A tracking control method for multiple SAR satellite corner reflectors based on InSAR displacement measurement, a tracking control system and a tracking corner reflector

Abstract

The present invention provides a tracking control method for multiple SAR satellite corner reflectors based on InSAR displacement measurement, a tracking control system and a tracking corner reflector. The method comprises: obtaining orbital data information of a target satellite; obtaining the current spatial position of the target satellite based on the orbital position data of the target satellite, the radar feedback signal received by the corner reflector and the remote control instruction. 、 and; according to the current incident position of the corner reflector 、 、 and calculate to obtain position error values, and; calculate the displacement amount that the corner reflector needs to move currently according to, and; adjust the corner reflector to the target position according to the displacement amount. The present invention can realize that the corner reflector automatically tracks the target satellite.

Description

Technical Field

[0001] The present invention relates to the technical field of radar reflectors and structural deformation monitoring, and in particular to a tracking control method for multiple SAR satellite corner reflectors based on InSAR displacement measurement, a tracking control system and a tracking corner reflector. Background Art

[0002] As an advanced remote sensing technology, spaceborne synthetic aperture radar interferometry (InSAR) has been widely used in geological disaster monitoring, urban ground subsidence monitoring and other fields because it can measure surface deformation over a large range and with high precision. Using InSAR technology to monitor the deformation of bridges and roads can achieve all-weather and full-cycle monitoring of structures, providing important data support for the safety management of bridges and roads. However, traditional InSAR technology has some limitations in the monitoring process. For example, the observation conditions of InSAR technology are limited, requiring satellites to have a certain orbital altitude and revisit period, and the ground site also needs to meet certain conditions, such as flat terrain and no obstructions. Therefore, there are too few natural satellite reflection points on roads and bridges, which affects its application effect in bridge and highway health monitoring.

[0003] In order to overcome the above problems, researchers proposed a method of installing a corner reflector (CR) on the monitored structure. A corner reflector is a device that can strongly reflect radar wave signals, usually composed of three mutually perpendicular planes. This device can reflect the incident radar waves back to the transmitting source at a specific azimuth and elevation angle, thereby forming an obvious strong scattering point on the radar image. By laying out corner reflectors on the ground, an accurate positioning reference can be provided to calibrate and verify the accuracy of space-borne InSAR data.

[0004] However, different space-borne InSAR satellites will pass the same location at different times and different angles in the sky, so traditional corner reflectors need to be manually adjusted in azimuth and elevation to ensure that they can always accurately face the radar satellite under different time and space conditions. This manual adjustment method is not only time-consuming and labor-intensive, but also difficult to ensure that the corner reflector is always in the best working state during long-term monitoring, thus affecting the accuracy and reliability of InSAR data; at the same time, because traditional corner reflectors are time-consuming and labor-intensive to adjust, once the adjustment is completed, they are often not adjusted again, so they can generally only be used for one type of satellite, that is, they can only effectively reflect the waves emitted by one type of satellite radar, so the utilization efficiency is very low.

[0005] In summary, there is an urgent need for a tracking control method for multiple SAR satellite corner reflectors based on InSAR displacement measurement, a tracking control system, and a tracking corner reflector to solve the problems existing in the prior art. Summary of the invention

[0006] The purpose of the present invention is to provide a tracking and control method for multiple SAR satellite corner reflectors based on InSAR displacement measurement, aiming to solve the problem that the traditional corner reflector needs to manually adjust the azimuth and pitch angles, which is time-consuming and labor-intensive and difficult to ensure that the corner reflector is always in the best working state during long-term monitoring, and the traditional corner reflector can only reflect one type of wave emitted by satellite radar, which has the problem of low utilization efficiency. The specific technical solution is as follows:

[0007] A method for tracking and controlling multiple SAR satellite corner reflectors based on InSAR displacement measurement comprises the following steps:

[0008] S1. Determine the target satellite and obtain the orbital data information of the target satellite;

[0009] S2. Obtain the current spatial position of the target satellite, including: obtaining the current spatial position of the target satellite based on the past orbital position data of the target satellite , the current spatial position of the target satellite obtained based on the target satellite radar feedback signal received by the corner reflector And the current spatial position of the target satellite obtained based on the remote control command ;

[0010] S3. Get the current incident position of the corner reflector Q , and obtain Q and The position error between , Q and The position error between as well as Q and The position error between ;

[0011] S4, according to the position error value , as well as Calculate the current displacement of the corner reflector ;

[0012] S5. According to the displacement amount that the corner reflector needs to move at present Adjust the corner reflector to the target position.

[0013] Preferably, the method for determining the target satellite in step S1 is: downloading the satellite's orbital data information from the Internet, screening out satellites that will pass the location of the corner reflector in the future as candidate satellites based on the satellite's orbital data information, and then sorting the candidate satellites according to the time when they pass the location of the corner reflector, and selecting the candidate satellite that passes the location of the corner reflector earliest as the target satellite.

[0014] Preferably, the orbital data information includes the health status of the satellite, the orbital position data of the satellite at different times, the transit time of the satellite in different areas, the incident angle of the satellite during transit, the heading angle of the satellite during transit, the frequency of the satellite radar wave, and the intensity characteristics of the radar wave.

[0015] Preferably, in step S2, the current spatial position of the target satellite is obtained The method is as follows: extract the frequency and intensity characteristics of the radar wave from the orbital data information of the target satellite as the target radar information, analyze the radar feedback signal of the satellite received by the radar wave sensor, filter out the radar feedback signal of the target satellite according to the target radar information, combine the radar feedback signal of the target satellite and the position of the corner reflector, calculate the propagation path of the radar wave signal, and thus determine the current spatial position of the target satellite. .

[0016] Preferably, step S4 specifically comprises: according to the position error value Calculate the current displacement of the corner reflector , according to the position error value Calculate the current displacement of the corner reflector , according to the position error value Calculate the current displacement of the corner reflector ,Will , and Multiply each by its own weighting coefficient and then add them together to get the final displacement .

[0017] Preferably, according to the position error value Calculate the current displacement of the corner reflector for:

[0018] = (1.1),

[0019] According to the position error value Calculate the current displacement of the corner reflector for:

[0020] (1.2),

[0021] According to the position error value Calculate the current displacement of the corner reflector for:

[0022] (1.3),

[0023] Calculate the current displacement of the corner reflector for:

[0024] (1.4),

[0025] in, , and are weighting coefficients, , and The values ​​of are all [0, 1]. , , , are proportional gains, , , are integral gains, Indicates the past Current spatial position of the target satellite at this moment The historical error Indicates the past Current spatial position of the target satellite at this moment The historical error Indicates the past Current spatial position of the target satellite at this moment The historical error Indicates the current moment, Indicates a moment in the past. Differential unit.

[0026] Preferably, in step S5, adjusting the corner reflector to the target position specifically comprises:

[0027] According to the displacement Calculate the target position to which the corner reflector needs to be adjusted to track the target satellite, analyze the routes of each reflecting surface of the corner reflector to adjust to the target position, select the shortest route and decompose it into the azimuth, pitch and rotation angle motion components that the corner reflector needs to move, and control the corner reflector to adjust to the target position according to the azimuth, pitch and rotation angle motion components.

[0028] The present invention also provides a tracking and control system for multiple SAR satellite corner reflectors based on InSAR displacement measurement, wherein the tracking and control system comprises an intelligent satellite search control system and a remote terminal:

[0029] The remote terminal communicates with the intelligent satellite search control system and issues remote control instructions to the intelligent satellite search control system. The remote control instructions include the current spatial position of the target satellite. ;

[0030] The intelligent satellite search control system is installed on the corner reflector and includes:

[0031] An Internet of Things module, which is used to communicate with a remote terminal, download satellite orbit data information from the Internet, and locate the position of the corner reflector;

[0032] The orbit simulation module obtains the current spatial position of the target satellite based on the target satellite's past orbital position data ;

[0033] Radar signal receiving module, which obtains the current spatial position of the target satellite based on the radar feedback signal of the target satellite ;

[0034] The tracking control module is based on the current spatial position of the target satellite. , and Calculate the current displacement of the corner reflector ;

[0035] A central processing unit module is used to execute the tracking control method.

[0036] Preferably, the tracking control module includes a posture recorder, a posture error calculator and a PID control unit;

[0037] The attitude recorder is used to record the attitude data of the corner reflector at each moment;

[0038] The attitude error calculator is used to calculate the current incident position of the corner reflector Q and The position error between , the current incident position of the corner reflector Q and The position error between and the current incident position of the corner reflector Q and The position error between ;

[0039] The PID control unit is used to , as well as Calculate the current displacement of the corner reflector .

[0040] The present invention also provides a multiple SAR satellite tracking corner reflector based on InSAR displacement measurement, the tracking corner reflector comprises a base, a rotation angle adjustment device, a pitch angle adjustment device, an azimuth angle adjustment device and a corner reflector, the pitch angle adjustment device is arranged on the base through the rotation angle adjustment device, the corner reflector is arranged on the pitch angle adjustment device through the azimuth angle adjustment device, the rotation angle adjustment of the corner reflector is achieved through the rotation angle adjustment device, the pitch angle adjustment of the corner reflector is achieved through the pitch angle adjustment device, and the azimuth angle adjustment of the corner reflector is achieved through the azimuth angle adjustment device;

[0041] The corner reflector is provided with a radar wave sensor, and the radar wave sensor is used to receive the radar feedback signal of the satellite; the tracking corner reflector adopts the tracking control method to track the target satellite.

[0042] The application of the technical solution of the present invention has the following beneficial effects:

[0043] The tracking control method of the present invention adjusts the weighting coefficient 、 and The value of can cope with different monitoring scenarios, for example: 1) In the case of automatic tracking without remote terminal intervention, control the entire tracking process =0, when the target satellite is far away from the corner reflector at the beginning, the spatial position of the radar wave signal Far inferior to the target satellite space position calculated by orbital position data Accurate, but when the target satellite is closer to the corner reflector, the spatial position of the target satellite obtained by the radar wave is more accurate, so the weighting coefficient can be adjusted dynamically 、 The value of can be used to improve the tracking accuracy and ensure the correct pointing to the target satellite, specifically: Over time, it decreases from a large value of 1.0 until it reaches zero (at which point the target satellite's spatial position should be closest to the corner reflector's position), and then increases to 1.0. Changes and On the contrary, it should satisfy This ensures that the target satellite gradually approaches the corner reflector and gradually moves away from the corner reflector, and the corner reflection is uniform and has a high tracking accuracy. In addition, the weighting coefficient 、 The change strategy preferably satisfies the sine or cosine wave; 2) When applied on the road, the interference of radar waves is small, and the radar signal obtained is clear and can be β The value of should be increased to improve the tracking accuracy; when applied to bridges, due to the large number of passing vehicles, the interference of radar waves will be very strong, so it should be reduced β To reduce the spatial position Impact on tracking accuracy; 3) When the monitoring scene is complex, human intervention is required to input remote control commands through the remote terminal to make adjustments. At this time, the The value of Set to 1, that is, control is only performed by the remote terminal.

[0044] The present invention is achieved by , and Multiply each by its own weighting coefficient and then add them together to get the final displacement , so when , and When one of the values ​​in the module cannot be provided (for example, module failure), the entire system will not lose its ability to work due to a module failure (for example, when the configuration: , and When one or two of the values ​​are unavailable, the sum of the weighted coefficients corresponding to the remaining numerical items is equal to 1, and the remaining numerical items can be used to guide the corner reflector to continue tracking the target satellite).

[0045] The tracking control method of the present invention can realize the automatic tracking of the target satellite by the corner reflector. The target satellite is switched as the satellite passes the location of the corner reflector, thereby effectively reflecting the radar waves emitted by multiple SAR satellites. Since the same corner reflector position has measurement results of multiple satellites, the tracking control method of the present invention can support three-dimensional deformation inversion (traditional InSAR corner reflectors can only perform one-dimensional deformation), which greatly improves the measurement accuracy and monitoring efficiency.

[0046] The present invention can not only reduce the manual adjustment of corner reflectors and improve work efficiency, but also significantly improve the data quality and monitoring accuracy of satellite-borne InSAR technology in bridge and highway health monitoring, ensure structural safety, and provide strong support for the maintenance and management of transportation infrastructure. It is of great significance to promote the application of InSAR technology in the field of infrastructure monitoring.

[0047] In addition to the above-described purposes, features and advantages, the present invention has other purposes, features and advantages. The present invention will be further described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0049] Figure 1 is a flow chart of the tracking control method in Example 1;

[0050] Figure 2 is a framework diagram of the tracking control system in Example 2;

[0051] Figure 3 yes Figure 2 Framework diagram of the mid-track simulation module;

[0052] Figure 4 yes Figure 3 Processing flow chart of PID control unit;

[0053] Figure 5 is an axonometric view of the tracking corner reflector in Example 3;

[0054] Figure 6 is a schematic diagram of the partial structure of the tracking corner reflector in Example 3;

[0055] Among them, 1. base, 2. rotation angle adjustment device, 3. pitch angle adjustment device, 3.1. telescopic adjustment member, 3.2. fixed bracket, 3.3. pin shaft, 4. azimuth angle adjustment device, 4.1. installation box, 4.2. adjustment motor, 4.3. driving gear, 4.4. driven gear, 5. installation bracket, 5.1. connecting shaft, 6. corner reflector. DETAILED DESCRIPTION

[0056] In order to facilitate the understanding of the present invention, the present invention will be described more fully below, and preferred embodiments of the present invention are provided. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0057] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0058] Embodiment 1:

[0059] See also Figure 1This embodiment provides a method for tracking and controlling multiple SAR satellite corner reflectors based on InSAR displacement measurement, which specifically includes the following steps:

[0060] S1. Determine the target satellite and obtain the orbital data information of the target satellite;

[0061] Specifically, the orbital data information of the satellite is downloaded from the Internet, and the satellites that will pass the location of the corner reflector in the future are selected as candidate satellites according to the orbital data information of the satellite, and then the candidate satellites are sorted according to the time when they pass the location of the corner reflector, and the candidate satellite that passes the location of the corner reflector the earliest is selected as the target satellite; preferably, the coordinates of the location of the corner reflector are obtained through GPS positioning.

[0062] Furthermore, the orbital data information includes the health status of the satellite, the orbital position data of the satellite at different times, the transit time of the satellite in different regions, the incidence angle of the satellite when it transits, the heading angle of the satellite when it transits, the frequency of the satellite radar wave, and the intensity characteristics of the radar wave; wherein, the orbital data information can be obtained by downloading ephemeris data from the Internet, and the health status of the satellite (i.e., whether the satellite is in orbit) can be used to exclude some satellites that have failed or are temporarily unavailable for maintenance.

[0063] S2. Obtain the current spatial position of the target satellite, including: obtaining the current spatial position of the target satellite based on the past orbital position data of the target satellite , the current spatial position of the target satellite obtained based on the target satellite radar feedback signal received by the corner reflector And the current spatial position of the target satellite obtained based on the remote control command ;

[0064] Preferably, based on the past orbital position data of the target satellite, the spatial position of the target satellite at different times in the future can be calculated through the classical orbital mechanics model, thereby obtaining the current spatial position of the target satellite. .

[0065] Preferably, a radar wave sensor is arranged on the corner reflector to receive a radar feedback signal from a satellite (specifically, the radar wave sensor may receive radar feedback signals from different satellites), and the radar feedback signal includes radar wave intensity and time delay; further, the frequency of the radar wave and the intensity characteristics of the radar wave are extracted from the orbital data information of the target satellite as target radar information, the radar feedback signal of the satellite received by the radar wave sensor is analyzed, the radar feedback signal of the target satellite is screened out according to the target radar information, and the propagation path of the radar wave signal is calculated in combination with the radar feedback signal of the target satellite and the position of the corner reflector, thereby determining the current spatial position of the target satellite. ; Among them, the current spatial position of the target satellite is calculated based on the radar feedback signal The specific method is prior art and will not be described in detail in this embodiment.

[0066] Preferably, the remote control instruction refers to a control instruction input by a staff member at a remote terminal, and the spatial position of the target satellite is input through the remote terminal. Adjusting the corner reflectors is suitable for situations where the scene is complex and requires human intervention.

[0067] S3. Get the current incident position of the corner reflector Q , and obtain Q and The position error between , Q and The position error between as well as Q and The position error between ;

[0068] Preferably, the current incident position of the corner reflector is determined by acquiring the current posture data of the corner reflector. Q , wherein the posture data specifically includes the orientation data of each reflecting surface of the corner reflector.

[0069] S4, according to the position error value , as well as Calculate the current displacement of the corner reflector ;

[0070] Specifically, according to the position error value Calculate the current displacement of the corner reflector , according to the position error value Calculate the current displacement of the corner reflector , according to the position error value Calculate the current displacement of the corner reflector ,Will , and Multiply each by its own weighting coefficient and then add them together to get the final displacement Among them, the displacement , , and is a vector displacement, with direction.

[0071] Preferably, according to the position error value Calculate the current displacement of the corner reflector for:

[0072] = (1.1),

[0073] Preferably, according to the position error value Calculate the current displacement of the corner reflector for:

[0074] (1.2),

[0075] Preferably, according to the position error value Calculate the current displacement of the corner reflector for:

[0076] (1.3),

[0077] Furthermore, the displacement that the corner reflector needs to move is calculated for:

[0078] (1.4),

[0079] in, , and are weighting coefficients, , and The values ​​of are all [0, 1]. , , , are proportional gains, , , are integral gains, 、 、 These are all historical errors. Indicates the past Current spatial position of the target satellite at this moment The historical error Indicates the past Current spatial position of the target satellite at this moment The historical error Indicates the past Current spatial position of the target satellite at this moment The historical error Indicates the current moment, Indicates a moment in the past. Represents a differential unit.

[0080] S5. According to the displacement amount that the corner reflector needs to move at present Adjust the corner reflector to the target position;

[0081] Specifically, obtain the displacement that the corner reflector currently needs to move After that, the target position to which the corner reflector needs to be adjusted to track the target satellite can be calculated, the routes for adjusting each reflecting surface of the corner reflector to the target position can be analyzed, and the shortest route can be selected to decompose it into the azimuth, pitch and rotation angle motion components that the corner reflector needs to move. The corner reflector can be controlled to adjust to the target position according to the azimuth, pitch and rotation angle motion components.

[0082] The tracking control method of this embodiment adjusts the weighting coefficient 、 and The value of can cope with different monitoring scenarios, for example: 1) In the case of automatic tracking without remote terminal intervention, control the entire tracking process , when the target satellite is far away from the corner reflector at the beginning, the spatial position of the radar wave signal is Far inferior to the target satellite space position calculated by orbital position data Accurate, but when the target satellite is closer to the corner reflector, the spatial position of the target satellite obtained by the radar wave is more accurate, so the weighting coefficient can be adjusted dynamically 、 The value of can be used to improve the tracking accuracy and ensure the correct pointing to the target satellite, specifically: Over time, it decreases from a large value of 1.0 until it reaches zero (at which point the target satellite's spatial position should be closest to the corner reflector's position), and then increases to 1.0. Changes and On the contrary, it should satisfy This ensures that the target satellite gradually approaches the corner reflector and gradually moves away from the corner reflector, and the corner reflection is uniform and has a high tracking accuracy. In addition, the weighting coefficient 、 The change strategy preferably satisfies the sine or cosine wave; 2) When applied on the road, the interference of radar waves is small, and the radar signal obtained is clear and can be The value of should be increased to improve the tracking accuracy; when applied to bridges, due to the large number of passing vehicles, the interference of radar waves will be very strong, so it should be reduced To reduce the spatial position Impact on tracking accuracy; 3) When the monitoring scene is complex, human intervention is required to input remote control commands through the remote terminal to make adjustments. At this time, the The value of Set to 1, that is, control is only performed by the remote terminal.

[0083] Embodiment 2:

[0084] See also Figure 2-Figure 4 This embodiment provides a tracking and control system for multiple SAR satellite corner reflectors based on InSAR displacement measurement. The tracking and control system in this embodiment adopts the tracking and control method in Embodiment 1. The tracking and control system includes an intelligent satellite search control system and a remote terminal:

[0085] The remote terminal communicates with the intelligent satellite search control system and issues remote control instructions to the intelligent satellite search control system. The remote control instructions include the current spatial position of the target satellite. ;

[0086] The intelligent satellite search control system is installed on the corner reflector and includes:

[0087] An Internet of Things module, which is used to communicate with a remote terminal, download satellite orbit data information from the Internet, and locate the position of the corner reflector;

[0088] The orbit simulation module obtains the current spatial position of the target satellite based on the target satellite's past orbital position data ;

[0089] Radar signal receiving module, which obtains the current spatial position of the target satellite based on the radar feedback signal of the target satellite ;

[0090] The tracking control module is based on the current spatial position of the target satellite. , and Calculate the current displacement of the corner reflector ;

[0091] A central processing unit module is used to execute the tracking control method in embodiment 1.

[0092] Preferably, the tracking control system further includes a storage unit ( Figure 2 The storage unit stores computer instructions and data during the operation of the intelligent star-seeking control system. When the central processing unit runs the computer instructions, the tracking control method in Example 1 is executed.

[0093] Preferably, the Internet of Things module is responsible for downloading the latest satellite orbit data information from the Internet. At the same time, the Internet of Things module has a built-in GPS positioning function unit, which can obtain the coordinate position of the corner reflector; the Internet of Things module can realize communication between the remote terminal and the intelligent satellite search control system, and the remote control instructions issued by the remote terminal are transmitted to the central processing unit module through the Internet of Things module. At the same time, the satellite orbit data information and the coordinate position of the corner reflector obtained by the Internet of Things module are also transmitted to the central processing unit module.

[0094] Preferably, the orbit simulation module extracts the orbital position data of the satellite at different times in the orbital data information, calculates the spatial position of the target satellite at different times in the future through a classical orbital mechanics model (such as Kepler's equation or numerical integration method) based on the past orbital position data of the target satellite, and calculates the spatial position of the target satellite at different times in the future. Passed to the CPU module.

[0095] Preferably, the radar signal receiving module receives the signal of the radar wave sensor, which can achieve: extracting the frequency of the radar wave and the intensity characteristics of the radar wave as the target radar information from the orbital data information of the target satellite, analyzing the radar feedback signal of the satellite received by the radar wave sensor, screening out the radar feedback signal of the target satellite according to the target radar information, combining the radar feedback signal of the target satellite and the position of the corner reflector, and calculating the propagation path of the radar wave signal, thereby determining the current spatial position of the target satellite ; At the same time, the radar signal receiving module will receive the current spatial position of the target satellite Passed to the CPU module.

[0096] Preferably, the tracking control module extracts the current spatial position of the target satellite , and The tracking control module includes a posture recorder, a posture error calculator and a PID control unit. Figure 3 As shown; the attitude recorder is used to record the attitude data of the corner reflector at each moment (including the orientation data of each reflecting surface), and update the attitude data according to the attitude data of the previous moment and the displacement of the corner reflector, so as to realize the updating and storage of the attitude data; at the same time, the attitude recorder also transmits the current attitude data of the corner reflector to the attitude error calculator; the attitude error calculator generates an attitude error according to the current attitude data of the corner reflector (i.e. the current incident position of the corner reflector). Q )、 , and Calculate the position error value , as well as , providing accurate position error for the PID control unit.

[0097] The PID control unit is used to , as well as Calculate the current displacement of the corner reflector ,like Figure 4 As shown, the PID control unit includes PI controller 1, PI controller 2 and PI controller 3, and the position error value Input to PI controller 1 Output displacement , position error value Input to PI controller 2 output displacement , position error value Input to PI controller 3 output displacement ,Will , and Multiply each by its own weighting coefficient and then add them together to get the final displacement .

[0098] Preferably, the output displacement of the PI controller is The process is expressed as:

[0099] = (2.1),

[0100] Preferably, the output displacement of PI controller 2 is The process is expressed as:

[0101] (2.2),

[0102] Preferably, the output displacement of the PI controller is The process is expressed as:

[0103] (2.3),

[0104] Furthermore, the PID control unit outputs a displacement The process is expressed as:

[0105] (2.4),

[0106] In the formula: , and are weighting coefficients, , and The values ​​of are all [0, 1]. ,in, Used to control the current spatial position of the target satellite Output displacement Contribution Used to control the current spatial position of the target satellite Output displacement Contribution Used to control the current spatial position of the target satellite Output displacement Contribution , , are proportional gains, where Used to control the current spatial position of the target satellite Input response strength, Used to control the current spatial position of the target satellite Input response strength, Used to control the current spatial position of the target satellite The responsiveness of the input; , , are integral gains, where Used to control the current spatial position of the target satellite The input error accumulation, Used to control the current spatial position of the target satellite The input error accumulation, Used to control the current spatial position of the target satellite Input error accumulation; 、 、 All in the past The time history error, where Indicates the current spatial position of the target satellite in the past Time history error (i.e. past Current spatial position of the target satellite at this moment historical error), Indicates the current spatial position of the target satellite in the past Time history error (i.e. past Current spatial position of the target satellite at this moment historical error), Indicates the current spatial position of the target satellite in the past Time history error (i.e. past Current spatial position of the target satellite at this moment historical errors); Indicates the current moment; Represents a differential unit.

[0107] Preferably, the remote terminal receives analysis data from the intelligent satellite search control system, including attitude data of the corner reflector, information on the selected satellite and its orbital data, information on the target satellite and its orbital data, and the current spatial position of the target satellite. , displacement , , and , so that the staff at the remote terminal can issue and adjust the remote control instructions based on the analysis data.

[0108] The remote terminal in this embodiment can adjust the weighting coefficient through remote control instructions. 、 and The value of ensures that the tracking control system of this embodiment can adapt to various complex monitoring scenarios. , and Multiply each by its own weighting coefficient and then add them together to get the final displacement ,when , and When one of the values ​​in the module cannot be provided (for example, module failure), the entire system will not lose its ability to work due to a module failure (for example, when the configuration: , and When one or two of the values ​​are unavailable, the sum of the weighted coefficients corresponding to the remaining numerical items is equal to 1, and the remaining numerical items can be used to guide the corner reflector to continue tracking the target satellite).

[0109] Embodiment 3:

[0110] See also Figure 5 and Figure 6 The present embodiment provides a multiple SAR satellite tracking corner reflector based on InSAR displacement measurement, the tracking corner reflector comprises a base 1, a rotation angle adjustment device 2, a pitch angle adjustment device 3, an azimuth angle adjustment device 4 and a corner reflector 6, the pitch angle adjustment device 3 is arranged on the base 1 through the rotation angle adjustment device 2, the corner reflector 6 is arranged on the pitch angle adjustment device 3 through the azimuth angle adjustment device 4, and the rotation angle (horizontal direction), pitch angle and azimuth angle of the corner reflector 6 are adjusted by the rotation angle adjustment device 2, the pitch angle adjustment device 3 and the azimuth angle adjustment device 4; further, a radar wave sensor is arranged on the corner reflector 6, and the radar wave sensor is used to receive the radar feedback signal of the satellite.

[0111] Preferably, the rotation angle adjustment device 2 in this embodiment can realize its movable end to be extended and rotated, so as to adjust the height and horizontal rotation angle of the corner reflector 6; the rotation angle adjustment device includes a rotation device and a telescopic device arranged on the rotation device, the rotation device can drive the telescopic device to rotate as a whole, so as to adjust the rotation angle of the corner reflector 6, and the movable end of the telescopic device can be extended or retracted, so as to adjust the height of the corner reflector 6. Preferably, in some embodiments, the rotation angle adjustment device may only be able to rotate, that is, it only has the rotation angle adjustment function of the corner reflector 6, and does not have the height adjustment function of the corner reflector.

[0112] Furthermore, the rotating device may be a rotating table, and the telescopic device may be an oil cylinder, a pneumatic cylinder or an electric cylinder, etc. Personnel in this field may select a commonly used implementation structure in the field according to the requirements of telescopic and rotation. The rotation angle adjustment device 2 is not described in detail in this embodiment.

[0113] See also Figure 5 and Figure 6 The pitch angle adjustment device 3 includes a telescopic adjustment member 3.1, a fixed bracket 3.2 and a pin shaft 3.3. The fixed bracket 3.2 is fixedly arranged at the movable end of the rotation angle adjustment device 2. The azimuth angle adjustment device 4 is hinged to the fixed bracket 3.2 through the pin shaft 3.3. The telescopic adjustment member 3.1 is hinged to the fixed bracket 3.2 and the azimuth angle adjustment device 4. The telescopic adjustment member 3.1 can be extended or retracted to drive the azimuth angle adjustment device 4 and the corner reflector 6 to adjust the pitch angle together.

[0114] See also Figure 5 and Figure 6 The corner reflector 6 is installed on the azimuth adjustment device 4 through a mounting bracket 5. The azimuth adjustment device 4 includes a mounting box 4.1, an adjustment motor 4.2, a driving gear 4.3 and a driven gear 4.4. The mounting box 4.1 is hinged to the fixed bracket 3.2 through a pin shaft 3.3, and the mounting box 4.1 is also hinged to the telescopic adjustment member 3.1. The adjustment motor 4.2 is fixedly arranged inside the mounting box 4.1. The driving gear 4.3 is arranged at the output end of the adjustment motor 4.2, and the driven gear 4.4 is arranged on the connecting shaft 5.1 in the mounting bracket 5. The driving gear 4.3 and the driven gear 4.4 are meshed with each other, and the mounting bracket 5 is driven to swing by the rotation of the adjustment motor 4.2, thereby realizing the azimuth adjustment of the corner reflector 6.

[0115] Preferably, the telescopic adjustment member 3.1 in this embodiment is one of an oil cylinder, a gas cylinder or an electric cylinder.

[0116] Preferably, the tracking corner reflector of the present embodiment also includes the tracking control system in Example 2, which is arranged on the base 1 or the fixed part of the rotation angle adjustment device 2. After obtaining the azimuth, pitch angle and rotation angle motion components that the corner reflector 6 needs to move according to the tracking control method in Example 1, the rotation angle adjustment device 2, the pitch angle adjustment device 3 and the azimuth angle adjustment device 4 are controlled to complete the adjustment of the rotation angle, pitch angle and azimuth angle, so that the tracking corner reflector in the present embodiment can automatically track the target. At the same time, the tracking strategy can be adjusted according to the complexity of the monitoring scene to ensure that the tracking corner reflector in the present embodiment can maintain a high tracking accuracy.

[0117] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A tracking and control method for multiple SAR satellite corner reflectors based on InSAR displacement measurement, characterized in that: The following steps are involved: S1. Determine the target satellite and obtain the orbital data information of the target satellite; S2. Obtain the current spatial position of the target satellite, including: obtaining the current spatial position of the target satellite based on the past orbital position data of the target satellite , the current spatial position of the target satellite obtained based on the target satellite radar feedback signal received by the corner reflector And the current spatial position of the target satellite obtained based on the remote control command ; S3. Get the current incident position of the corner reflector Q , and obtain Q and The position error between , Q and The position error between as well as Q and The position error between ; S4, according to the position error value , as well as Calculate the current displacement of the corner reflector ; S5. According to the displacement amount that the corner reflector needs to move at present Adjust the corner reflector to the target position; Step S4 specifically includes: according to the position error value Calculate the current displacement of the corner reflector , according to the position error value Calculate the current displacement of the corner reflector , according to the position error value Calculate the current displacement of the corner reflector ,Will , and Multiply each by its own weighting coefficient and then add them together to get the final displacement .

2. The tracking control method according to claim 1, characterized in that: The method for determining the target satellite in step S1 is: downloading the satellite's orbital data information from the Internet, screening out satellites that will pass the location of the corner reflector in the future as candidate satellites based on the satellite's orbital data information, and then sorting the candidate satellites according to the time when they pass the location of the corner reflector, and selecting the candidate satellite that passes the location of the corner reflector the earliest as the target satellite.

3. The tracking control method according to claim 2, characterized in that: The orbital data information includes the health status of the satellite, the orbital position data of the satellite at different times, the transit time of the satellite in different areas, the incidence angle of the satellite during transit, the heading angle of the satellite during transit, the frequency of the satellite radar wave, and the intensity characteristics of the radar wave.

4. The tracking control method according to claim 3, characterized in that: In step S2, the current spatial position of the target satellite is obtained. The method is as follows: extract the frequency and intensity characteristics of the radar wave from the orbital data information of the target satellite as the target radar information, analyze the radar feedback signal of the satellite received by the radar wave sensor, filter out the radar feedback signal of the target satellite according to the target radar information, combine the radar feedback signal of the target satellite and the position of the corner reflector, calculate the propagation path of the radar wave signal, and thus determine the current spatial position of the target satellite. .

5. The tracking control method according to claim 1, characterized in that: According to the position error value Calculate the current displacement of the corner reflector for: = （1.1）， According to the position error value Calculate the current displacement of the corner reflector for: （1.2）， According to the position error value Calculate the current displacement of the corner reflector for: （1.3）， Calculate the current displacement of the corner reflector for: （1.4）， in, , and are weighting coefficients, , and The values ​​of are all [0, 1]. , , , are proportional gains, , , are integral gains, Indicates the past Current spatial position of the target satellite at this moment The historical error Indicates the past Current spatial position of the target satellite at this moment The historical error Indicates the past Current spatial position of the target satellite at this moment The historical error Indicates the current moment, Indicates a moment in the past. Represents a differential unit.

6. The tracking control method according to claim 1, characterized in that: In step S5, the corner reflector is adjusted to the target position by: According to the displacement Calculate the target position to which the corner reflector needs to be adjusted to track the target satellite, analyze the routes of each reflecting surface of the corner reflector to adjust to the target position, select the shortest route and decompose it into the azimuth, pitch and rotation angle motion components that the corner reflector needs to move, and control the corner reflector to adjust to the target position according to the azimuth, pitch and rotation angle motion components.

7. A tracking and control system for multiple SAR satellite corner reflectors based on InSAR displacement measurement, characterized in that: The tracking control system includes an intelligent satellite search control system and a remote terminal: The remote terminal communicates with the intelligent satellite search control system and issues remote control instructions to the intelligent satellite search control system. The remote control instructions include the current spatial position of the target satellite. ; The intelligent satellite search control system is installed on the corner reflector and includes: An Internet of Things module, which is used to communicate with a remote terminal, download satellite orbit data information from the Internet, and locate the position of the corner reflector; The orbit simulation module obtains the current spatial position of the target satellite based on the past orbital position data of the target satellite ; Radar signal receiving module, which obtains the current spatial position of the target satellite based on the radar feedback signal of the target satellite ; The tracking control module is based on the current spatial position of the target satellite. , and Calculate the current displacement of the corner reflector ; A central processing unit module, which is used to execute the tracking control method as described in any one of claims 1-6.

8. The tracking control system according to claim 7, characterized in that: The tracking control module includes a posture recorder, a posture error calculator and a PID control unit; The attitude recorder is used to record the attitude data of the corner reflector at each moment; The attitude error calculator is used to calculate the current incident position of the corner reflector Q and The position error between , the current incident position of the corner reflector Q and The position error between and the current incident position of the corner reflector Q and The position error between ; The PID control unit is used to , as well as Calculate the current displacement of the corner reflector .

9. A multi-SAR satellite tracking corner reflector based on InSAR displacement measurement, characterized in that: The tracking corner reflector comprises a base (1), a rotation angle adjustment device (2), a pitch angle adjustment device (3), an azimuth angle adjustment device (4) and a corner reflector (6); the pitch angle adjustment device (3) is arranged on the base (1) via the rotation angle adjustment device (2); the corner reflector (6) is arranged on the pitch angle adjustment device (3) via the azimuth angle adjustment device (4); the rotation angle of the corner reflector (6) is adjusted via the rotation angle adjustment device (2); the pitch angle of the corner reflector (6) is adjusted via the pitch angle adjustment device (3); and the azimuth angle of the corner reflector (6) is adjusted via the azimuth angle adjustment device (4); The corner reflector (6) is provided with a radar wave sensor, and the radar wave sensor is used to receive a radar feedback signal from a satellite; the tracking corner reflector tracks the target satellite using the tracking control method according to any one of claims 1 to 6.

Images