Servo angle parameter determination method and device, equipment, medium and program product
By determining the servo angle parameters based on the motion information of the target object to be measured before measuring the radar production, the problem that servo systems in the prior art is difficult to take into account both large coverage and fine angle control, and more targeted production of the measurement radar and higher motion accuracy are achieved.
Patent Information
- Application Number
- CN202411867210.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-18
- Publication Date
- 2025-03-28
AI Technical Summary
The existing measurement radar servo systems are difficult to balance between meeting large coverage and fine angle control, resulting in high production costs and hardware volume, which are difficult to meet the needs of miniaturization, lightweighting and low-cost.
Before the measurement radar production, the servo angle parameters are determined based on the motion information of the target object being measured, so that the measurement radar can be produced more targetedly, improve the targetedness of the detection scene, reduce production costs, and improve motion accuracy.
It realizes more targeted production of measurement radar, reduces production costs and hardware volume, improves motion accuracy, and makes measurement radar more meet scenario needs.
Smart Images
Figure CN119716742A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the field of radar technology, and in particular to a method, device, equipment, medium and program product for determining a servo angle parameter. Background Art
[0002] Measuring radar is a measuring instrument that relies on electromagnetic wave reflection to obtain the speed, angle, acceleration and other characteristics of the object being measured from the radar. It can be used to measure the speed and flight trajectory of various aircraft. Therefore, the construction of measuring radar is a complex engineering practice problem.
[0003] At the same time, in order to better measure various targets, the measurement radar is equipped with a servo system. The function of the servo system is to ensure that the antenna of the measurement radar points to the measured target in real time. Since the speed and trajectory of different targets are different, the rotation speed and acceleration of the radar servo system are also different. With the development of science and technology, the measurement radar is rapidly iterating in the direction of miniaturization, lightweight, low cost and specificity, which also puts higher requirements on the radar servo system. The servo system configured by the current radar often needs to be configured with larger engineering parameters such as the maximum servo angle and angular acceleration for the servo system in order to serve the universal flying object measurement scenario. However, it is often difficult to have both a large coverage range and fine angle control. In addition, a large coverage range often requires a higher production cost and hardware volume, which is difficult to meet the current production and use requirements for miniaturization, lightweight and low cost of measurement radar. Summary of the invention
[0004] The present invention provides a servo angle parameter determination method, device, equipment, medium and program product. Before the measurement radar is produced, the range of the measurement radar to be controlled is determined in advance based on the working environment in which the measurement radar will be used and the motion information of the object to be measured by the measurement radar, so that the measurement radar can be produced more targeted, the detection scene targeting of the produced measurement radar is improved, the production cost of the measurement radar is reduced, the motion range required to be supported by the same measurement radar is reduced, and its motion accuracy is improved, so that the produced measurement radar can better meet the scene requirements.
[0005] In a first aspect, an embodiment of the present invention provides a method for determining a servo angle parameter, comprising:
[0006] Acquiring morphological parameters and initial parameters of at least one target object, as well as measurement parameters and relative position parameters of a measurement radar;
[0007] For each target object to be measured, determining the overall motion parameters of the target object to be measured according to the morphological parameters and initial parameters of the target object to be measured;
[0008] Determine the global angle parameters of each target object according to the measurement parameters, relative position parameters and the global motion parameters;
[0009] The servo angle parameters of the measuring radar are determined according to the full-range angle parameters and the measuring parameters.
[0010] In a second aspect, an embodiment of the present invention further provides a servo angle parameter determination device, comprising:
[0011] A parameter acquisition module, used to acquire morphological parameters and initial parameters of at least one target object, as well as measurement parameters and relative position parameters of the measurement radar;
[0012] A motion parameter determination module is used to determine the overall motion parameters of each target object according to the morphological parameters and initial parameters of the target object;
[0013] An angle parameter determination module, used to determine the global angle parameters of each target object according to the measurement parameters, relative position parameters and the global motion parameters;
[0014] The servo parameter determination module is used to determine the servo angle parameters of the measurement radar according to the global angle parameters and the measurement parameters.
[0015] In a third aspect, an embodiment of the present invention further provides a servo angle parameter determination device, the servo angle parameter determination device comprising:
[0016] at least one processor; and a memory communicatively coupled to the at least one processor;
[0017] The memory stores a programmable program that can be executed by at least one processor, and the programmable program is executed by at least one processor so that the at least one processor can implement the servo angle parameter determination method of any embodiment of the present invention.
[0018] In a fourth aspect, an embodiment of the present invention further provides a storage medium comprising computer executable instructions, which, when executed by a computer processor, are used to execute the servo angle parameter determination method of any embodiment of the present invention.
[0019] In a fifth aspect, an embodiment of the present invention further provides a computer program product, including a computer program, which, when executed by a processor, is used to execute the servo angle parameter determination method of any embodiment of the present invention.
[0020] The embodiments of the present invention provide a servo angle parameter determination method, device, equipment, medium and program product, which obtains the morphological parameters and initial parameters of at least one target object to be measured, as well as the measurement parameters and relative position parameters of a measuring radar; for each target object to be measured, determines the global motion parameters of the target object to be measured according to the morphological parameters and initial parameters of the target object to be measured; determines the global angle parameters of each target object to be measured according to the measurement parameters, relative position parameters and each global motion parameter; and determines the servo angle parameters of the measuring radar according to each global angle parameter and the measurement parameters. By adopting the above technical solution, before producing the measuring radar, the target object to be measured by the measuring radar after production is first clarified, and then based on the full motion of the target object to be measured in the actual scene, the motion angle range and motion state that the measuring radar needs to cover for complete detection of each target object to be measured are determined, so that the servo angle parameters of its servo system can be determined before the radar is produced, so that the measuring radar can be produced more targeted, the detection scene targeting of the produced measuring radar is improved, the production cost of the measuring radar is reduced, and the motion range that the same measuring radar needs to support is reduced while improving its motion accuracy, so that the produced measuring radar can better meet the scene requirements.
[0021] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS
[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.
[0023] Figure 1 A schematic flow chart of a method for determining a servo angle parameter provided in Embodiment 1 of the present invention;
[0024] Figure 2 A schematic flow chart of a method for determining a servo angle parameter provided in Embodiment 2 of the present invention;
[0025] Figure 3 A schematic diagram of the structure of a servo angle parameter determination device provided in Embodiment 3 of the present invention;
[0026] Figure 4 A schematic diagram of the structure of a servo angle parameter determination device provided in Embodiment 4 of the present invention. DETAILED DESCRIPTION
[0027] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.
[0028] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.
[0029] Embodiment 1
[0030] Figure 1 The present invention provides a flowchart of a servo angle parameter determination method according to the first embodiment of the present invention. The present invention can be applied to the case where the range of supported parameters required by the measurement radar servo system is determined based on the use scenario in which the measurement radar will be put into use before the measurement radar is produced. The method can be executed by a servo angle parameter determination device, which can be implemented by software and / or hardware, and the servo angle parameter determination device can be configured in a servo angle parameter determination device. Optionally, the servo angle parameter determination device can be an electronic device, which can be a notebook, a desktop computer, a smart tablet, etc., and the present invention does not limit this.
[0031] like Figure 1 As shown, a method for determining a servo angle parameter provided by an embodiment of the present invention specifically includes the following steps:
[0032] S101, acquiring morphological parameters and initial parameters of at least one target object, as well as measurement parameters and relative position parameters of a measurement radar.
[0033] In this embodiment, the target measured object can be specifically understood as the test radar to be produced, and the object to be measured in the scene where it is put into use. The morphological parameters can be specifically understood as the information used to characterize the two-dimensional cross-section and three-dimensional shape of the target measured object. For example, the morphological parameters may include the maximum cross-sectional area and the outer surface shape, etc., which are not limited by the embodiment of the present invention. The initial parameters can be specifically understood as the motion state information corresponding to the initial position of the target measured object in the required detection scene. The measurement parameters can be specifically understood as the parameters related to the measurement process of the measurement radar to be produced when measuring the scene, which are limited by the hardware conditions of the measurement radar itself. For example, the measurement parameters may include the operating frequency, measurement period and beam width, etc., which are not limited by the embodiment of the present invention. The relative position parameters can be specifically understood as the parameters used to characterize the relative position relationship between the measurement radar to be produced and the initial position of the target measured object.
[0034] Specifically, before a type of measurement radar is produced, the scene in which the measurement radar to be produced will be used for measurement can be clarified, and all objects to be measured in the scene can be determined as target objects to be measured, that is, a type of measurement radar should correspond to at least one target object to be measured. In order to enable the measurement radar to accurately set the motion state of each target object to be measured, the morphological parameters and initial parameters of the target object to be measured that affect the motion of the target object to be measured can be obtained after the target object to be measured is clarified, and the measurement parameters and relative position parameters that affect the measurement radar observation of the target object to be measured can be obtained.
[0035] S102 . For each target object to be measured, determine the overall motion parameters of the target object to be measured according to the morphological parameters and initial parameters of the target object to be measured.
[0036] In this embodiment, the full motion parameters can be specifically understood as parameters used to characterize the motion state of the target object under measurement during the entire motion process that needs to be monitored by the measurement radar. For example, the full motion parameters can include the motion state parameters of the target object under measurement such as distance, speed and acceleration.
[0037] Specifically, for each target object under test, the force conditions of the target object under test during its movement in the air can be clarified based on the morphological parameters of the target object under test, and then a motion model for characterizing the target object under test during its movement in the air can be constructed based on the force conditions of the target object under test during its movement in the air. After solving the motion model using the initial parameters of the target object under test, the motion state of the target object under test at each position during the entire motion process can be clarified, and the overall motion parameters of the target object under test can be obtained after integrating the parameters corresponding to each motion state.
[0038] S103, determining the global angle parameters of each target measured object according to the measurement parameters, the relative position parameters and the global motion parameters.
[0039] In this embodiment, the global angle parameter may be specifically understood as a parameter used to characterize the angle change state of the target object to be measured relative to the measuring radar during the entire movement process that needs to be monitored by the measuring radar.
[0040] Specifically, for each target object to be measured, on the basis of having clarified its full motion parameters throughout the entire motion process, the full motion parameters can be converted into the angle information required for adjustment by the servo system when the measurement radar monitors the entire motion of the target object to be measured based on the full motion parameters and the relative position parameters related to the relative position relationship between the measuring radars. Then, based on the measurement parameters of the measuring radar, the speed and acceleration information related to the angle adjustment can be further determined on the basis of the determined angle information. By combining them, the angle state information that requires servo adjustment for the measurement radar to monitor the entire motion process of a target object to be measured can be determined, which is the full angle parameter corresponding to the target object to be measured.
[0041] S104: Determine a servo angle parameter of the measurement radar according to each global angle parameter and the measurement parameter.
[0042] The servo angle parameter is an angle parameter determined before the measurement radar is produced and is used to guide the production of the measurement radar.
[0043] Specifically, since the measuring radar needs to be able to perform full-range measurement of all target objects in the required measurement scene, and since the measuring radar can measure a range at the same time, it does not need to keep the center of mass position consistent with the target object in real time to achieve measurement. Therefore, after clarifying the full-range angle parameters of each target object, the maximum angle range that the measuring radar to be produced needs to cover in its corresponding scene can be determined based on each full-range angle parameter, and the maximum angle range can be adjusted in combination with the parameters in the measurement parameters used to indicate the single measurable range of the radar to obtain the servo angle parameters used to guide the production of the test radar.
[0044] The technical solution of this embodiment is to obtain the morphological parameters and initial parameters of at least one target measured object, as well as the measurement parameters and relative position parameters of the measuring radar; for each target measured object, determine the full-range motion parameters of the target measured object according to the morphological parameters and initial parameters of the target measured object; determine the full-range angle parameters of each target measured object according to the measurement parameters, relative position parameters and the full-range motion parameters; and determine the servo angle parameters of the measuring radar according to the full-range angle parameters and the measurement parameters. By adopting the above technical solution, before producing the measuring radar, firstly, the target measured object that the measuring radar needs to measure after production is clarified, and then based on the full-range motion of the target measured object to be measured in the actual scene, the motion angle range and motion state that the measuring radar needs to cover for complete detection of each target measured object are determined, and then the servo angle parameters of its servo system are determined before the radar is produced, so that the measuring radar can be produced more targeted, the detection scene targeting of the produced measuring radar is improved, the production cost of the measuring radar is reduced, and the motion range required to be supported by the same measuring radar is reduced while improving its motion accuracy, so that the produced measuring radar can better meet the scene requirements.
[0045] Embodiment 2
[0046] Figure 2A flow chart of a method for determining servo angle parameters provided in the second embodiment of the present invention is further optimized on the basis of the above-mentioned optional implementation schemes, and a full-range motion model that only considers the dynamic thrust, resistance and gravity of the target object is constructed according to the morphological parameters of the target object to be measured, and the full-range speed, full-range distance and full-range acceleration of the target object to be measured are solved by the full-range motion model according to the initial parameters of the target object to be measured. Since the drag coefficient corresponding to the resistance that needs to be considered in the constructed full-range motion model is closely related to the morphological parameters of the target object to be measured, and the speed and acceleration components of the target object to be measured are closely related to its flight altitude, it can be considered that the constructed full-range motion model is a motion model that fully considers the characteristics of the target object to be measured corresponding to the measurement radar, so that the full-range motion parameters obtained by solving the full-range motion model are more in line with the application scenarios required by the measurement radar. Further, based on the relative position parameters, the full distance in the full motion parameters is converted into the full azimuth angle and pitch angle of the target object under test relative to the measuring radar, and based on the measurement cycle used by the measuring radar in the measurement parameters, the full azimuth angle and pitch angle are further processed to obtain the corresponding angular velocity and angular acceleration, and the full angle parameters of each target object under test are determined. After all the full angle parameters are clarified, the maximum value of each different type of angle parameter in the full angle parameters can be selected as a reference for the measuring radar, and each reference value is converted through the beam width in the measurement parameters, and finally the servo angle parameters used to produce the measuring radar are obtained, so that the measuring radar can be produced more targeted, the detection scene targeting of the produced measuring radar is improved, the production cost of the measuring radar is reduced, and the motion range required to be supported by the same measuring radar is reduced while improving its motion accuracy, so that the produced measuring radar can better meet the scene requirements.
[0047] like Figure 2 As shown, a method for determining a servo angle parameter provided by an embodiment of the present invention specifically includes the following steps:
[0048] S201, acquiring morphological parameters and initial parameters of at least one target object, as well as measurement parameters and relative position parameters of a measurement radar.
[0049] S202: For each target object to be measured, construct a full-course motion model of the target object to be measured according to the morphological parameters of the target object to be measured.
[0050] The whole motion model is a differential equation model that only considers the dynamic thrust, resistance and gravity of the target object.
[0051] In this embodiment, the dynamic thrust can be specifically understood as the force generated by the engine when the target object is in motion to propel the aircraft forward. The drag can be specifically understood as the force that hinders the movement of the target object due to the influence of air and other factors during the movement of the target object.
[0052] For example, for each target object to be measured, the force applied to the target object during the motion process can be analyzed first. The acceleration of the target object under the action of the earth's gravity is a, which is the acceleration a of the target object relative to the earth. r , the centripetal acceleration a caused by flight e , and the acceleration a generated by the relative motion between the earth's rotation and the target object c Assuming that the mass of the target object is m, the force F acting on the target object can be expressed as:
[0053] F=ma=ma r +ma e +ma c
[0054] The target object will be affected by air resistance while flying in the air. The size of air resistance depends on the following three aspects: 1) the shape, size and surface condition of the target object; 2) the density, viscosity and compressibility of the air; 3) the relative speed between the target object and the air. The size of air resistance is proportional to the maximum cross-sectional area of the target object and to the air density. Its relationship with speed is more complicated. When the Mach number is less than the critical Mach number, the approximate influence can be fully included in an experimental coefficient, which can be expressed as the drag coefficient. Among them, the Mach number is the ratio of the relative speed between the target object and the air and the speed of sound. Air resistance R x The general expression of can be written as:
[0055]
[0056] Among them, S M is the maximum cross-sectional area of the target object; v is the relative speed between the target object and the air; d is the air density at the current height; C xo is the drag coefficient, where the subscript “o” represents the drag coefficient when the angle between the flight axis and the velocity vector of the target object is zero.
[0057] Since the drag coefficients of targets with similar shapes change with Mach number, the shapes of the drag coefficient curves are generally similar. For two targets with similar shapes, the ratio of the two drag coefficient curves at each corresponding Mach number is approximately a constant. At this time, one or several representative shapes can be selected in advance, and their drag coefficient curves can be measured as standards and expressed as Cxon (Ma). xo (M a ) represents the drag coefficient curve of the target object under test, and its ratio to the standard drag coefficient curve at each corresponding Mach number is approximately a constant, that is:
[0058]
[0059] The above constant can be defined as the drag coefficient of the shape, represented by l. Therefore, it is only necessary to measure the drag coefficient of the shape at a certain Mach number, and the drag coefficient of the target object under the Mach number can be calculated according to the following formula:
[0060] l*C xon (M a1 )≈C xo (M a1 )
[0061] In the embodiment of the present invention, in order to obtain a more balanced accuracy and speed, the mass point of the target object to be measured can be assumed as the reference point, a group of motion differential equations can be established as the whole motion model, and the following assumptions can be made about the motion of the target object to be measured in the air:
[0062] 1) The shape and mass distribution are both axisymmetric, and the angle between the axis of symmetry and the velocity vector of the center of mass is always zero.
[0063] 2) The thrust vector coincides with the flight axis.
[0064] 3) Weather conditions meet standard weather conditions, i.e. no wind or rain.
[0065] 4) The influence of the Coriolis inertial force caused by the rotation of the earth and the change of gravitational acceleration with dimension are not considered.
[0066] 5) Without considering the change of the earth's curvature and the gravitational acceleration with height, the magnitude of the gravitational acceleration remains unchanged and its direction is always vertically downward.
[0067] Under the above assumptions, the force condition of the target object can be expressed as:
[0068]
[0069] Among them, F p For dynamic thrust.
[0070] Correspondingly, dividing both sides of the equation by mass m, we get:
[0071]
[0072] Among them, a p is the thrust acceleration, a x is the drag acceleration and g is the gravitational acceleration.
[0073] Accordingly, in the embodiment of the present invention, when only the gravity and resistance of the target object are considered, the ground rectangular coordinate system is used as the reference coordinate system, and the components of the velocity v of the target object relative to the air on the x-axis and the y-axis are respectively expressed as v x and v y , the corresponding full motion model can be expressed by the following formula:
[0074]
[0075] in,
[0076] Where v is the speed of the target object at time t; v x is the component of v in the x-axis direction; v y is the component of v in the y-axis direction; C is the ballistic coefficient; H(y) is the air density function; y is the flight height of the target object at time t; c s is the speed of sound at the flight altitude at time t; is the resistance coefficient; i, j and k are preset fixed constants;
[0077] Among them, the drag coefficient is related to the morphological parameters of the target object.
[0078] It can be understood that, firstly, a standard shape similar to the image of the target object to be measured can be determined based on the morphological parameters of the target object to be measured, that is, the corresponding standard drag coefficient curve can be determined, and then the coefficient l determined by the above air resistance part can be determined, and then the drag coefficient of the target object to be measured can be directly determined after the Mach number in the embodiment of the present invention is determined.
[0079] S203, solving the global motion model through the initial parameters of the target object to be measured, and determining the global motion parameters of the target object to be measured.
[0080] The whole motion parameters include at least whole speed, whole distance and whole acceleration.
[0081] Specifically, since the initial parameters of the target object include the initial velocity and the shooting angle of the target object, the initial parameters of the target object can be expressed as t=0, v=v0, x=0, y=0, and the shooting angle is θ. The corresponding vx =v0cosθ,v y =v0sinθ. Substituting the above initial parameters into the above full motion model for iterative solution, it can be known from the uniqueness theorem of differential equations that the above full motion model can be solved to obtain the full speed and full distance of the target object, and then the full acceleration of the target object can be obtained by derivation with respect to time.
[0082] It can be understood that in the embodiment of the present invention, the initial parameters of the target object under test are solved for the full motion model through any solution method. For example, the fourth-order method of Runge-Kutta can be used to complete the solution of the full motion model in a relatively simple way. The embodiment of the present invention does not limit the solution method.
[0083] S204: Determine the global azimuth angle and elevation angle of each target object relative to the measuring radar according to the relative position parameter and the global distance in each global motion parameter.
[0084] Specifically, for each target object to be measured, the motion trajectory of the target object to be measured in the whole process can be determined based on the whole distance contained in its whole motion parameters, and the position of the target object to be measured in the air at each moment in the whole process can also be determined. Since the relative position parameter can characterize the corresponding relationship between the measuring radar and the initial position of the target object to be measured, the angle relationship between the position of the target object to be measured in the air and the measuring radar at each moment in the whole process can be determined with reference to obtain the whole azimuth angle and pitch angle of the target object to be measured relative to the measuring radar. All target objects to be measured are converted in the above manner to obtain the whole azimuth angle and pitch angle of each target object to be measured relative to the measuring radar.
[0085] S205 , determining the full-range azimuth velocity and the pitch angular velocity of each target object according to each full-range azimuth angle, each pitch angle, and the measurement period in the measurement parameters.
[0086] In this embodiment, the measurement period may be specifically understood as a time interval required for the measurement radar to complete a measurement of the target object.
[0087] Specifically, according to the measurement period in the measurement parameters, each full-range azimuth angle and each pitch angle are divided according to the measurement period, and the difference between the angle values of the starting points of adjacent measurement periods is taken to obtain the azimuth angle difference and the pitch angle difference of each target object under test. Then, each azimuth angle difference and each pitch angle difference are divided by the measurement period to obtain the full-range azimuth angular velocity and the pitch angular velocity of each target object under test.
[0088] It can be understood that the full-range azimuth velocity can be the value obtained by averaging the azimuth angle differences divided by the measurement period, the pitch angular velocity can be the value obtained by averaging the pitch angle differences divided by the measurement period, or it can be a value obtained by optimizing in other ways, and the embodiments of the present invention are not limited to this.
[0089] S206: Determine the global azimuth acceleration and pitch acceleration of each target object according to each global azimuth velocity, each pitch angular velocity and the measurement period.
[0090] Specifically, similar to the above-mentioned method of determining the full-range azimuth velocity and pitch angular velocity, when the measurement period and each full-range azimuth angular velocity and each pitch angular velocity are known, the full-range azimuth angular velocity and pitch angular velocity of adjacent measurement periods can be differentiated and divided by the measurement period to obtain the full-range azimuth acceleration and pitch angular acceleration of each target object.
[0091] S207: Determine the global azimuth angle, pitch angle, global azimuth velocity, pitch velocity, global azimuth acceleration and pitch acceleration belonging to the same target measured object as the global angle parameters of the target measured object.
[0092] S208. Determine a servo angle parameter of the measurement radar according to each global angle parameter and the measurement parameter.
[0093] Optionally, after the full-range angle parameters are known, the full-range angle parameters can be screened according to the actual scene requirements to obtain reference angle parameter values that can be used as references for the design of the measurement radar servo among various angle parameters, and then the reference angle parameter values can be fine-tuned by the measurement capability of the measurement radar itself to finally obtain the servo angle parameters required by the measurement radar, which can be specifically achieved by the following methods:
[0094] 1) Determine the maximum global azimuth angle among all global angle parameters as the reference azimuth angle;
[0095] 2) Determine the maximum pitch angle among all the full-range angle parameters as the reference pitch angle;
[0096] 3) Determine the maximum full-range azimuth velocity among all full-range angle parameters as the reference azimuth velocity;
[0097] 4) determining the maximum pitch angular velocity among all the full-range angle parameters as the reference pitch angular velocity;
[0098] 5) Determine the maximum full-range azimuth acceleration among all full-range angle parameters as the reference azimuth acceleration;
[0099] 6) Determine the maximum pitch angle acceleration among all the full-range angle parameters as the reference pitch angle acceleration;
[0100] 7) The reference azimuth angle, the reference pitch angle, the reference azimuth velocity, the reference pitch velocity, the reference azimuth acceleration and the reference pitch acceleration are converted by the beam width in the measurement parameters to be determined as the servo angle parameters of the measurement radar.
[0101] In this embodiment, the beam width may be specifically understood as the angular range within which the electromagnetic wave beam transmitted or received by the radar antenna can be spread in space.
[0102] Specifically, the maximum value of each type of angle parameter included in the full-range angle parameter is determined as a reference value that can be used for measuring radar, and the reference azimuth, reference pitch angle, reference azimuth velocity, reference pitch velocity, reference azimuth acceleration and reference pitch acceleration can be obtained. Since the detection range of the measuring radar for the target object is determined by its beam width, that is, the measuring radar can monitor the target object within the beam width range without ensuring that the antenna points to the center of mass of the target object in real time. At this time, the reference azimuth, reference pitch angle, reference azimuth velocity, reference pitch velocity, reference azimuth acceleration and reference pitch acceleration can be fine-tuned according to the range of the beam width projected on the trajectory of the target object, and finally the servo angle parameters of the measuring radar are obtained.
[0103] The technical solution of this embodiment is to construct a full-range motion model that only considers the dynamic thrust, resistance and gravity of the target object according to the morphological parameters of the target object to be measured, and solve the full-range motion model according to the initial parameters of the target object to be measured to obtain the full-range speed, full-range distance and full-range acceleration of the target object to be measured. Since the drag coefficient corresponding to the resistance that needs to be considered in the constructed full-range motion model is closely related to the morphological parameters of the target object to be measured, and the speed and acceleration components of the target object to be measured are closely related to the flight altitude at which it is located, it can be considered that the constructed full-range motion model is a motion model that fully considers the characteristics of the target object to be measured corresponding to the measurement radar, so that the full-range motion parameters obtained by solving the full-range motion model are more in line with the application scenario required by the measurement radar. Further, according to the relative position parameters, the full-range distance in the full-range motion parameters is converted into the full-range azimuth angle and pitch angle of the target object to be measured relative to the measurement radar, and based on the measurement cycle used when the measurement radar is working in the measurement parameters, the full-range azimuth angle and pitch angle are further processed to obtain the corresponding angular velocity and angular acceleration, and the full-range angle parameters of each target object to be measured are determined. After clarifying all the full-range angle parameters, for each different type of angle parameters in the full-range angle parameters, the maximum value can be selected as a reference for the measuring radar, and each reference value can be converted through the beam width in the measurement parameters, and finally the servo angle parameters for producing the measuring radar are obtained, so that the measuring radar can be produced more targeted, the detection scene targeting of the produced measuring radar is improved, the production cost of the measuring radar is reduced, the motion range required to be supported by the same measuring radar is reduced, and its motion accuracy is improved, so that the produced measuring radar can better meet the scene requirements.
[0104] Embodiment 3
[0105] Figure 3 A schematic diagram of the structure of a servo angle parameter determination device provided in Embodiment 3 of the present invention is shown in FIG. Figure 3 As shown, the servo angle parameter determination device includes a parameter acquisition module 31 , a motion parameter determination module 32 , an angle parameter determination module 33 and a servo parameter determination module 34 .
[0106] Among them, the parameter acquisition module 31 is used to obtain the morphological parameters and initial parameters of at least one target object to be measured, as well as the measurement parameters and relative position parameters of the measuring radar; the motion parameter determination module 32 is used to determine the full-range motion parameters of the target object to be measured according to the morphological parameters and initial parameters of the target object to be measured for each target object to be measured; the angle parameter determination module 33 is used to determine the full-range angle parameters of each target object to be measured according to the measurement parameters, relative position parameters and each full-range motion parameter; the servo parameter determination module 34 is used to determine the servo angle parameters of the measuring radar according to each full-range angle parameter and the measurement parameters.
[0107] According to the technical solution of the embodiment of the present invention, before producing the measuring radar, the target object to be measured by the measuring radar after production is first clarified, and then based on the full motion of the target object to be measured in the actual scene, the motion angle range and motion state that the measuring radar needs to cover for complete detection of each target object to be measured are determined, so that the servo angle parameters of its servo system are determined before the radar is produced, so that the measuring radar can be produced more targeted, the detection scene targeting of the produced measuring radar is improved, the production cost of the measuring radar is reduced, the motion range that the same measuring radar needs to support is reduced, and the motion accuracy is improved, so that the produced measuring radar can better meet the scene requirements.
[0108] Optionally, the motion parameter determination module 32 is specifically configured to:
[0109] Constructing a full motion model of the target object to be measured according to the morphological parameters of the target object to be measured;
[0110] The whole motion model is solved by using the initial parameters of the target object to be measured, and the whole motion parameters of the target object to be measured are determined;
[0111] Among them, the whole motion model is a differential equation model that only considers the dynamic thrust, resistance and gravity of the target object;
[0112] The whole motion parameters include at least whole speed, whole distance and whole acceleration.
[0113] Optional, full motion model, including:
[0114]
[0115] in,
[0116] Where v is the speed of the target object at time t; v x is the component of v in the x-axis direction; v y is the component of v in the y-axis direction; C is the ballistic coefficient; H(y) is the air density function; y is the flight height of the target object at time t; c s is the speed of sound at the flight altitude at time t; is the resistance coefficient; i, j and k are preset fixed constants;
[0117] Among them, the drag coefficient is related to the morphological parameters of the target object.
[0118] Optionally, the angle parameter determination module 33 is specifically used to:
[0119] Determine the full-range azimuth angle and elevation angle of each target object relative to the measuring radar according to the relative position parameter and the full-range distance in each full-range motion parameter;
[0120] Determine the full-range azimuth velocity and pitch angular velocity of each target object according to each full-range azimuth angle, each pitch angle and the measurement period in the measurement parameters;
[0121] Determine the full-range azimuth acceleration and pitch angular acceleration of each target object according to each full-range azimuth velocity, each pitch angular velocity and the measurement period;
[0122] The global azimuth angle, pitch angle, global azimuth velocity, pitch velocity, global azimuth acceleration and pitch acceleration belonging to the same target measured object are determined as the global angle parameters of the target measured object.
[0123] Optionally, the servo parameter determination module 34 is specifically used to:
[0124] The largest global azimuth angle among the global angle parameters is determined as the reference azimuth angle;
[0125] The maximum pitch angle among all the full-range angle parameters is determined as the reference pitch angle;
[0126] The maximum full-range azimuth velocity among the full-range angle parameters is determined as the reference azimuth velocity;
[0127] The maximum pitch angular velocity among the full-range angle parameters is determined as a reference pitch angular velocity;
[0128] The maximum full-range azimuth acceleration among the full-range angle parameters is determined as the reference azimuth acceleration;
[0129] The maximum pitch angle acceleration among the full-range angle parameters is determined as the reference pitch angle acceleration;
[0130] The reference azimuth angle, the reference pitch angle, the reference azimuth velocity, the reference pitch velocity, the reference azimuth acceleration and the reference pitch acceleration are converted through the beam width in the measurement parameters to be determined as the servo angle parameters of the measurement radar.
[0131] Optionally, the servo angle parameter is an angle parameter determined before the measurement radar is produced and used to guide the production of the measurement radar.
[0132] The servo angle parameter determination device provided in the embodiment of the present invention can execute the servo angle parameter determination method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.
[0133] Embodiment 4
[0134] Figure 4A schematic diagram of the structure of a servo angle parameter determination device provided for Embodiment 4 of the present invention. The servo angle parameter determination device 40 may be intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The servo angle parameter determination device 40 may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.
[0135] like Figure 4 As shown, the servo angle parameter determination device 40 includes at least one processor 41, and a memory connected to the at least one processor 41, such as a read-only memory (ROM) 42, a random access memory (RAM) 43, etc., wherein the memory stores a programmable program that can be executed by at least one processor, and the processor 41 can perform various appropriate actions and processes according to the programmable program stored in the read-only memory (ROM) 42 or the programmable program loaded from the storage unit 48 to the random access memory (RAM) 43. In the RAM 43, various programs and data required for the operation of the servo angle parameter determination device 40 can also be stored. The processor 41, the ROM 42, and the RAM 43 are connected to each other through a bus 44. An input / output (I / O) interface 45 is also connected to the bus 44. Optionally, the processor can be an FPGA.
[0136] A number of components in the servo angle parameter determination device 40 are connected to the I / O interface 45, including: an input unit 46, such as a keyboard, a mouse, etc.; an output unit 47, such as various types of displays, speakers, etc.; a storage unit 48, such as a disk, an optical disk, etc.; and a communication unit 49, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 49 allows the servo angle parameter determination device 40 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.
[0137] The processor 41 may be a variety of general and / or dedicated processing components with processing and computing capabilities. Some examples of the processor 41 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 41 executes the various methods and processes described above, such as a servo angle parameter determination method.
[0138] In some embodiments, the servo angle parameter determination method may be implemented as a programmable program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 48. In some embodiments, part or all of the programmable program may be loaded and / or installed on the servo angle parameter determination device 40 via the ROM 42 and / or the communication unit 49. When the programmable program is loaded into the RAM 43 and executed by the processor 41, one or more steps of the servo angle parameter determination method described above may be performed. Alternatively, in other embodiments, the processor 41 may be configured to perform the servo angle parameter determination method in any other appropriate manner (e.g., by means of firmware).
[0139] Optionally, an embodiment of the present invention further provides a computer program product, including a computer program, which, when executed by a processor, implements the servo angle parameter determination method provided in any embodiment of the present invention.
[0140] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more programmable programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.
[0141] Programmable programs for implementing the method of the present invention may be written in any combination of one or more programming languages. These programmable programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the programmable program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The programmable program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.
[0142] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a programmable program for use by or in conjunction with an instruction execution system, device, or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
[0143] To provide interaction with a user, the systems and techniques described herein may be implemented on a servo angle parameter determination device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which a user can provide input to the servo angle parameter determination device. Other types of devices may also be used to provide interaction with a user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).
[0144] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.
[0145] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by programmable programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.
[0146] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.
[0147] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims
1. A method for determining a servo angle parameter, characterized in that: include: Acquiring morphological parameters and initial parameters of at least one target object, as well as measurement parameters and relative position parameters of a measurement radar; For each of the target objects to be measured, determining the overall motion parameters of the target object to be measured according to the morphological parameters and initial parameters of the target object to be measured; Determine the global angle parameter of each of the target measured objects according to the measurement parameter, the relative position parameter and each of the global motion parameters; The servo angle parameter of the measuring radar is determined according to each of the global angle parameters and the measurement parameters.
2. The method for determining the servo angle parameter according to claim 1, characterized in that: Determining the overall motion parameters of the target object according to the morphological parameters and initial parameters of the target object includes: Constructing a full-course motion model of the target object according to the morphological parameters of the target object; Solving the global motion model by using the initial parameters of the target object to determine the global motion parameters of the target object; Wherein, the whole motion model is a differential equation model that only considers the dynamic thrust, resistance and gravity of the target object; The whole motion parameters include at least whole speed, whole distance and whole acceleration.
3. The method for determining the servo angle parameter according to claim 2, characterized in that: The whole motion model includes: in, Wherein, v is the velocity of the target object at time t; v x is the component of v in the x-axis direction; y is the component of v in the y-axis direction; C is the ballistic coefficient; H(y) is the air density function; y is the flight height of the target object at time t; c s is the speed of sound at the flight altitude at time t; is the resistance coefficient; i, j and k are preset fixed constants; The drag coefficient is related to the morphological parameters of the target object.
4. The method for determining the servo angle parameter according to claim 2, characterized in that: Determining the global angle parameter of each of the target measured objects according to the measurement parameters, the relative position parameters and the global motion parameters includes: Determine the global azimuth angle and the elevation angle of each of the target objects relative to the measuring radar according to the relative position parameter and the global distance in each of the global motion parameters; Determine the full-range azimuth velocity and the pitch angular velocity of each of the target objects according to each of the full-range azimuth angles, each of the pitch angles, and the measurement period in the measurement parameters; Determining the full-range azimuth acceleration and the pitch angular acceleration of each of the target measured objects according to each of the full-range azimuth angular velocities, each of the pitch angular velocities and the measurement period; The global azimuth angle, pitch angle, global azimuth velocity, pitch velocity, global azimuth acceleration and pitch acceleration belonging to the same target measured object are determined as the global angle parameters of the target measured object.
5. The method for determining the servo angle parameter according to claim 4, characterized in that: Determining the servo angle parameter of the measuring radar according to each of the global angle parameters and the measurement parameter comprises: Determine the maximum global azimuth angle among the global angle parameters as the reference azimuth angle; Determine the maximum pitch angle among the full-range angle parameters as a reference pitch angle; Determine the maximum full-range azimuth velocity among the full-range angle parameters as the reference azimuth velocity; Determine the maximum pitch angular velocity among the full-range angle parameters as a reference pitch angular velocity; Determine the maximum global azimuth acceleration among the global angle parameters as the reference azimuth acceleration; Determining the maximum pitch angle acceleration among the full-range angle parameters as a reference pitch angle acceleration; The reference azimuth angle, the reference pitch angle, the reference azimuth velocity, the reference pitch velocity, the reference azimuth acceleration and the reference pitch acceleration are converted by means of the beam width in the measurement parameters to be determined as the servo angle parameters of the measurement radar.
6. The method for determining the servo angle parameter according to any one of claims 1 to 5, characterized in that: The servo angle parameter is an angle parameter determined before the measurement radar is produced and is used to guide the production of the measurement radar.
7. A servo angle parameter determination device, characterized in that: include: A parameter acquisition module, used to acquire morphological parameters and initial parameters of at least one target object, as well as measurement parameters and relative position parameters of the measurement radar; A motion parameter determination module, used for determining the overall motion parameters of each target object according to the morphological parameters and initial parameters of the target object; An angle parameter determination module, used to determine the global angle parameter of each of the target measured objects according to the measurement parameters, the relative position parameters and each of the global motion parameters; A servo parameter determination module is used to determine the servo angle parameter of the measurement radar according to each of the global angle parameters and the measurement parameters.
8. A servo angle parameter determination device, characterized in that: include: at least one processor; and a memory communicatively coupled to the at least one processor; The memory stores a programmable program executable by the at least one processor, and the programmable program is executed by the at least one processor so that the at least one processor can execute the servo angle parameter determination method described in any one of claims 1-6.
9. A storage medium containing computer executable instructions, characterized in that: The computer executable instructions are used to execute the servo angle parameter determination method according to any one of claims 1 to 6 when executed by a computer processor.
10. A computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the computer program is used to perform the servo angle parameter determination method according to any one of claims 1 to 6.