Intelligent multi-address ground wave detection radar equipment

Abstract

The invention discloses intelligent multi-address ground wave detection radar equipment, which comprises a vehicle carrying subsystem, a high-frequency ground wave radar subsystem and a vehicle-mounted communication subsystem, and is characterized in that the vehicle carrying subsystem comprises a carrying vehicle; the high-frequency ground wave radar subsystem comprises a high-frequency ground wave radar and a detection data comprehensive processing device, data acquisition and processing are intelligent, the high-frequency ground wave radar comprises a transmitting antenna unit, a receiving antenna unit, a transceiver, a communication unit and a ruggedized computer, the transmitting antenna unit comprises a single-whip omnidirectional monopole antenna, and the receiving antenna unit comprises a single-whip omnidirectional monopole antenna. The receiving antenna unit comprises a monopole crossed loop antenna; and the vehicle-mounted communication subsystem is used for communicating with the outside. The auxiliary parts of the radar are loaded through the carrier vehicle, flexible deployment is easy, rapid deployment at a destination is facilitated, meanwhile, the auxiliary parts can be rapidly detached and transferred, and the radar is suitable for various scenes.

Description

Technical Field

[0001] The present application relates to the field of radio detection technology, and in particular to an intelligent multiple-address ground wave detection radar equipment. Background Art

[0002] Ground wave propagation, also known as surface wave, refers to radio waves propagating along the ground. Due to its good detection capability for close-range environmental elements, ground wave detection radar has been applied to military, marine environment detection, field environment detection and other fields. However, current ground wave detection radars are usually deployed at fixed positions. Ground wave detection radars and their ancillary devices are large in size, occupy a large area, and are difficult to transport and move flexibly. Therefore, they are often deployed at ports, docks and some selected locations.

[0003] However, as ground wave detection radar technology penetrates into agricultural and commercial applications, ground wave detection radars that cannot be flexibly deployed are obviously difficult to adapt to scenarios such as agricultural, commercial, and marine environment detection. Summary of the invention

[0004] The present application provides an intelligent multi-address ground wave detection radar equipment, which has the advantage of being easy and flexible to deploy by loading the radar's accessories onto a vehicle, facilitating rapid deployment at the destination, and also being able to be quickly dismantled and transferred, being suitable for a variety of scenarios, and realizing intelligent data collection and processing.

[0005] The above-mentioned object of the present application is achieved through the following technical solution: an intelligent multi-address ground wave detection radar equipment, characterized in that it includes a plurality of ground wave radar vehicles, each of which includes:

[0006] A vehicle-carrying subsystem, wherein the vehicle-carrying subsystem comprises a vehicle-carrying subsystem;

[0007] A high-frequency ground wave radar subsystem, the high-frequency ground wave radar subsystem includes a high-frequency ground wave radar and a detection data comprehensive processing module, wherein the high-frequency ground wave radar includes a transmitting antenna unit, a receiving antenna unit, a transceiver, a communication unit and a reinforced computer, the transmitting antenna unit includes a single-whip omnidirectional monopole antenna, and the receiving antenna unit includes a monopole cross-loop antenna; the detection data comprehensive processing module processes the detection data.

[0008] and a vehicle-mounted communication subsystem, which is used to communicate with the outside world and includes a Ku-band satellite communication vehicle-mounted station, a Beidou-2 dual-mode vehicle-mounted user terminal, a double-line data transmission device, an Ethernet switch, an ultra-short wave data transmission radio, a telephone, a mobile communication handset, and a reinforced computer;

[0009] A plurality of ground wave radar vehicles are deployed at different locations, wherein the detection results of the plurality of ground wave radar vehicles are shared, and an intelligent image stitching operation is performed on the detection results in a detection data comprehensive processing module, wherein the image stitching operation includes the following steps:

[0010] S1: Intelligently obtain the detection result images of several ground wave radar vehicles and mark them as F i , mark the detection result figure F i Some of the goals in

[0011] S2: Perform Fourier transform on the marked target signal to extract several characteristic frequency signals in the target signal;

[0012] S3: Traverse the detection result graph F i The target with the same characteristic frequency signal among all the marked targets is considered as the same target and will appear in at least two detection result graphs F at the same time. i The target in the image is marked as reference target A. i ;

[0013] S4: With reference target A i For the positioning point, intelligent detection result map F i The stitching is performed to obtain the stitched result image P.

[0014] Furthermore, the vehicle-carrying subsystem also includes an air conditioner, a gasoline generator, a line box, a power adapter box and a tent installed or stored on the vehicle-carrying subsystem.

[0015] Furthermore, the detection data comprehensive processing module includes a ground wave radar detection module, a communication module, an equipment status monitoring module and a system configuration module, wherein the communication module is used to receive the echo data transmitted by the radar hardware system, the ground wave radar detection module is used to process the real-time or historical echo data, extract the radial sea state results to form a radial flow result file; synthesize the radial sea states transmitted from several radial stations to obtain results such as vector flow field; the equipment status monitoring module is used to control and monitor the radar hardware system.

[0016] Furthermore, in the high-frequency ground wave radar subsystem, the transceiver transmits a high-power radio frequency signal with a modulated carrier wave, and the operating frequency is 9MHz. After the receiving antenna collects this part of the scattered electromagnetic energy, it is fed back to the transceiver through the transmission line, and the signal received by the antenna is processed to extract the target information; the detection data comprehensive processing module processes the target information, displays the ground wave radar detection information in real time, and uploads the data to a separate forecast support communication vehicle through the Ku-band satellite communication vehicle-mounted station.

[0017] Furthermore, the transceiver includes a transmitting unit and a receiving unit. The transmitting unit includes a control module, a power amplifier module and a power supply module; the receiving unit includes a filter, a mixer, an amplifier, a sampling circuit, an AD circuit, a DSP and a USB bus. In the receiving unit, the radio frequency signal from the antenna is converted into a fixed intermediate frequency after a mixing, and after low-noise amplification, controllable gain amplification and multi-stage crystal filter filtering, the intermediate frequency signal meets the requirements of the subsequent sampling circuit in terms of amplitude, and the intermediate frequency filter bandwidth meets the anti-aliasing performance requirements of the subsequent bandpass sampling; the sampling data of the three channels are read at the same time, and digital orthogonal demodulation is performed in the sampling interval. After receiving the data of a full sweep cycle, software down-conversion processing is performed in the DSP, and then the first FFT task is completed, and finally the result is sent to the PC through the USB bus.

[0018] Furthermore, the incoming line box is arranged at the rear or side of the vehicle, the transmitting antenna and the receiving antenna are deployed on the roof, and the transmitting antenna and the receiving antenna are connected to the transceiver arranged in the vehicle through the incoming line box.

[0019] Furthermore, the receiving antenna array of the monopole cross-loop antenna includes a monopole antenna and two mutually perpendicular cross-loop antennas, and the monopole antenna is located above the loop antenna.

[0020] Furthermore, the transmitting antenna unit includes a first base, which is used to be fixed on the top of the vehicle or the ground; the receiving antenna unit includes a second base, a bottom rod and an antenna box, the antenna box is arranged on the top of the bottom rod, and the loop antenna is arranged in the antenna box.

[0021] Furthermore, the first base and the second base are both provided with a tilting mechanism for controlling the placement and erection of the antenna; the tilting mechanism includes a first connecting rod and a second connecting rod, the first connecting rod and the second connecting rod are respectively connected to the first base or the second base and the transmitting antenna or the bottom rod, the first connecting rod is connected to a servo for driving the first connecting rod to rotate, and when the transmitting antenna or the bottom rod is in a vertical state, the first connecting rod and the second connecting rod are collinear.

[0022] Furthermore, both the transmitting antenna and the receiving antenna are formed by connecting multiple antenna segments, and threads are provided between the segments for connection.

[0023] Furthermore, the high-frequency ground wave radar subsystem also includes a GPS timing module for achieving time synchronization of several ground wave radar vehicles;

[0024] In the step S2, among the extracted characteristic frequency signals of the target signal, characteristic frequency signals higher than a preset threshold are retained, and characteristic frequency signals lower than the preset threshold are deleted.

[0025] In summary, the beneficial effects of this application are:

[0026] 1. In this application, the various accessories of the radar are loaded on a vehicle, which is easy and flexible to deploy, and is conducive to rapid deployment at the destination. It can also be quickly dismantled and transferred, and is suitable for a variety of scenarios;

[0027] 2. In this application, the transmitting antenna and receiving antenna of the radar have a simple structure, a small footprint, are easy to set up and disassemble, and are used for flexible deployment of the radar;

[0028] 3. In the present application, the transmitting antenna and receiving antenna of the radar can be assisted in being placed and erected by means of an inverted mechanism, so that a larger length can be achieved while ensuring that the antenna is easy to deploy, thereby increasing the transmitting power. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the composition of intelligent multiple-address ground wave detection radar equipment;

[0030] Figure 2 It is a schematic diagram of the composition of the high-frequency ground wave radar subsystem;

[0031] Figure 3 It is a schematic diagram of the composition of the vehicle communication subsystem;

[0032] Figure 4 It is a schematic diagram of the composition of the vehicle-carrying subsystem;

[0033] Figure 5 This is a diagram of the basic principle of high-frequency ground wave radar measuring ocean surface currents;

[0034] Figure 6 It is a schematic diagram of the vector current obtained by the dual radar stations;

[0035] Figure 7 It is the information flow chart of the high frequency ground wave radar subsystem;

[0036] Figure 8 This is the internal structure diagram of the receiving antenna;

[0037] Fig. 9 It is a schematic diagram of the inverted mechanism;

[0038] Fig.10 It is the signal flow chart of the transmitting unit;

[0039] Fig.11 It is a signal flow chart of the receiving unit;

[0040] Fig.12 It is a composition diagram of the detection data comprehensive processing module;

[0041] Fig.13 It is the composition diagram of the communication module;

[0042] Fig.14 It is a schematic diagram of the working process of the communication module;

[0043] Fig.15 It is a schematic diagram of the ground wave radar detection module;

[0044] Fig.16 It is a schematic diagram of a single-station radial flow submodule;

[0045] Fig.17 It is a schematic diagram of the working process of a single-station radial flow module;

[0046] Fig.18 It is a schematic diagram of the vector flow submodule of the central station;

[0047] Fig.19 It is a schematic diagram of the working process of the vector flow submodule of the central station;

[0048] Fig. 20 It is a schematic diagram of the working process of the equipment status monitoring module;

[0049] Fig.21 It is a schematic diagram of the system configuration module workflow;

[0050] Fig. 22 It's a sign of a vehicle Figure 1 ;

[0051] Fig.23 It's a sign of a vehicle Figure 2 ;

[0052] Fig.24 It's a sign of a vehicle Figure 3 . DETAILED DESCRIPTION

[0053] The specific implementation of the present application is described in detail below with reference to the accompanying drawings.

[0054] Embodiment: An intelligent multiple access ground wave detection radar equipment, such as Figure 1 As shown, it includes several ground wave radar vehicles, each of which includes a vehicle-mounted subsystem, a high-frequency ground wave radar subsystem and a vehicle-mounted communication subsystem.

[0055] refer to Figure 2 The high-frequency ground wave radar subsystem includes a portable high-frequency ground wave radar and a detection data comprehensive processing module, wherein the portable high-frequency ground wave radar includes a transmitting antenna unit, a receiving antenna unit, a transceiver, a communication unit and a reinforced computer, the transmitting antenna unit includes a single-whip omnidirectional monopole antenna, and the receiving antenna unit includes a monopole cross-loop antenna. The detection data comprehensive processing device includes a ground wave radar detection module, a communication module, an equipment status monitoring module and a system configuration module.

[0056] The vehicle-mounted communication subsystem is used to communicate with the outside world. Figure 3The vehicle-mounted communication subsystem consists of a Ku-band satellite communication vehicle-mounted station, a Beidou-2 dual-mode vehicle-mounted user terminal, multiple-line data transmission equipment, an Ethernet switch, an ultra-short wave data transmission radio, a telephone, a mobile communication handset, and a reinforced computer.

[0057] refer to Figure 4 The vehicle subsystem includes a vehicle, and also includes an air conditioner, a gasoline generator, a line box, a power adapter box and a tent installed or stored in the vehicle. The line box is arranged at the rear or side of the vehicle, the transmitting antenna and the receiving antenna are deployed on the roof, and the transmitting antenna and the receiving antenna are connected to a transceiver arranged in the vehicle through the line box.

[0058] The detection principle of the high-frequency ground wave radar subsystem is as follows: High-frequency ground wave radar uses the reflection (or scattering) phenomenon of electromagnetic waves by the target to detect the target and determine its position, speed and other information. The radar uses the time difference between the received echo and the transmitted wave to measure the distance, the Doppler effect of radio wave propagation to measure the target's movement speed, and the difference in amplitude or phase of the target echo on each antenna channel to determine its direction.

[0059] Taking sea / water surface detection as an example, when water waves have phase velocity and horizontal movement speed, Doppler shift will be generated. Waves moving toward the radar will produce a positive Doppler shift, and waves moving away from the radar will produce a negative Doppler shift. The magnitude of the Doppler shift is determined by the wave phase velocity Vp. Due to the influence of gravity, the phase velocity of waves of a certain wavelength is constant. Under deep water conditions (i.e., the water depth is greater than half of the wave wavelength L), the wave phase velocity Vp satisfies the following (1) definition:

[0060]

[0061] The Doppler frequency shift caused by the phase velocity Vp is:

[0062]

[0063] Where, radar frequency f0 is in MHz, Doppler frequency f B The unit is Hz. This frequency deviation is the so-called Bragg frequency shift.

[0064] By judging the degree of deviation of the first-order Bragg peak position from the standard Bragg peak, we can calculate the radial velocity of the ocean wave. Figure 5 shown.

[0065] A single-station high-frequency ground wave radar can obtain surface radial flow. After obtaining the radial flow of each station using a dual-station high-frequency ground wave radar at a certain distance, the vector flow can be obtained by vector projection and synthesis. The principle of dual-station radial flow synthesis vector flow is as follows: Figure 6 shown.

[0066] In high-frequency ground wave radar detection, the (linear) frequency modulated continuous wave method is used.

[0067] The transmitter of the high-frequency ground wave radar transmits a high-power radio frequency signal with a modulated carrier wave. The operating frequency is 9MHz. Electromagnetic waves of this frequency can propagate along the surface diffraction. After encountering the target, part of the backscattered energy is received by the radar. After the receiving antenna collects this part of the scattered electromagnetic energy, it is fed back to the receiver through the transmission line, and the signal received by the antenna is processed to extract the target information. At the same time, the detection data comprehensive processing module processes the target information, displays the ground wave radar detection information in real time, and uploads the product data to a separate forecast guarantee communication vehicle through the Ku-band satellite communication vehicle station. When the high-frequency ground wave radar is working away from the vehicle, network communication is realized with the vehicle-mounted computer through the double-line data transmission equipment, and wireless communication transmission can also be realized by using an ultra-short wave data transmission radio station, and the product data is uploaded to the forecast guarantee communication vehicle through the Ku-band satellite communication vehicle station.

[0068] High frequency ground wave radar information flow is as follows Figure 7 Show.

[0069] The antenna of the portable high-frequency ground wave radar is divided into two parts: the transmitting antenna and the receiving antenna. The transmitting antenna is a single-whip omnidirectional monopole antenna, which is responsible for sending the system's RF signal, and the receiving antenna is a monopole cross-loop antenna, which is responsible for receiving the system's RF signal.

[0070] The transmitting antenna is a single-whip omnidirectional monopole antenna, which has the advantages of being portable, occupying a small area, and being easy to carry and install.

[0071] The receiving antenna is a monopole crossed loop antenna. The receiving antenna array of the monopole crossed loop antenna includes a monopole antenna and two mutually perpendicular crossed loop antennas. The monopole antenna is located above the loop antenna. Specifically, the receiving antenna array of the monopole crossed loop antenna consists of a monopole and two mutually perpendicular crossed loop antennas placed in an antenna box to form a compact antenna array, such as Figure 8 As shown, AA and BB are two loop antennas, and C is a monopole antenna, which form a small antenna array and minimize the antenna site usage.

[0072] In this embodiment, the transmitting antenna is a single-whip omnidirectional monopole antenna with a length of 7.5 m, and the receiving antenna is a monopole cross-loop antenna with a length of 5 m.

[0073] The ground wave radar antenna structure is detachable, that is, the transmitting antenna and the receiving antenna are both connected by multiple antenna segments, and threads are set between the sections for connection. The antenna can be split into multiple sections, and the sections can be connected by threads at the connection.

[0074] The transmitting antenna unit comprises a first base, which is used to be fixed on the top of the vehicle or the ground. The receiving antenna unit comprises a second base, a bottom rod and an antenna box, which is arranged on the top of the bottom rod, and the loop antenna is arranged in the antenna box.

[0075] The first base and the second base are both provided with an inverting mechanism for controlling the placement and erection of the antenna. The inverting mechanism facilitates the assembly and disassembly of the antenna on the ground. When the antenna is erected, the inverting mechanism is opened, the antenna is assembled, the antenna is erected, the inverting mechanism is locked, and the antenna pull rope is fixed. When the antenna is withdrawn, the reverse operation is completed.

[0076] like Fig. 9 As shown, the transmitting antenna and the first base are rotatably connected, and the second base and the bottom rod are rotatably connected. The inverting mechanism includes a first connecting rod and a second connecting rod, which are respectively connected to the first base (or the second base) and the transmitting antenna (or the bottom rod). The first connecting rod is connected to a steering gear for driving the first connecting rod to rotate. When the transmitting antenna (or the bottom rod) is in a vertical state, the first connecting rod and the second connecting rod are in a collinear line.

[0077] The transceiver is mainly composed of a transmitting unit and a receiving unit. The transmitting unit is mainly composed of a control module, a power amplifier module, a power supply module, etc.; the receiving unit is mainly composed of a filter, a mixer, an amplifier, a sampling circuit, an AD circuit, a DSP and a USB bus, etc.

[0078] The transmitter unit is a device that amplifies the system RF signal and outputs it to the transmitting antenna. It uses a fully solid-state MOS-FET linear power amplifier and is a fully solid-state, highly integrated digital programmable transmitter. The transmitter unit adopts a modular design and is mainly composed of a control module, a power amplifier module, a power supply module, and a chassis. The transmitter unit working signal flow is as follows Fig.10 shown.

[0079] The control module is equipped with working status monitoring, standing wave ratio protection function, over-excitation protection function, namely automatic gain control function; and the power amplifier module is equipped with over-temperature protection function.

[0080] The receiving unit is the core component of the radar system. It adopts a single-mixing high-frequency direct bandpass sampling scheme and digital array signal processing technology. It is mainly composed of filters, mixers, amplifiers, sampling circuits, intermediate frequency filters, AD circuits, DSP and USB buses. The working signal flow of the receiving unit is as follows: Fig.11 shown.

[0081] The RF signal from the antenna is converted into a fixed intermediate frequency after a mixing process. After low-noise amplification, controllable gain amplification and multi-stage crystal filter filtering, the intermediate frequency signal meets the requirements of the subsequent sampling circuit in terms of amplitude, and the intermediate frequency filter bandwidth meets the anti-aliasing performance requirements of the subsequent bandpass sampling. In order to meet the requirements of portable design, a single-chip DSP is used to read the sampling data of three channels at the same time under the action of a synchronous controller, and digital orthogonal demodulation is performed in the sampling interval. After receiving the data of a full frequency sweep cycle, software down-conversion processing is performed in the DSP, and then the first FFT task is completed. Finally, the result is sent to the PC through the USB bus for further processing.

[0082] The communication unit is mainly composed of double-line data transmission equipment and ultra-short wave data transmission radio. It mainly completes the data transmission and communication functions of the portable high-frequency ground wave radar when it is working off the vehicle.

[0083] The double-line data transmission equipment uses TCN711 / BS01-1 vehicle-mounted multi-standard double-line data transmission equipment, and the ultra-short wave data transmission radio uses ND250G data transmission radio. The functions and performance indicators of the two devices can meet the use requirements.

[0084] The detection data comprehensive processing software is deployed on the ground wave radar vehicle and is responsible for the detection data collection and communication of the ground wave radar vehicle. Its components are as follows: Fig.12 As shown in the figure, it is mainly composed of communication module, equipment status monitoring module, ground wave radar detection module and system configuration module. It can receive echo data transmitted by radar hardware system; it can process real-time or historical echo data, extract radial sea state results to form radial flow result files; it can synthesize radial sea states transmitted by several radial stations to obtain vector flow field and other results; it can control and monitor radar hardware system; it can transmit data through Ku satellite.

[0085] The communication module consists of acquisition submodule, processing submodule, information storage submodule, comprehensive display submodule, system management submodule, data transmission submodule and database submodule. Fig.13 The communication module records, processes, stores and transmits the data detected by the ground wave radar. The information flow is as follows Fig.14 shown.

[0086] The high-frequency ground wave radar subsystem also includes a GPS timing module for achieving time synchronization of several ground wave radar vehicles.

[0087] The ground wave radar detection module is mainly composed of a control submodule, a single station radial flow submodule, and a central station vector flow submodule. The block diagram is as follows: Fig.15 shown.

[0088] The single-station radial flow submodule includes five functional modules: preprocessing, velocity extraction, wind speed extraction, wind and wave parameter extraction, and radial result merging. The data extraction and processing are intelligent. The submodules are composed of Fig.16 shown.

[0089] Preprocessing: Perform channel data validity check, interference suppression processing, channel correction and other algorithm processing on the basic distance metadata read from the FT1 file, and perform online calibration to ensure the validity of the processed data and the directional response of the antenna channel maintains ideal characteristics.

[0090] Velocity extraction: Distance-by-distance metadata processing is performed through spectral analysis, first-order spectral separation, and azimuth estimation based on the Music algorithm to extract the radial velocity of the ocean current.

[0091] Wind direction extraction: Based on the flow velocity extraction, algorithms (such as the Music algorithm and the DBF algorithm) are used to obtain the first-order positive and negative peak ratio to extract the wind direction.

[0092] Wind and wave parameter extraction: Based on algorithms (such as DBF algorithm), obtain parameters such as wave height, wave period, wind speed, etc. on the specified grid unit.

[0093] Radial result merging: Merge multiple short-time radial velocity, wind direction, wave parameters and other results at specified time intervals using the median method.

[0094] Radial flow results: The output function is to store the radial flow data results of a single field or multiple fields in a file in binary format; and the radial flow result display function is to display it directly in the main interface of the software in the form of a drawing. The software can be flexibly set to display single-field radial flow data results or multi-field radial flow data results.

[0095] Single-station radial flow submodule workflow: The operation of the single-station radial flow submodule includes FT1 data extraction, parameter setting, intelligent extraction of flow velocity and wind direction parameters, extraction of wind and wave parameters, single-field radial flow data generation, intelligent generation of multi-field radial flow data, display and output of radial flow results, etc. Fig.17 shown.

[0096] The central station vector flow submodule includes three functional modules: basic processing, drawing display, and central station signal processing. The submodules are composed as follows: Fig.18 shown.

[0097] The functions of the basic processing submodule include:

[0098] Computation-related categories: Real sequence operations mainly include finding maximum and minimum values, odd point smoothing, finding differences, finding histograms, finding local minimum sequences, sorting, etc. Others are real number modulus operations and methods for estimating noise from Doppler spectrum sequences. Matrix operations actually only include singular value decomposition of complex matrices.

[0099] FFT operations: including Fourier transform of one-dimensional complex array, power spectrum estimation based on sliding FFT averaging, power spectrum estimation based on Welch method, short-time Fourier transform, calculation of commonly used window coefficients, and intelligent information extraction and processing.

[0100] The functions of the drawing display submodule include:

[0101] Map drawing: Draw a map given a map zoom ratio. The drawing content includes map background, longitude and latitude lines and marks, place names and marks, logo with time, and map scale.

[0102] Arrow drawing: Draw arrows, wind speed scale and flow speed scale. Display the size and direction of flow field and wind field in the form of vector diagram.

[0103] The functions of the central station signal processing submodule include:

[0104] Vector synthetic rectangular grid: The longitude and latitude range of the effective detection area is obtained through single-station data, and the grid is defined by longitude and latitude as the synthetic area.

[0105] Validity marking: For each rectangular grid point, calculate its coordinates on the valid grid table and use this to determine the validity of the grid point data.

[0106] Transformation from rectangular grid points to radial grid points: For each valid vector velocity rectangular grid point, convert it to a radial grid point and give it in the form of coordinates of range and azimuth elements.

[0107] Synthesis of two radial flows: Search for the flow velocity number corresponding to each valid vector flow rectangular grid point circle, save these flow velocity data and perform multi-station radial flow synthesis through relevant algorithms.

[0108] Data display output: The output function is to store the vector flow data results obtained by merging two stations in a file in binary format; the display function is to display it directly in the main interface of the software in the form of a drawing. The software can be flexibly set to display the radial flow data results of a single station or the vector flow data results of the merged two stations.

[0109] The operation process of the central station vector flow submodule package: The operation of the central station vector flow submodule includes the detection of observation data, vector synthesis rectangular network, validity marking, network point transformation, multi-station radial flow synthesis, data display output and other operation processes, such as Fig.19 shown.

[0110] The equipment status monitoring module obtains the status information of the on-board equipment, monitors the equipment operation status in real time, and stores the status data in the marine hydrological and meteorological information database; the status monitoring module can monitor the working status, communication status and technical status of the detection equipment in real time; the detection equipment sends the status data to the status monitoring module in a unified format. Fig. 20 shown.

[0111] The system configuration module is responsible for the local system parameter settings, user information configuration and modification. The system configuration workflow is as follows: Fig.21 shown.

[0112] The hardware connection diagram of the ground wave radar vehicle subsystem when working on board and off board is as follows: Figure 14-15 shown.

[0113] The ground wave radar vehicle consists of a vehicle, air conditioner, oil engine, portable ground wave radar, multiple antennas, power supply and distribution equipment, computer, network communication equipment, etc. The appearance and structure of the vehicle are as follows: Figure 22-24 shown.

[0114] The ground wave radar vehicle carries a portable high-frequency ground wave radar, a Ku-band satellite communication network vehicle station, a Beidou-2 vehicle-mounted user terminal and vehicle-mounted auxiliary equipment on a high-mobility off-road vehicle. To improve the mobility and integration of the equipment, the front of the vehicle is a passenger door, and the rear of the vehicle is a double door. An integrated platform is designed on the top, and the internal space can be used for storage, making it easy to take and put items; a signal / power interface window is set on the upper right side of the rear of the vehicle.

[0115] The loading layout is mainly divided into two parts: external equipment and internal equipment.

[0116] The external equipment mainly includes Ku-band satellite communication network vehicle station antenna, Beidou user terminal host, military rooftop air conditioner and other equipment, all of which are fixedly installed on the integrated platform on the roof of the vehicle. The Ku communication antenna is located at the rear of the roof platform. The antenna is a Φ0.9m offset feed antenna, which falls to the side of the front of the vehicle when driving; the rooftop air conditioner is located at the front of the roof platform, and the Beidou user terminal host is located on the side of the air conditioner.

[0117] The integrated storage platform is about 250mm high and has an upper door at the rear of the vehicle. The interior space can be used for storage. The middle and rear part of the interior space can be used to store the transmitting antenna, receiving antenna and auxiliary accessories of the portable high-frequency ground wave radar.

[0118] The equipment in the car is mainly installed in the car. The equipment fixed in the car mainly includes indoor equipment of Ku-band satellite communication network on-board station, indoor equipment of ground wave radar, ground wave radar transmitting / receiving antenna, double-line data transmission equipment, ultra-short wave data transmission radio, network exchange extension, power distribution monitoring extension, 5kW gasoline generator, cable tray, tent and spare 1kW gasoline generator, etc. The remaining equipment accessories, such as ground wave radar accessories, data transmission radio accessories, civil engineering tools, etc. are all fixed in the integrated storage platform.

[0119] The cabinet adopts the form of vibration-damping cabinet. The ground wave radar host, network exchange extension, UPS, UPS battery pack and data drawer are installed on the left side of the equipment cabinet, and the indoor equipment of the Ku-band satellite communication network vehicle station (consisting of antenna control extension, splitter and combiner extension and box-type station host), TCN711 / CS01-1 vehicle-mounted multi-standard double-line data transmission equipment, 24V DC power extension and spare parts drawer are installed on the right side of the vibration-damping equipment cabinet, and work directly in the vehicle. Among them, the ground wave radar host can work on the vehicle or move away from the vehicle.

[0120] The equipment cabinet is installed behind the rear seats in the vehicle, with its operating surface facing the front of the vehicle.

[0121] As shown above, the main equipment of the portable high-frequency ground wave radar includes a transmitting antenna, a receiving antenna, a transceiver, a reinforced computer and communication equipment. The transmitting antenna is a single-whip omnidirectional monopole antenna with a height of about 7.5m; the receiving antenna is a monopole whip antenna with a height of about 5m. The antenna structure is designed to be detachable. After disassembly, the length of each antenna does not exceed 1.8m. When in the marching state, the antenna is disassembled and installed in the integrated platform on the top of the car; when working, the antenna is taken out from the integrated platform and set up at a selected location for use.

[0122] The Φ0.9m parabolic antenna of the Ku-band satellite communication vehicle station is installed on the integrated platform on the roof. The Ku-band satellite communication vehicle station antenna control extension, box station host and combiner / splitter are installed on the upper right side of the equipment cabinet inside the carriage.

[0123] A ground wave radar vehicle can be equipped with 2-4 units to detect the environment simultaneously and achieve multi-site detection.

[0124] A plurality of ground wave radar vehicles are deployed at different locations, wherein the detection results of the plurality of ground wave radar vehicles are shared, and an image stitching operation is performed on the detection results in a detection data comprehensive processing module, and the image stitching operation includes the following steps:

[0125] S1: Get the detection result images of several ground wave radar vehicles and mark them as F i , mark the detection result figure F i Some of the goals in

[0126] S2: Perform Fourier transform on the marked target signal to extract several characteristic frequency signals from the target signal; among the several characteristic frequency signals of the extracted target signal, characteristic frequency signals above a preset threshold are retained, and characteristic frequency signals below the preset threshold are deleted;

[0127] S3: Traverse the detection result graph F i The target with the same characteristic frequency signal among all the marked targets is considered as the same target and will appear in at least two detection result graphs F at the same time. i The target in the image is marked as reference target A. i ;

[0128] S4: With reference target A i For the positioning point, the detection result map F i The stitching is performed to obtain the stitched result image P.

[0129] Through the above image stitching operation, the detection results of multiple radar vehicles can be merged to obtain a result map with a larger detection range. The characteristic frequency signals above the preset threshold are retained and the low-frequency signals that are prone to interference are deleted.

[0130] The above is only a preferred implementation of the present application. It should be pointed out that a person skilled in the art can make several modifications and improvements without departing from the inventive concept of the present application, and these all fall within the scope of protection of the present application.

Claims

1. An intelligent multiple-address ground wave detection radar equipment, characterized in that: It includes several ground wave radar vehicles, each of which includes: A vehicle-carrying subsystem, wherein the vehicle-carrying subsystem comprises a vehicle-carrying subsystem; A high-frequency ground wave radar subsystem, the high-frequency ground wave radar subsystem includes a high-frequency ground wave radar and a detection data comprehensive processing module, wherein the high-frequency ground wave radar includes a transmitting antenna unit, a receiving antenna unit, a transceiver, a communication unit and a reinforced computer, the transmitting antenna unit includes a single-whip omnidirectional monopole antenna, and the receiving antenna unit includes a monopole cross-loop antenna; the detection data comprehensive processing module performs intelligent processing on the detection data; and a vehicle-mounted communication subsystem, which is used to communicate with the outside world and includes a Ku-band satellite communication vehicle-mounted station, a Beidou-2 dual-mode vehicle-mounted user terminal, a double-line data transmission device, an Ethernet switch, an ultra-short wave data transmission radio, a telephone, a mobile communication handset, and a reinforced computer; A plurality of ground wave radar vehicles are deployed at different locations, wherein the detection results of the plurality of ground wave radar vehicles are shared, and an image intelligent splicing operation is performed on the detection results in a detection data comprehensive processing module, and the image splicing operation includes the following steps: S1: Get the detection result images of several ground wave radar vehicles and mark them as F i , mark the detection result figure F i Some of the goals in S2: Perform Fourier transform on the marked target signal to extract several characteristic frequency signals in the target signal; S3: Traverse the detection result graph F i The target with the same characteristic frequency signal among all the marked targets is considered as the same target and will appear in at least two detection result graphs F at the same time. i The target in the image is marked as reference target A. i ; S4: With reference target A i For the positioning point, the detection result map F i The stitching is performed to obtain the stitched result image P.

2. The intelligent multiple access ground wave detection radar equipment according to claim 1, characterized in that: The vehicle-carrying subsystem also includes an air conditioner, a gasoline generator, a line box, a power adapter box and a tent installed or stored on the vehicle-carrying subsystem.

3. The intelligent multiple access ground wave detection radar equipment according to claim 1, characterized in that: The detection data comprehensive processing module includes a ground wave radar detection module, a communication module, an equipment status monitoring module and a system configuration module, wherein the communication module is used to receive the echo data transmitted by the radar hardware system; the ground wave radar detection module is used to process the real-time or historical echo data, extract the radial sea state results to form a radial flow result file; synthesize the radial sea states transmitted by several radial stations to obtain the vector flow field results, and generate the detection result diagram according to the vector flow field results; the equipment status monitoring module is used to control and monitor the radar hardware system.

4. The intelligent multiple access ground wave detection radar equipment according to claim 3, characterized in that: In the high-frequency ground wave radar subsystem, the transceiver transmits a high-power RF signal with a modulated carrier at an operating frequency of 9 MHz. After the receiving antenna collects this part of the scattered electromagnetic energy, it is fed back to the transceiver through the transmission line, and the signal received by the antenna is processed to extract the target information; the detection data comprehensive processing module processes the target information, displays the ground wave radar detection information in real time, and uploads the data to a separate forecast support communication vehicle through the Ku-band satellite communication vehicle-mounted station.

5. The intelligent multiple access ground wave detection radar equipment according to claim 4, characterized in that: The transceiver comprises a transmitting unit and a receiving unit. The transmitting unit comprises a control module, a power amplifier module and a power supply module; the receiving unit comprises a filter, a mixer, an amplifier, a sampling circuit, an AD circuit, a DSP and a USB bus. In the receiving unit, the radio frequency signal from the antenna is converted into a fixed intermediate frequency after a mixing process. After low-noise amplification, controllable gain amplification and multi-stage crystal filter filtering, the intermediate frequency signal meets the requirements of the subsequent sampling circuit in terms of amplitude, and the intermediate frequency filter bandwidth meets the anti-aliasing performance requirements of the subsequent bandpass sampling; the sampling data of the three channels are read at the same time, and digital orthogonal demodulation is performed in the sampling interval. After receiving the data of a full frequency sweep cycle, software down-conversion processing is performed in the DSP, and then the first FFT task is completed, and finally the result is sent to the PC through the USB bus.

6. The intelligent multiple access ground wave detection radar equipment according to claim 1, characterized in that: The incoming line box is arranged at the rear or side of the vehicle, the transmitting antenna and the receiving antenna are deployed on the roof, and the transmitting antenna and the receiving antenna are connected to the transceiver arranged in the vehicle through the incoming line box.

7. The intelligent multiple access ground wave detection radar equipment according to claim 1, characterized in that: The receiving antenna array of the monopole cross-loop antenna comprises a monopole antenna and two mutually perpendicular cross-loop antennas, wherein the monopole antenna is located above the loop antenna.

8. The intelligent multiple access ground wave detection radar equipment according to claim 7, characterized in that: The transmitting antenna unit includes a first base, which is used to be fixed on the top of the vehicle or the ground; the receiving antenna unit includes a second base, a bottom rod and an antenna box, the antenna box is arranged on the top of the bottom rod, and the loop antenna is arranged in the antenna box; The first base and the second base are both provided with a reversing mechanism for controlling the placement and erection of the antenna; the reversing mechanism includes a first connecting rod and a second connecting rod, the first connecting rod and the second connecting rod are respectively connected to the first base or the second base and the transmitting antenna or the bottom rod, the first connecting rod is connected to a servo for driving the first connecting rod to rotate, and when the transmitting antenna or the bottom rod is in a vertical state, the first connecting rod and the second connecting rod are collinear.

9. The intelligent multiple-access ground wave detection radar equipment according to claim 8, characterized in that: Both the transmitting antenna and the receiving antenna are formed by connecting multiple antenna segments, and threads are provided between the segments for connection.

10. The intelligent multiple access ground wave detection radar equipment according to claim 1, characterized in that: The high-frequency ground wave radar subsystem also includes a GPS timing module for achieving time synchronization of several ground wave radar vehicles; In the step S2, among the extracted characteristic frequency signals of the target signal, characteristic frequency signals higher than a preset threshold are retained, and characteristic frequency signals lower than the preset threshold are deleted.

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