Novel navigation satellite high-precision surface scene three-dimensional deformation monitoring radar equipment

Abstract

The invention relates to the technical field of radar equipment, in particular to novel navigation satellite high-precision surface scene three-dimensional deformation monitoring radar equipment which comprises a signal receiving module which comprises a direct wave antenna used for receiving direct wave signals of a navigation satellite and an echo antenna used for receiving reflected wave signals of navigation satellite signals of a scene area to be monitored; the signal processing module is a signal receiver, the signal receiver is connected with the direct wave antenna through a first radio frequency cable, and the signal receiver is connected with the echo antenna through a second radio frequency cable; the image processing module is connected with the signal processing module and is used for generating a target image from the signal processed by the signal processing module and obtaining an image fusion degree and an image distortion rate through comparison and calculation; and the control module is respectively connected with the signal receiving module, the signal processing module and the image processing module, so that the deformation monitoring precision is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of radar equipment, and in particular to a new navigation satellite high-precision three-dimensional deformation monitoring radar equipment for surface scenes. Background Art

[0002] Radar technology is a technology for detecting and positioning targets by transmitting and receiving electromagnetic wave signals. In the field of deformation monitoring, radar technology can achieve precise measurement of minute deformations of target objects by measuring microwave signals reflected from the surface of the target objects.

[0003] Chinese Patent Application Publication No.: CN115790358A discloses a Beidou-based three-dimensional deformation automatic monitoring device for space, including an all-in-one machine, a power cord, a serial port cable, and a positioning wire. A compact high-precision board is provided inside the all-in-one machine. The compact high-precision board supports multi-frequency point RTK positioning and orientation for the whole system. A GNSS SoC chip, two ARM processors, a double-precision floating-point processor, an on-board MEMS chip, and a U-Fusion integrated navigation algorithm module are integrated on the compact high-precision board. A 7-pin aviation plug is provided at the bottom of the all-in-one machine. However, the following problems exist in the prior art: The deformation monitoring space of traditional radar technology is discontinuous, and only one-dimensional deformation data of the scene can be obtained. The accuracy of deformation monitoring is low and the hardware cost is high. Summary of the Invention

[0004] Therefore, the present invention provides a new navigation satellite high-precision three-dimensional deformation monitoring radar equipment for surface scenes to overcome the problems of low accuracy and high cost of radar deformation monitoring in the prior art.

[0005] To achieve the above object, the present invention provides a new navigation satellite high-precision three-dimensional deformation monitoring radar equipment for surface scenes, including: A signal receiving module, including a direct wave antenna for receiving the direct wave signal of the navigation satellite and an echo antenna for receiving the reflected wave signal of the navigation satellite signal in the area of the scene to be monitored; A signal processing module, which is a signal receiver connected to the signal receiving module. The signal receiver is connected to the direct wave antenna through a first RF cable, and the signal receiver is connected to the echo antenna through a second RF cable, for signal processing of the received direct wave signal and reflected wave signal and obtaining the range resolution; An image processing module, which is connected to the signal processing module, for generating a target image from the signal processed by the signal processing module, and obtaining the image fusion degree and image distortion rate through comparative calculation; A control module, which is respectively connected to the signal receiving module, the signal processing module and the image processing module, is used to determine the qualification of the deformation measurement accuracy of the radar device according to the image fusion degree, adjust the signal receiving angle of the direct wave antenna according to the image fusion degree difference, re-determine the qualification of the deformation measurement accuracy according to the range resolution, determine the reason for the unqualified deformation measurement accuracy according to the image distortion rate, improve the signal-to-noise ratio of the radar device according to the first distortion rate difference, and increase the signal bandwidth of the radar device according to the difference between the image distortion rate and the preset distortion rate.

[0006] Further, the signal receiver includes a radio frequency unit, an AD unit, an analog part clock distribution, an FPGA unit and a data transmission unit, where the AD unit is connected to the radio frequency unit, the FPGA unit is connected to the AD unit, the analog part clock distribution is respectively connected to the radio frequency unit, the AD unit and the FPGA unit, and the data transmission unit is connected to the FPGA unit.

[0007] Further, the echo antenna is a standard gain horn antenna.

[0008] Further, the control module determines the qualification of the deformation measurement accuracy of the radar device according to the image fusion degree. When the image fusion degree is less than the first preset image fusion degree, it determines that the deformation measurement accuracy is unqualified, and adjusts the signal receiving angle of the direct wave antenna according to the difference between the first preset image fusion degree and the image fusion degree.

[0009] Further, when the image fusion degree is greater than or equal to the first preset image fusion degree and less than the second preset image fusion degree, the control module determines that the deformation measurement accuracy is unqualified and re-determines the qualification of the deformation measurement accuracy according to the range resolution.

[0010] Further, when the image fusion degree is greater than or equal to the second preset image fusion degree, the control module determines that the deformation measurement accuracy is qualified and continues to monitor according to the current parameters.

[0011] Further, the control module has different adjustment methods for the signal receiving angle of the direct wave antenna, and the adjustment amplitude of each adjustment method for the signal receiving angle is different, where the image fusion degree difference is the difference between the first preset image fusion degree and the image fusion degree.

[0012] Further, the control module secondarily determines the qualification of the deformation measurement accuracy according to the distance resolution, determines that the deformation measurement accuracy is qualified based on the condition that the distance resolution is less than the preset distance resolution; determines that the deformation measurement accuracy is unqualified based on the condition that the distance resolution is greater than or equal to the preset distance resolution, and determines the reason for the unqualified deformation measurement accuracy according to the image distortion rate.

[0013] Further, the control module determines the reason for the unqualified deformation measurement accuracy according to the image distortion rate, where if the image distortion rate is less than the preset distortion rate, it is determined that the reason for the unqualified deformation measurement accuracy is the high noise level during the signal reception process of the radar device, resulting in low clarity of the received signal, and the signal-to-noise ratio of the radar device is increased according to the difference between the preset distortion rate and the image distortion rate; if the image distortion rate is greater than or equal to the preset distortion rate, it is determined that the reason for the unqualified deformation measurement accuracy is the narrow bandwidth of the radar device, resulting in low accuracy of the received signal, and the signal bandwidth of the radar device is increased according to the difference between the image distortion rate and the preset distortion rate.

[0014] Further, the signal-to-noise ratio of the radar device is positively correlated with the first distortion rate difference, where the first distortion rate difference is the difference between the preset distortion rate and the image distortion rate.

[0015] Compared with the prior art, the beneficial effects of the present invention are that the present invention adopts dual-channel acquisition, is provided with a direct wave antenna and an echo antenna, corresponding to the direct wave signal and the reflected wave signal respectively, realizes high-precision deformation information measurement, and at the same time is smaller and lower in cost.

[0016] Further, the present invention determines the qualification of the deformation measurement accuracy of the radar device according to the image fusion degree, and adjusts the signal reception angle of the direct wave antenna under the unqualified condition, or secondarily determines the qualification of the deformation measurement accuracy according to the distance resolution. By determining the qualification of the deformation measurement accuracy of the radar device, the parameters of the radar device can be adjusted in time, which is convenient for subsequent monitoring of the scene to be measured.

[0017] Further, the present invention has different adjustment methods for the signal reception angle of the direct wave antenna, and each adjustment method has a different adjustment amplitude for the signal reception angle. Through flexible and diverse adjustment methods, the present invention can adapt to different measurement scenarios and conditions in practical applications.

[0018] Furthermore, the present invention determines the qualification of the deformation measurement accuracy according to the distance resolution twice. Under the unqualified conditions, it determines the reason for the unqualified deformation measurement accuracy according to the image distortion rate. By introducing the distance resolution for secondary determination, it can more comprehensively evaluate the deformation measurement accuracy, ensure the accuracy and reliability of the measurement results, and provide a direction for subsequent adjustment and improvement by determining the reason for the unqualified.

[0019] Furthermore, the present invention sets different adjustment schemes for the reasons of the unqualified deformation measurement accuracy of the radar device, including improving the signal-to-noise ratio of the radar device or increasing the signal bandwidth of the radar device. By setting the adjustment scheme, the adjustment efficiency of the radar device is improved, and the working efficiency and accuracy of the radar device are ensured. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a schematic structural diagram of a new navigation satellite high-precision surface scene three-dimensional deformation monitoring radar device according to an embodiment of the present invention; Figure 2 is a schematic diagram of module connections of a new navigation satellite high-precision surface scene three-dimensional deformation monitoring radar device according to an embodiment of the present invention; Figure 3 is a flowchart of determining the qualification of the deformation measurement accuracy of the radar device according to the image fusion degree according to an embodiment of the present invention; Figure 4 is a flowchart of determining the reason for the unqualified deformation measurement accuracy according to the image distortion rate according to an embodiment of the present invention; In the figure: 1, direct wave antenna; 2, echo antenna; 3, signal receiver; 4, first RF cable; 5, second RF cable. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0021] In order to make the purpose and advantages of the present invention clearer, the present invention will be further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0022] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principle of the present invention and do not limit the protection scope of the present invention.

[0023] It should be noted that in the description of the present invention, the terms indicating the direction or position relationship such as "upper", "lower", "left", "right", "inner", "outer", etc. are based on the direction or position relationship shown in the drawings. This is only for convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention.

[0024] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the communication inside two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0025] Please refer to Figures 1 to 4 as shown, which are respectively the structural schematic diagram of the new navigation satellite high-precision surface scene three-dimensional deformation monitoring radar device according to the embodiment of the present invention; the module connection schematic diagram of the new navigation satellite high-precision surface scene three-dimensional deformation monitoring radar device according to the embodiment of the present invention; the flowchart of determining the qualification of the deformation measurement accuracy of the radar device according to the image fusion degree according to the embodiment of the present invention; the flowchart of determining the reason for the unqualified deformation measurement accuracy according to the image distortion rate according to the embodiment of the present invention.

[0026] The new navigation satellite high-precision surface scene three-dimensional deformation monitoring radar device according to the embodiment of the present invention includes: A signal receiving module, including a direct wave antenna 1 for receiving the direct wave signal of the navigation satellite and an echo antenna 2 for receiving the reflected wave signal of the navigation satellite signal in the area to be monitored; A signal processing module, which is a signal receiver 3, connected to the signal receiving module. The signal receiver 3 is connected to the direct wave antenna 1 through a first RF cable 4, and the signal receiver 3 is connected to the echo antenna 2 through a second RF cable 5, for signal processing of the received direct wave signal and reflected wave signal and obtaining the range resolution; An image processing module, connected to the signal processing module, for generating a target image from the signal processed by the signal processing module, and obtaining the image fusion degree and the image distortion rate through comparative calculation; A control module, respectively connected to the signal receiving module, the signal processing module, and the image processing module, for determining the qualification of the deformation measurement accuracy of the radar device according to the image fusion degree, adjusting the signal receiving angle of the direct wave antenna 1 according to the image fusion degree difference, re-determining the qualification of the deformation measurement accuracy according to the range resolution, determining the reason for the unqualified deformation measurement accuracy according to the image distortion rate, increasing the signal-to-noise ratio of the radar device according to the first distortion rate difference, and increasing the signal bandwidth of the radar device according to the difference between the image distortion rate and the preset distortion rate.

[0027] Specifically, the signal receiver 3 includes a radio frequency unit, an AD unit, an analog part clock distribution, an FPGA unit, and a data transmission unit, where, The AD unit is connected to the RF unit, the FPGA unit is connected to the AD unit, the analog part clock distribution is respectively connected to the RF unit, the AD unit and the FPGA unit, and the data transmission unit is connected to the FPGA unit.

[0028] Specifically, the working process of the signal receiver 3 includes: the RF unit processes the received external high-frequency signal through low-noise amplification, filtering and down-conversion, and outputs an intermediate-frequency signal to the AD unit; the AD unit converts the analog signal into a digital signal under the drive of the synchronous clock signal provided by the analog part clock distribution and transmits it to the FPGA unit; the FPGA unit performs real-time processing on the digital signal, including operations such as digital down-conversion, filtering and demodulation, to extract effective information; the processed data is output to the host computer through the data transmission unit to complete the entire signal reception and processing process.

[0029] In the embodiment of the present invention, the housing of the signal receiver 3 is made of aluminum alloy material.

[0030] Specifically, the direct wave antenna 1 selects a four-system full-frequency external passive receiving antenna HX-CSX624P, which is not specifically limited, as long as it meets the requirements of the system for receiving BD system B3 / B2a / B2b signals and miniaturization.

[0031] Specifically, the echo antenna 2 is a standard gain horn antenna.

[0032] Specifically, the control module determines the qualification of the deformation measurement accuracy of the radar device according to the image fusion degree. When the image fusion degree is less than 90% of the first preset image fusion degree, it is determined that the deformation measurement accuracy is unqualified, and the signal reception angle of the direct wave antenna 1 is adjusted according to the difference between the first preset image fusion degree and the image fusion degree.

[0033] In the embodiment of the present invention, the value of the first preset image fusion degree is 90%, but the above value is not limited thereto, and those skilled in the art can also adjust this value according to actual needs.

[0034] Specifically, the image fusion degree represents the integrity of the information in the image after the images of the to-be-monitored scene obtained by different satellites are fused, and is determined by the coincidence degree of the pixel points of the fused image and the original image. The coincidence degree is calculated by a pixel matching algorithm, wherein the original image is obtained by an unmanned aerial vehicle.

[0035] Specifically, the fused image is obtained by the ROI image fusion algorithm.

[0036] Specifically, when the image fusion degree is greater than or equal to the first preset image fusion degree and less than 95% of the second preset image fusion degree, the control module determines that the deformation measurement accuracy is unqualified, and re-determines the qualification of the deformation measurement accuracy according to the distance resolution.

[0037] In the embodiment of the present invention, the value of the second preset image fusion degree is 95%, but the above value is not limited thereto, and those skilled in the art can also adjust the value according to actual needs.

[0038] Specifically, when the image fusion degree is greater than or equal to the second preset image fusion degree, the control module determines that the deformation measurement accuracy is qualified and continues to monitor according to the current parameters.

[0039] Specifically, the control module has different adjustment methods for the signal reception angle of the direct wave antenna 1, and each adjustment method has a different adjustment range for the signal reception angle. Among them, If the difference in image fusion degree is less than the preset fusion degree difference of 2%, the signal reception angle is adjusted to the corresponding value using the first angle adjustment coefficient of 0.97; If the difference in image fusion degree is greater than or equal to the preset fusion degree difference, the signal reception angle is adjusted to the corresponding value using the second angle adjustment coefficient of 0.95; The difference in image fusion degree is the difference between the first preset image fusion degree and the image fusion degree.

[0040] In the embodiment of the present invention, the value of the preset fusion degree difference is 2%, but the above value is not limited thereto, and those skilled in the art can also adjust the value according to actual needs.

[0041] Specifically, the control module re-determines the qualification of the deformation measurement accuracy according to the distance resolution. Based on the condition that the distance resolution is less than the preset distance resolution of 12m, it is determined that the deformation measurement accuracy is qualified; based on the condition that the distance resolution is greater than or equal to the preset distance resolution, it is determined that the deformation measurement accuracy is unqualified, and the reason for the unqualified deformation measurement accuracy is determined according to the image distortion rate.

[0042] In the embodiment of the present invention, the value of the preset distance resolution is 12m, but the above value is not limited thereto, and those skilled in the art can also adjust the value according to actual needs.

[0043] Specifically, an oscilloscope is used to measure the pulse width of the radar device's transmitted signal, and the distance resolution is calculated based on the speed of light.

[0044] Specifically, the control module determines the reason for the unqualified deformation measurement accuracy according to the image distortion rate, where If the image distortion rate is less than the preset distortion rate of 8%, it is determined that the reason for the unqualified deformation measurement accuracy is the high noise level during the signal reception process of the radar device, resulting in low clarity of the received signal, and the signal-to-noise ratio of the radar device is increased according to the difference between the preset distortion rate and the image distortion rate; If the image distortion rate is greater than or equal to the preset distortion rate, it is determined that the reason for the unqualified deformation measurement accuracy is the narrow bandwidth of the radar device, resulting in low accuracy of the received signal, and the signal bandwidth of the radar device is increased according to the difference between the image distortion rate and the preset distortion rate.

[0045] In the embodiment of the present invention, the value of the preset distortion rate is 8%, but the above value is not limited thereto, and those skilled in the art can also adjust this value according to actual needs.

[0046] Specifically, the image distortion rate is the proportion of the number of pixel points with a radial or tangential spacing greater than the preset spacing of 1m to the total number.

[0047] In the embodiment of the present invention, the value of the preset spacing is 1m, but the above value is not limited thereto, and those skilled in the art can also adjust this value according to actual needs.

[0048] Specifically, the signal-to-noise ratio of the radar device is positively correlated with the difference in the first distortion rate, where If the difference in the first distortion rate is less than the first preset difference in distortion rate of 3%, the signal-to-noise ratio of the radar device is increased to the corresponding value using the first proportional adjustment coefficient of 1.01; If the difference in the first distortion rate is greater than or equal to the first preset difference in distortion rate, the signal-to-noise ratio of the radar device is increased to the corresponding value using the second proportional adjustment coefficient of 1.04; The difference in the first distortion rate is the difference between the preset distortion rate and the image distortion rate.

[0049] In the embodiment of the present invention, the value of the first preset difference in distortion rate is 3%, but the above value is not limited thereto, and those skilled in the art can also adjust this value according to actual needs.

[0050] Specifically, the signal bandwidth of the radar device is increased according to the difference in the second distortion rate, where If the difference in the second distortion rate is less than the second preset difference in distortion rate of 5%, the signal bandwidth of the radar device is adjusted to the corresponding value using the first bandwidth adjustment coefficient of 1.03; If the difference in the second distortion rate is greater than or equal to the second preset difference in distortion rate, the signal bandwidth of the radar device is adjusted to the corresponding value using the second bandwidth adjustment coefficient of 1.07; The second distortion rate difference is the difference between the image distortion rate and the preset distortion rate.

[0051] In an embodiment of the present invention, the value of the second preset distortion rate difference is 5%, but the above value is not limited thereto, and those skilled in the art can also adjust the value according to actual needs.

[0052] So far, the technical solution of the present invention has been described in conjunction with the preferred embodiments shown in the drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0053] The above are only the preferred embodiments of the present invention and are not used to limit the present invention; for those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A new navigation satellite high-precision surface scene three-dimensional deformation monitoring radar device, characterized in that: include: A signal receiving module, comprising a direct wave antenna for receiving direct wave signals from navigation satellites and an echo antenna for receiving reflected wave signals from navigation satellite signals in the scene area to be monitored; A signal processing module, which is a signal receiver, connected to the signal receiving module, the signal receiver is connected to the direct wave antenna through a first radio frequency cable, and the signal receiver is connected to the echo antenna through a second radio frequency cable, for processing the received direct wave signal and reflected wave signal and obtaining the distance resolution; An image processing module, which is connected to the signal processing module, is used to generate a target image from the signal processed by the signal processing module, and obtain an image fusion degree and an image distortion rate through comparative calculation; A control module, which is respectively connected to the signal receiving module, the signal processing module and the image processing module, and is used to determine the eligibility of the deformation measurement accuracy of the radar device according to the image fusion degree, adjust the signal receiving angle of the direct wave antenna according to the image fusion degree difference, secondarily determine the eligibility of the deformation measurement accuracy according to the distance resolution, determine the reason for the unqualified deformation measurement accuracy according to the image distortion rate, improve the signal-to-noise ratio of the radar device according to the first distortion rate difference, and improve the signal bandwidth of the radar device according to the difference between the image distortion rate and the preset distortion rate.

2. The new navigation satellite high-precision surface scene three-dimensional deformation monitoring radar device according to claim 1 is characterized in that: The signal receiver includes a radio frequency unit, an AD unit, an analog clock distribution unit, an FPGA unit and a data transmission unit, wherein: The AD unit is connected to the RF unit, the FPGA unit is connected to the AD unit, the analog part clock distribution is respectively connected to the RF unit, the AD unit and the FPGA unit, and the data transmission unit is connected to the FPGA unit.

3. The new navigation satellite high-precision surface scene three-dimensional deformation monitoring radar device according to claim 1 is characterized in that: The echo antenna is a standard gain horn antenna.

4. The new navigation satellite high-precision surface scene three-dimensional deformation monitoring radar device according to claim 1 is characterized in that: The control module determines the suitability of the deformation measurement accuracy of the radar equipment based on the image fusion degree, determines that the deformation measurement accuracy is unqualified when the image fusion degree is less than a first preset image fusion degree, and adjusts the signal receiving angle of the direct wave antenna based on the difference between the first preset image fusion degree and the image fusion degree.

5. The new navigation satellite high-precision surface scene three-dimensional deformation monitoring radar device according to claim 4 is characterized in that: The control module determines that the deformation measurement accuracy is unqualified under the condition that the image fusion degree is greater than or equal to the first preset image fusion degree and less than a second preset image fusion degree, and determines the eligibility of the deformation measurement accuracy again according to the distance resolution.

6. The new navigation satellite high-precision surface scene three-dimensional deformation monitoring radar device according to claim 5 is characterized in that: The control module determines that the deformation measurement accuracy is qualified under the condition that the image fusion degree is greater than or equal to the second preset image fusion degree, and continues monitoring according to the current parameters.

7. The new navigation satellite high-precision surface scene three-dimensional deformation monitoring radar device according to claim 6 is characterized in that: The control module is provided with different adjustment modes for the signal receiving angle of the direct wave antenna, and each adjustment mode has a different adjustment range for the signal receiving angle, wherein the image fusion degree difference is the difference between the first preset image fusion degree and the image fusion degree.

8. The new navigation satellite high-precision surface scene three-dimensional deformation monitoring radar device according to claim 7 is characterized in that: The control module determines the eligibility of the deformation measurement accuracy for a second time according to the distance resolution, and determines that the deformation measurement accuracy is qualified based on the condition that the distance resolution is less than a preset distance resolution; The deformation measurement accuracy is determined to be unqualified based on the condition that the distance resolution is greater than or equal to the preset distance resolution, and the reason for the unqualified deformation measurement accuracy is determined according to the image distortion rate.

9. The new navigation satellite high-precision surface scene three-dimensional deformation monitoring radar device according to claim 8 is characterized in that: The control module determines the reason why the deformation measurement accuracy is unqualified according to the image distortion rate, wherein: If the image distortion rate is less than the preset distortion rate, it is determined that the reason for the unqualified deformation measurement accuracy is that the noise level in the process of the radar device receiving the signal is high, resulting in low clarity of the received signal, and the signal-to-noise ratio of the radar device is improved according to the difference between the preset distortion rate and the image distortion rate; If the image distortion rate is greater than or equal to the preset distortion rate, it is determined that the reason for the unqualified deformation measurement accuracy is that the bandwidth of the radar device is narrow, resulting in low accuracy of the received signal, and the signal bandwidth of the radar device is increased according to the difference between the image distortion rate and the preset distortion rate.

10. The new navigation satellite high-precision surface scene three-dimensional deformation monitoring radar device according to claim 9 is characterized in that: The signal-to-noise ratio of the radar device is positively correlated with a first distortion rate difference, wherein the first distortion rate difference is a difference between the preset distortion rate and the image distortion rate.

Images