourth echo data is determined as the sum beam, wherein the first echo data, the second echo data, the third echo data, and the fourth echo data are respectively the data received by the first subarray receiving channel, the second subarray receiving channel, the third subarray receiving channel, and the fourth subarray receiving channel; The difference between the first sum and the second sum is determined as the pitch difference beam, wherein the first sum is the sum between the first echo data and the second echo data, and the second sum is the sum between the third echo data and the fourth echo data; The difference between the third and fourth sums is determined as the azimuth difference beam, wherein the first sum is the sum between the first echo data and the second echo data, and the second sum is the sum between the third echo data and the fourth echo data.

4. The method according to claim 1, wherein, The step of generating the target spatial three-dimensional coordinates of the scattering point in the monitoring area corresponding to the target difference beam, based on the range-Doppler domain channel dataset and the angle discrimination slope formula, includes: Based on the range-Doppler domain channel dataset and the angle discrimination slope formula, determine the actual azimuth and actual elevation angles of the scattering points in the monitoring area corresponding to the target difference beam; The target's three-dimensional spatial coordinates are generated based on the actual azimuth angle, the actual elevation angle, and the distance between the monopulse phased array radar and the scattering point.

5. The method according to claim 4, wherein, The step of determining the actual azimuth and actual elevation angles of the scattering points in the monitoring area corresponding to the target difference beam based on the range-Doppler domain channel dataset and the angle discrimination slope includes: A first ratio is determined based on the target and the beam and the target azimuth difference beam; The actual azimuth angle is determined based on the first ratio and the angle slope formula. The second ratio is determined based on the target and the beam and the target elevation difference beam; The actual pitch angle is determined based on the second ratio and the slope formula.

6. The method according to claim 5, wherein, Determining the actual azimuth angle based on the first ratio and the angle slope formula includes: The relative azimuth angle is determined based on the first ratio and the angle slope formula. The actual azimuth angle is determined based on the relative azimuth angle and the reference azimuth angle obtained from the monopulse phased array radar, wherein the reference azimuth angle represents the azimuth angle in which the beam center of the detection and monitoring area points. The step of determining the actual pitch angle based on the second ratio and the angle slope formula includes: The relative pitch angle is determined based on the second ratio and the slope formula. The actual pitch angle is determined based on the relative pitch angle and the reference pitch angle obtained from the monopulse phased array radar, wherein the reference pitch angle represents the azimuth angle of the beam center pointing to the detection and monitoring area.

7. The method according to any one of claims 1 to 6, wherein, The formula for the slope of the angle is shown in formula (1): Among them, β, These represent the reference elevation angle and reference azimuth angle pointing to the beam center of the detection and monitoring area, respectively; k x0 k y0 These are the theoretical values ​​of the azimuth and elevation beam angle slopes, respectively; d x d y λ represents the distance between the apertures of adjacent subarray receiving channels in the azimuth and elevation directions, respectively, with the aperture representing the center of the subarray receiving channel; λ is the wavelength.

8. The method according to claim 1, wherein, The step of processing the echo data corresponding to the range-Doppler domain channel dataset using differential interferometry to generate the three-dimensional deformation coordinates of the scattering point includes: The phase information of the scattering point is determined from the echo data corresponding to the range-Doppler domain channel dataset; The phase information is processed using the differential interferometry method to determine the radial deformation of the scattering point; The radial deformation of the scattering point is decomposed into three dimensions to obtain the three-dimensional deformation coordinates.

9. The method according to claim 1, further comprising: Channel equalization processing is performed on multiple sets of echo signals to obtain multiple new sets of echo signals after balancing system errors. The channel equalization processing includes error balancing processing on at least one of multiple parameters of the echo data, including signal strength, signal delay, and signal phase. The process of transforming the beam dataset to obtain the range-Doppler domain channel dataset includes: Range pulse compression is performed on the beam dataset to obtain a relative beam dataset; The relative beam dataset is subjected to a fast Fourier transform to obtain the range-Doppler domain channel dataset.

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