Intelligent multiple access ground wave detection radar equipment

Abstract

The application discloses an 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, the vehicle carrying subsystem comprises a vehicle carrier; the high-frequency ground wave radar subsystem comprises a high-frequency ground wave radar and a detection data comprehensive processing device, and data acquisition and processing are intelligentized, wherein the high-frequency ground wave radar comprises a transmitting antenna unit, a receiving antenna unit, a transceiving integrated machine, 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 monopole cross-loop antenna; and the vehicle-mounted communication subsystem is used for communication with the outside. The application is easy to flexibly deploy by loading the radar and various accessory components of the vehicle, is favorable for rapid deployment at a destination, can also be rapidly removed and transferred, and is suitable for various scenes.

Description

Technical Field

[0001] This application relates to the field of radio detection technology, and in particular to an intelligent multiple access ground wave detection radar device. Background Technology

[0002] Ground wave propagation, also known as surface wave, refers to radio waves that propagate along the ground. Due to its excellent detection capabilities for near-field environmental elements, ground wave radar is now used in military, marine environmental monitoring, and field environmental surveying. However, current ground wave radars are typically deployed in fixed locations. Ground wave radars and their auxiliary equipment are large in size, occupy a large area, and are difficult to transport and move flexibly. Therefore, they are often deployed in ports, docks, and other selected locations.

[0003] However, as ground wave radar technology penetrates into agricultural and commercial applications, ground wave radar, which cannot be flexibly deployed, is obviously difficult to adapt to scenarios such as agricultural, commercial, and marine environmental detection. Summary of the Invention

[0004] This application provides an intelligent multi-access ground wave detection radar equipment. Its advantages include easy and flexible deployment by mounting the radar's various auxiliary components on a vehicle, facilitating rapid deployment at the destination, and also enabling rapid dismantling and relocation. It is suitable for various scenarios, and data acquisition and processing are intelligent.

[0005] The above-mentioned objective of this application is achieved through the following technical solution: an intelligent multi-access ground wave detection radar equipment, characterized in that it comprises several ground wave radar vehicles, each ground wave radar vehicle comprising:

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

[0007] A high-frequency ground wave radar subsystem includes a high-frequency ground wave radar and a detection data processing module. The high-frequency ground wave radar includes a transmitting antenna unit, a receiving antenna unit, a transceiver unit, a communication unit, and a ruggedized 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 processing module processes the detection data.

[0008] And a vehicle-mounted communication subsystem, which is used to communicate with the outside world. The vehicle-mounted communication subsystem includes a Ku-band satellite communication vehicle-mounted station, a Beidou-2 dual-mode vehicle-mounted user terminal, a multi-line data transmission device, an Ethernet switch, an ultra-shortwave data transmission radio, a telephone, a mobile communication handheld device, and a ruggedized computer.

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

[0010] S1: intelligently obtaining detection result images of several ground wave radar vehicles and marking as , marking several targets in the detection result images ;

[0011] S2: performing Fourier transform on the marked target signals, and extracting several characteristic frequency signals in the target signals;

[0012] S3: traversing the characteristic frequency signals of all marked targets in the detection result images , determining the targets with the same characteristic frequency signals in the marked targets as the same target, and marking the targets appearing in at least two detection result images at the same time as reference targets ;

[0013] S4: taking the reference target as a positioning point, intelligently stitching the detection result images to obtain a stitched result image P.

[0014] Further, the vehicle carrying system further includes an air conditioner, a gasoline generator, a wire inlet box, a power adapter box and a tent installed or accommodated on the vehicle.

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

[0016] Further, in the high-frequency ground wave radar subsystem, the transceiver machine transmits a modulated high-power radio frequency signal with a carrier wave, the working frequency is 9MHz, the receiving antenna collects this part of the scattered electromagnetic energy, and feeds back to the transceiver machine through the transmission line, processes the signals received by the antenna, and extracts 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 another set of forecast support communication vehicles through the Ku band satellite communication vehicle station.

[0017] Further, the transceiver integrated machine comprises a transmitting unit and a receiving unit, the transmitting unit comprises a control module, a power amplification 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 once mixed into a fixed intermediate frequency, after low noise amplification, controllable gain amplification and multi-stage crystal filter filtering, the intermediate frequency signal meets the requirement of the subsequent sampling circuit in amplitude, and the intermediate frequency filter bandwidth meets the anti-aliasing performance requirement of the subsequent bandpass sampling; meanwhile, the sampling data of three channels are read, digital quadrature demodulation is carried out in the sampling gap, after receiving the data of one sweep frequency cycle, software down-conversion processing is carried out in the DSP, then the first FFT task is completed, and finally the result is sent to the PC through the USB bus.

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

[0019] Further, the receiving antenna array of the monopole cross-loop antenna comprises one monopole antenna and two mutually perpendicular cross-loop antennas, and the monopole antenna is located above the loop antenna.

[0020] Further, the transmitting antenna unit comprises a first base, and the first base is used for being fixed on the roof of the vehicle or the ground; the receiving antenna unit comprises a second base, a bottom rod and an antenna box, and the antenna box is arranged on the top of the bottom rod, and the loop antenna is arranged in the antenna box.

[0021] Further, the first base and the second base are each provided with a folding mechanism for controlling the folding and erecting of the antenna; the folding mechanism comprises 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 with a steering engine for driving the first connecting rod to rotate, and the first connecting rod and the second connecting rod are collinear when the transmitting antenna or the bottom rod is in a vertical state.

[0022] Further, the transmitting antenna and the receiving antenna are each connected by multiple antenna segments, and threads are arranged between the segments for connection.

[0023] Further, the high-frequency ground wave radar subsystem further comprises a GPS time-providing module for realizing time synchronization of a plurality of ground wave radar vehicles.

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

[0025] In summary, the application has the following beneficial effects:

[0026] 1. In the application, the various accessories of the vehicle-mounted loading radar are easily deployed, which is conducive to rapid deployment at the destination and can also be quickly removed and transferred, and is suitable for various scenes;

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

[0028] 3. In the application, the transmitting antenna and the receiving antenna of the radar can be assisted to be laid down and erected through the overturning mechanism, so that a larger length can be realized under the premise of easy deployment of the antenna, and the transmitting power is improved. BRIEF DESCRIPTION OF DRAWINGS

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

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

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

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

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

[0034] Figure 6 is a schematic diagram of a double-radar station acquiring a vector sea flow;

[0035] Figure 7 is an information flow diagram of the high-frequency ground wave radar subsystem;

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

[0037] Figure 9 is a schematic diagram of the overturning mechanism;

[0038] Figure 10 is a working signal flow diagram of the transmitting unit;

[0039] Figure 11 is a working signal flow diagram of the receiving unit;

[0040] Figure 12 is a composition diagram of the detection data synthesis processing module;

[0041] Figure 13 is a composition diagram of the communication module;

[0042] Figure 14 is a working flow diagram of the communication module;

[0043] Figure 15 This is a schematic diagram of a ground wave radar detection module;

[0044] Figure 16 This is a schematic diagram of a single-station radial flow submodule;

[0045] Figure 17 This is a schematic diagram of the workflow of a single-station radial flow submodule;

[0046] Figure 18 This is a schematic diagram of the central station vector flow submodule;

[0047] Figure 19 This is a schematic diagram of the workflow of the central station vector flow submodule;

[0048] Figure 20 This is a schematic diagram of the workflow of the equipment status monitoring module;

[0049] Figure 21 This is a flowchart illustrating the workflow of the system configuration module;

[0050] Figure 22 This is a diagram of a vehicle. Figure 1 ;

[0051] Figure 23 This is a diagram of a vehicle. Figure 2 ;

[0052] Figure 24 This is a diagram of a vehicle. Figure 3 . Detailed Implementation

[0053] The specific embodiments of this application are described in detail below with reference to the accompanying drawings.

[0054] Example: 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 processing module. The portable high-frequency ground wave radar includes a transmitting antenna unit, a receiving antenna unit, a transceiver unit, a communication unit, and a ruggedized 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 processing module 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 for communication with the outside world. (Reference) Figure 3The vehicle-mounted communication subsystem is composed of a Ku-band satellite communication vehicle-mounted station, a Beidou II dual-mode vehicle-mounted user machine, a data transmission equipment, an Ethernet switch, an ultra-short wave data radio, a telephone, a mobile communication handset and a ruggedized computer.

[0057] Reference Figure 4 The vehicle-mounted subsystem includes a vehicle, and further includes an air conditioner, a gasoline generator, an incoming line box, a power adapter box and a tent which are installed or accommodated on the vehicle. The incoming line box is arranged at the rear or side of the vehicle, and the transmitting antenna and the receiving antenna are arranged on the roof of the vehicle and connected to the transceiver integrated machine arranged in the vehicle through the incoming line box.

[0058] The detection principle of the high-frequency ground wave radar subsystem is that the high-frequency ground wave radar uses the reflection (or scattering) of electromagnetic waves by a target to discover the target and measure information such as the position and speed of the target. The radar uses the time difference between the received echo and the transmitted wave to measure the distance, uses the Doppler effect of the wave propagation to measure the movement speed of the target, and uses the difference in the amplitude or phase of the target echo on each antenna channel to determine the direction of the target.

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

[0060] (1)

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

[0062] (2)

[0063] where the radar frequency is in MHz, and the Doppler frequency is in Hz. This frequency offset is called the Bragg frequency shift.

[0064] By judging the degree of deviation of the first-order Bragg peak from the standard Bragg peak, we can calculate the radial flow speed of the sea wave. The principle of calculating the radial sea current by the Doppler spectrum of the ocean echo is shown in Figure 5 .

[0065] Single station high frequency ground wave radar can obtain surface radial flow. After obtaining respective station radial flow by double station high frequency ground wave radar with a certain distance, vector flow can be obtained by vector projection and synthesis. Figure 6

[0066] In high frequency ground wave radar detection, continuous wave with linear frequency modulation is adopted.

[0067] The transmitter of high frequency ground wave radar transmits modulated high power radio frequency signal with carrier wave, and the working frequency is 9MHz. Electromagnetic wave with this frequency can be diffracted and propagated along the sea surface. When encountering a target, part of the backscattered energy is received by the radar. After the receiving antenna collects the scattered electromagnetic energy, it is fed back to the receiver. The signal received by the antenna is processed, and the target information is extracted. At the same time, the detection data synthesis processing module processes the target information, and displays the ground wave radar detection information in real time. The product data is uploaded to the prediction support communication vehicle through the Ku band satellite communication vehicle station. When the high frequency ground wave radar works away from the vehicle, network communication is realized between the vehicle computer and the complex data transmission equipment, and wireless communication transmission is realized by using the ultra-short wave data transmission radio station. The product data is uploaded to the prediction support communication vehicle through the Ku band satellite communication vehicle station.

[0068] The information flow of high frequency ground wave radar is shown in Figure 7

[0069] The antenna of portable high frequency ground wave radar is divided into transmitting antenna and receiving antenna. The transmitting antenna is a single whip omnidirectional monopole antenna, which is responsible for the transmission task of system radio frequency signal. The receiving antenna is a monopole cross loop antenna, which is responsible for the receiving task of system radio frequency signal.

[0070] The transmitting antenna is a single whip omnidirectional monopole antenna, which has the advantages of portability, small occupation area, and convenient carrying and installation.

[0071] The receiving antenna is a monopole cross loop antenna. The receiving antenna array of monopole cross loop antenna includes a monopole antenna and two mutually perpendicular cross loop antennas. The monopole antenna is located above the loop antenna. Specifically, the receiving antenna array of monopole cross loop antenna includes a monopole and two mutually perpendicular cross loop antennas in the antenna box, forming a compact antenna array, as shown in Figure 8 AA and BB are two loop antennas, and C is a monopole antenna, forming a small antenna array, which maximally reduces the use of antenna site.

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

[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 arranged between the segments for connection, so that the antenna can be divided into multiple segments and connected through the threads at the connection positions.

[0074] The transmitting antenna unit comprises a first base for being fixed on the roof of a vehicle or the ground. The receiving antenna unit comprises a second base, a bottom rod and an antenna box 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 a folding mechanism for controlling the folding and erecting of the antenna. The folding mechanism facilitates the assembly and disassembly of the antenna on the ground. When the antenna is erected, the folding mechanism is opened, the antenna is assembled, the antenna is erected, the folding mechanism is locked, and the antenna pull rope is fixed. When the antenna is folded, the reverse operation is completed.

[0076] As shown in Figure 9 , the transmitting antenna and the first base are rotationally connected, and the second base and the bottom rod are rotationally connected. The folding mechanism comprises a first connecting rod and a second connecting rod, and the first connecting rod and the second connecting rod are connected to the first base (or the second base) and the transmitting antenna (or the bottom rod) respectively. The first connecting rod is connected with a steering engine 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 collinear.

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

[0078] The transmitting unit is a device for amplifying and outputting the system radio frequency signal to the transmitting antenna. It adopts a full solid-state MOS-FET linear power amplifier and is a full solid-state and high-integration digital program-controlled transmitter. The transmitting unit adopts a modular design and mainly comprises a control module, a power amplifier module, a power supply module and a case part. The working signal flow of the transmitting unit is as shown in Figure 10 .

[0079] The control module is configured with working state monitoring, standing wave ratio protection function, over-excitation protection function, i.e. automatic gain control function. The power amplifier module is configured with over-temperature protection function.

[0080] The receiving unit is the core component of the radar system and adopts a one-time mixing high-frequency direct band-pass sampling scheme and a digital array signal processing technology. It mainly comprises a filter, a mixer, an amplifier, a sampling circuit, an intermediate frequency filter, an AD circuit, a DSP and a USB bus, etc. The working signal flow of the receiving unit is as shown in Figure 11 .

[0081] The radio frequency signal from the antenna is once mixed into fixed intermediate frequency, after low noise amplification, controllable gain amplification and multi-stage crystal filter filtering, the intermediate frequency signal meets the requirement of subsequent sampling circuit in amplitude, and the intermediate frequency filter bandwidth meets the anti-aliasing performance requirement of subsequent bandpass sampling. In order to meet the requirement of portable design, the single-chip DSP reads the sampling data of three channels simultaneously under the action of the synchronous controller, carries out digital quadrature demodulation in the sampling gap, carries out software down-conversion processing in the DSP after receiving the data of one sweep frequency period, then completes the first FFT task, and finally sends the result to the PC through the USB bus for further processing.

[0082] The communication unit is mainly composed of a multiplexed line data transmission device and an ultrashort wave data transmission radio station. The data transmission and communication functions of the portable high-frequency ground wave radar when working away from the vehicle are mainly completed.

[0083] The multiplexed line data transmission device is TCN711 / BS01-1 vehicle-mounted multi-standard multiplexed line data transmission device, and the ultrashort wave data transmission radio station is ND250G data transmission radio station. The functions and performance indexes 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. As shown in Figure 12 , 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 composition block diagram is shown in

[0085] The communication module is composed of an acquisition submodule, a processing submodule, an information storage submodule, a comprehensive display submodule, a system management submodule, a data transmission submodule and a database submodule. The composition block diagram is shown in Figure 13 . The communication module records, processes, stores and transmits the data detected by the ground wave radar. The information flow is shown in Figure 14 .

[0086] The high-frequency ground wave radar subsystem further includes a GPS time module for realizing time synchronization of a plurality of 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 composition block diagram is shown in Figure 15 .

[0088] Single station radial flow sub-module includes five functional modules of pretreatment, flow velocity extraction, wind speed extraction, wind wave parameter extraction and radial result merging. Data extraction processing is intelligentized. Sub-module composition is shown in Figure 16 .

[0089] Pretreatment: Channel data validity check, interference suppression processing and channel correction algorithm processing are performed on the basic distance metadata read from the FT1 file. Online calibration is performed to ensure the validity of the processed data and the directional response of the antenna channel to maintain ideal characteristics.

[0090] Flow velocity extraction: Distance metadata processing is performed through spectral analysis, first-order spectrum separation, and azimuth estimation based on Music algorithm to extract radial flow velocity.

[0091] Wind direction extraction: On the basis of flow velocity extraction, the first-order positive and negative peak ratio is calculated by using algorithms such as Music algorithm and DBF algorithm to extract wind direction.

[0092] Wind wave parameter extraction: Based on algorithms such as DBF algorithm, wave height, wave period, wind speed and other parameters on the specified grid unit are calculated.

[0093] Radial result merging: Multi-field short-time radial flow velocity, wind direction, wave parameter and other results are merged by using the median method according to the specified time interval.

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

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

[0096] Central station vector flow sub-module includes three functional modules of basic processing, drawing display and central station signal processing. Sub-module composition is shown in Figure 18 .

[0097] The functions of the basic processing sub-module include:

[0098] Calculation related classes: Real sequence operations mainly include maximum and minimum value, odd point smoothing, difference, histogram, local minimum value sequence, sorting, etc. Other is the modulus operation of real numbers, and the method for estimating noise from Doppler spectrum sequence. Matrix operation is actually singular value decomposition of complex matrix.

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

[0100] The functions of the drawing display sub-module include:

[0101] Map drawing: Given the map scale, draw the map. The drawing content includes map background, meridian and parallel, landmark, place name and landmark, time logo, map scale.

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

[0103] The functions of the center station signal processing sub-module include:

[0104] Vector synthesis rectangular grid: Obtain the longitude and latitude range of the effective detection area through single station data, and define the grid with longitude and latitude as the synthesis area.

[0105] Effectiveness marking: Calculate the coordinates of each rectangular grid point on the effective grid table, and judge the grid point data effectiveness according to the coordinates.

[0106] Rectangular grid point to radial grid point transformation: Convert each effective vector flow rectangular grid point to a radial grid point, and give it in the form of distance element and azimuth element coordinates

[0107] Two radial flow synthesis: Search for the corresponding flow rate data within the circular domain of each effective vector flow rectangular grid point, save these flow rate data, and perform multi-station radial flow synthesis through related algorithms.

[0108] Data display output: The output function is to output the vector flow data results obtained by merging double stations to a file in binary format. The display function is directly displayed on the main interface of the software in the form of drawing. In the software, you can flexibly set to display single station radial flow data results or double station merged vector flow data results.

[0109] Center station vector flow module package workflow: The operation of the center station vector flow module includes detection of observation data, vector synthesis rectangular network, effectiveness marking, network point transformation, multi-station radial flow synthesis, data display output, etc. The running process is as follows:Figure 19 Figure 1 shows the system configuration.

[0110] The device state monitoring module acquires the state information of the onboard device, monitors the device running condition in real time, and stores the state data into the marine hydro-meteorological information database; the state monitoring module can monitor the working state, communication state and technical state of the detection device in real time; the detection device sends the state data to the state monitoring module in a unified format. The working process of the device monitoring software is shown in Figure 2. Figure 20

[0111] The system configuration module is responsible for the local system parameter setting, user information configuration and modification. The working process of the system configuration is shown in Figure 3. Figure 21

[0112] The ground wave radar vehicle is composed of a carrier vehicle, an air conditioner, an oil engine, a portable ground wave radar, various antennas, power supply equipment, a computer, network communication equipment and the like. The outer shape structure of the carrier vehicle is shown in Figure 4. Figures 22-24

[0113] The ground wave radar vehicle carries the portable high-frequency ground wave radar, the Ku-band satellite communication network vehicle-mounted station, the Beidou II generation vehicle-mounted user machine and the vehicle-mounted auxiliary equipment on the high-mobility off-road vehicle. In order to improve the mobility and integration degree of the equipment, the passenger door is arranged at the front of the vehicle compartment, and a double door is arranged at the tail of the vehicle compartment. An integrated platform is designed on the top, and the internal space can be used for storage, and the taking and placing of articles are convenient; a signal / power interface window is arranged at the right upper side of the tail of the vehicle compartment.

[0114] The vehicle layout is mainly divided into two parts of the vehicle external equipment and the vehicle internal equipment.

[0115] The vehicle external equipment mainly includes the Ku-band satellite communication network vehicle-mounted station antenna, the Beidou user machine host, the military roof-mounted air conditioner and the like. These devices are fixedly installed on the integrated platform on the roof of the carrier vehicle. The Ku communication antenna is located at the rear part of the roof platform, the antenna is a Φ0.9m offset-fed antenna, and is tilted to the side of the vehicle head during driving; the roof-mounted air conditioner is located at the front part of the roof platform, and the Beidou user machine host is located at the side of the air conditioner.

[0116] The height of the integrated storage platform is about 250mm, the platform is opened to the tail direction of the vehicle, and the internal space can be used for storage. The middle and rear parts of the internal space can be used for mounting and placing the transmitting antenna, the receiving antenna and the auxiliary accessories of the portable high-frequency ground wave radar.

[0117] ​​​The in-vehicle equipment is mainly installed in the vehicle cabin. The equipment fixed in the vehicle cabin mainly includes Ku-band satellite communication network vehicle station indoor equipment, ground wave radar indoor equipment, ground wave radar transmitting / receiving antenna, multiplexed line data transmission equipment, super short wave data radio, network exchange extension, power distribution monitoring extension, 5kW gasoline generator, cable reel, tent and spare 1kW gasoline generator. The remaining equipment accessories, such as ground wave radar accessories, data radio accessories and civil tools, are fixed in the integrated storage platform.

[0118] The cabinet adopts a vibration reduction cabinet form. The ground wave radar main machine, network exchange extension, UPS, UPS battery pack and data drawer are installed on the left side of the equipment cabinet, and the Ku-band satellite communication network vehicle station indoor equipment (composed of antenna control extension, combining / splitting device extension and box-type station main machine), TCN711 / CS01-1 vehicle-mounted multi-standard multiplexed line data transmission equipment, 24V DC power supply extension and spare part drawer are installed on the right side of the vibration reduction equipment cabinet and directly work in the vehicle. The ground wave radar main machine can work on the vehicle or be moved away from the vehicle.

[0119] The equipment cabinet is installed at the rear side of the rear seat in the vehicle cabin, and the operation face is towards the vehicle head.

[0120] As shown above, the main equipment of the portable high-frequency ground wave radar includes transmitting antenna, receiving antenna, transceiver, ruggedized 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 in a detachable form, and after being detached, the length of each antenna is not more than 1.8m. In the marching state, the antennas are placed in the integrated platform on the top of the vehicle cabin after being detached; in the working state, the antennas are taken out from the integrated platform and erected for use at a selected site.

[0121] The Φ0.9m parabolic antenna of the Ku-band satellite communication vehicle station is installed on the integrated platform on the roof of the vehicle. The antenna control extension, box-type station main machine and combining / splitting device of the Ku-band satellite communication vehicle station are installed on the right upper side of the equipment cabinet in the vehicle cabin.

[0122] The ground wave radar vehicle can be configured with 2-4 vehicles, which can simultaneously detect the environment and realize multi-address detection.

[0123] A plurality of ground wave radar vehicles are deployed at different positions, 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. The image stitching operation includes the following steps:

[0124] S1: obtaining the detection result images of the plurality of ground wave radar vehicles and marking them as , and marking a plurality of targets in the detection result images ;

[0125] S2: Fourier transform the marked target signal to extract several characteristic frequency signals in the target signal; among the several characteristic frequency signals of the extracted target signal, the characteristic frequency signals higher than a preset threshold are retained, and the characteristic frequency signals lower than the preset threshold are deleted;

[0126] S3: traverse the characteristic frequency signals of all the marked targets in the detection result map , determine the targets with the same characteristic frequency signals in the marked targets as the same target, and mark the targets appearing in at least two detection result maps at the same time as reference targets ;

[0127] S4: take the reference target as a positioning point to splice the detection result maps to obtain a spliced result map P.

[0128] Through the above image splicing operation, the detection results of multiple radar vehicles can be combined to obtain a result map with a larger detection range. By retaining the characteristic frequency signals higher than the preset threshold and deleting the low-frequency signals prone to interference.

[0129] The above only describes the preferred embodiments of the present application. It should be noted that, for those skilled in the art, without departing from the creative concept of the present application, several modifications and improvements can be made, which are all within the protection scope of the present application.

Claims

1. An intelligent multiple access ground wave detection radar apparatus, characterized by, The system comprises a plurality of ground wave radar vehicles, each of which comprises: a vehicle subsystem comprising a vehicle; a high-frequency ground wave radar subsystem comprising a high-frequency ground wave radar and a detection data comprehensive processing module, wherein 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 monopole cross loop antenna; the detection data comprehensive processing module is configured to intelligently process detection data; the transmitting antenna unit comprises a first base for being 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, the antenna box is arranged on the top of the bottom rod, the loop antenna is arranged in the antenna box, and the first base and the second base are both provided with a folding mechanism for controlling the folding and erecting of the antenna; the folding mechanism comprises a first connecting rod and a second connecting rod, the first connecting rod and the second connecting rod are connected to the first base or the second base and the transmitting antenna or the bottom rod respectively, the first connecting rod is connected with a steering engine for driving the first connecting rod to rotate, and the first connecting rod and the second connecting rod are collinear when the transmitting antenna or the bottom rod is in a vertical state; the transmitting antenna and the receiving antenna are both connected by a plurality of antenna segments, and threads are arranged between the segments for connection; and a vehicle-mounted communication subsystem for communicating with the outside world, the vehicle-mounted communication subsystem comprising a Ku-band satellite communication vehicle-mounted station, a Beidou II dual-mode vehicle-mounted user machine, a multiplexed data transmission device, an Ethernet switch, an ultrashort wave data radio, a telephone, a mobile communication handset and a ruggedized computer; a plurality of ground wave radar vehicles are deployed at different positions, wherein the detection results of the plurality of ground wave radar vehicles are shared, and the detection data comprehensive processing module is configured to perform image intelligent splicing operation on the detection results, the image splicing operation comprising the following steps: S1: Obtain the detection result maps of several ground wave radar vehicles and mark several targets in the detection result maps as , mark several targets in the detection result maps . S2: performing Fourier transform on the marked target signal to extract a plurality of characteristic frequency signals in the target signal; retaining the characteristic frequency signals higher than a preset threshold and deleting the characteristic frequency signals lower than the preset threshold; S3: traversing the detection result map of all the feature frequency signals of the marked targets, determining the targets with the same feature frequency signals in the marked targets as the same target, and marking the targets appearing in at least two detection result maps at the same time as the reference targets ; S4: Based on the benchmark target As the location point, the detection result map The stitched images are then combined to obtain the stitched result image P.

2. The intelligent multiple access ground wave probe radar equipment according to claim 1, characterized in that, the vehicle subsystem further comprises an air conditioner, a gasoline generator, a wire inlet box, a power adapter box and a tent installed or accommodated on the vehicle.

3. The intelligent multiple access ground wave probe radar equipment of claim 1, wherein, The detection data comprehensive processing module comprises a ground wave radar detection module, a communication module, a device state monitoring module and a system configuration module, wherein the communication module is configured to receive echo data transmitted by a radar hardware system, the ground wave radar detection module is configured to process real-time or historical echo data to extract radial sea state results to form a radial flow result file; to synthesize radial sea states transmitted by a plurality of radial stations to obtain a vector flow field result, and to generate a detection result image according to the vector flow field result; and the device state monitoring module is configured to control and monitor the radar hardware system.

4. The intelligent multiple access ground wave probe radar equipment of claim 3, wherein, In the high-frequency ground wave radar subsystem, the transceiving integrated machine transmits a carrier modulated by a high-power radio frequency signal, and the working frequency is 9 MHz; after the receiving antenna collects the scattered electromagnetic energy, the signal is fed back to the transceiving integrated machine through a transmission line, the signal received by the antenna is processed, and target information is extracted; 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 separately arranged forecast support communication vehicle through a Ku-band satellite communication vehicle station.

5. The intelligent multiple access ground wave probe radar equipment of claim 4, wherein, The transceiving integrated machine comprises a transmitting unit and a receiving unit, the transmitting unit comprises a control module, a power amplification module and a power 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 once mixed into a fixed intermediate frequency, 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 amplitude, the intermediate frequency filter bandwidth meets the anti-aliasing performance requirements of the subsequent bandpass sampling; meanwhile, the sampling data of three channels are read, digital quadrature demodulation is carried out in the sampling gap, when the data of one frequency sweeping cycle are received, software down-conversion processing is carried out in the DSP, 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 probe radar equipment of claim 2, wherein, The incoming wire box is arranged at the rear or side of the vehicle, the transmitting antenna and the receiving antenna are arranged on the roof of the vehicle, and the transmitting antenna and the receiving antenna are connected to the transceiving integrated machine arranged in the vehicle through the incoming wire box.

7. The intelligent multiple access ground wave probe radar equipment of claim 1, wherein, The receiving antenna array of the monopole cross-loop antenna comprises one monopole antenna and two mutually perpendicular cross-loop antennas, and the monopole antenna is located above the loop antenna.

8. The intelligent multiple access ground wave probe radar equipment of claim 1, wherein, The high-frequency ground wave radar subsystem further comprises a GPS time-providing module for realizing time synchronization of a plurality of ground wave radar vehicles.

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