阅读说明：本技术 一种水文多相态同时测量的无人机载雷达系统 (Hydrology multiphase simultaneous measurement's unmanned aerial vehicle carries radar system ) 是由 周树道 王敏 杜华栋 姬文明 龙智勇 彭正辉 王成浩 张阳春 姚韬 于 2020-06-24 设计创作，主要内容包括：本发明公开了一种水文多相态同时测量的无人机载雷达系统,包括无人机飞行平台单元、超宽带雷达单元和地面控制站单元,所述无人机飞行平台单元用于超宽带雷达单元进行低空贴冰面机动飞行,并对周围环境进行拍摄监控,包括无人机、毫米波雷达、气压计、电源、恒温电路、导航模块、摄像头和无线通信模块；所述超宽带雷达单元用于实时探测冰厚和水深数据,并将数据传输至所述地面控制站单元,包括双频收发模块和雷达主机模块；所述地面控制站单元用于接收和显示接收到的数据,包括计算机和天线。通过本发明可以实现无人化平台搭载对冰厚和水深进行远程、非接触式实时测量,为水上作业提供精确的水文探测信息,具有广阔的市场应用前景与经济价值。(The invention discloses a hydrological multi-phase simultaneous measurement unmanned aerial vehicle-mounted radar system, which comprises an unmanned aerial vehicle flight platform unit, an ultra wide band radar unit and a ground control station unit, wherein the unmanned aerial vehicle flight platform unit is used for the ultra wide band radar unit to carry out low-altitude ice-surface mobile flight and shoot and monitor the surrounding environment and comprises an unmanned aerial vehicle, a millimeter wave radar, a barometer, a power supply, a constant temperature circuit, a navigation module, a camera and a wireless communication module; the ultra-wideband radar unit is used for detecting ice thickness and water depth data in real time and transmitting the data to the ground control station unit and comprises a dual-frequency transceiver module and a radar host module; the ground control station unit is used for receiving and displaying received data and comprises a computer and an antenna. The invention can realize the remote and non-contact real-time measurement of ice thickness and water depth carried by an unmanned platform, provides accurate hydrological detection information for overwater operation, and has wide market application prospect and economic value.)

1. The utility model provides a hydrology multiphase state simultaneous measurement's unmanned aerial vehicle carries radar system which characterized in that: including unmanned aerial vehicle flight platform unit, ultra wide band radar unit and ground control station unit, wherein:

the unmanned aerial vehicle flight platform unit is used for the ultra-wideband radar unit to carry out low-altitude ice-surface mobile flight and shooting and monitoring the surrounding environment, and comprises an unmanned aerial vehicle, a millimeter wave radar, a barometer, a power supply, a constant temperature circuit, a navigation module, a camera and a wireless communication module;

the ultra-wideband radar unit is used for detecting ice thickness and water depth data in real time and transmitting the data to the ground control station unit and comprises a dual-frequency transceiver module and a radar host module;

the ground control station unit is used for receiving and displaying received data and comprises a computer and an antenna.

2. The hydrologic multiphase simultaneous measurement unmanned airborne radar system of claim 1, characterized in that: the millimeter wave radar and the barometer are arranged on the unmanned aerial vehicle and used for realizing low-altitude fixed-height flight; the power supply is additionally provided with the constant temperature circuit and is used for preheating before takeoff and realizing low-temperature resistant stable flight; the navigation module is used for controlling the unmanned aerial vehicle to fly according to a preset route; the camera is used for collecting image data and transmitting the data to the ground control station unit through the wireless communication module.

3. The unmanned airborne radar system for hydrological multi-phase simultaneous measurement according to claim 1 or 2, characterized in that: the dual-frequency transceiving module comprises a transmitter, a receiver and a dual-frequency antenna; the dual-frequency antenna is used for measuring water depth and ice thickness and comprises a pair of 900MHz antennas arranged in the middle and 200MHz antennas arranged on two sides, and the central lines of the two antennas are overlapped.

4. The unmanned airborne radar system of claim 3 for simultaneous measurement of hydrological multiphase states, characterized by: the radar host module comprises an ARM control circuit, a data acquisition processing circuit, a time sequence control circuit, a wireless communication module and a power supply; the ARM control circuit receives instructions through the ground control station unit and sends the instructions to the data acquisition processing circuit, the data acquisition processing circuit obtains corresponding radar parameters according to the received instructions and transmits the radar parameters to the time sequence control circuit, the time sequence control circuit generates double-channel control signals and reversely transmits scanning signals back to the data acquisition processing circuit to acquire and process double-channel radar echoes in real time, the wireless communication module adopts an external wireless communication device and is connected with the ARM control circuit and used for transmitting data to the ground control station unit, and the power supply is connected with each module and provides power.

5. The unmanned airborne radar system of claim 4 for simultaneous measurement of hydrological multiphase states, characterized by: the antenna of the ground control station is used for receiving data and comprises a flat plate follow-up antenna and a whip antenna; and the computer is used for calculating the ice thickness water depth result and the curve and displaying the calculation result.

Technical Field

The invention relates to the technical field of hydrologic measurement unmanned airborne radar, in particular to an unmanned airborne radar system for hydrologic multiphase simultaneous measurement.

Background

The freezing of rivers, lakes, reservoirs and the like in cold areas in winter is a common physical phenomenon, the freezing period of rivers near the northern border is long, and the frozen ice surface can be used as an important auxiliary channel of a transportation line and is an important supplementary means for bridge transportation. The ice layer is easy to freeze and simultaneously latent in crisis, and the vehicles which normally run on the ice surface suddenly crack on the ice surface and fall into rivers because the real bearing capacity of the ice layer is unknown, and the suddenly cracked ice layer is often thinner and weaker than the surrounding ice layer; when natural disasters occur, emergency rescue and disaster relief can be carried out by using the ice layer of the nearby river in a very effective and quick mode, but the premise is that a safe ice path needs to be known in advance, and the safe ice path also depends on the ice layer thickness data of all areas; for residents around northern rivers having a habit of fishing in winter, if the thickness and the bearing capacity of the ice layer at different positions are known in advance, on one hand, the residents can be helped to find the best fishing ice surface digging point, and on the other hand, life and property safety threats and social influences caused by the fact that pedestrians fall under the ice can be prevented.

At present, the most widely applied instrument for measuring ice thickness is a contact type ice detecting radar which needs to be attached to an ice surface during measurement; the Doppler radar and the sound wave radar are adopted for water depth and flow velocity, and the water depth and the flow velocity are measured by hanging the water depth and the flow velocity above a water surface. At present, a radar system which integrates two functions and can simultaneously measure water depth and ice thickness does not exist, and a non-contact and maneuvering type measuring high-safety-factor detection system does not exist.

Disclosure of Invention

The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides the unmanned airborne radar system for simultaneously measuring hydrology in multiple phases, the unmanned airborne radar system can simultaneously measure the water depth and the ice thickness, realizes non-contact, safe and flexible measurement in the measurement, and has the beneficial technical effects of light weight, high safety, high measurement precision, easy realization of a hardware system, simple structure, low cost, high reliability and the like.

The technical scheme is as follows: in order to achieve the purpose, the invention provides an unmanned aerial vehicle-mounted radar system for simultaneously measuring hydrology in multiple phases, which comprises an unmanned aerial vehicle flight platform unit, an ultra-wideband radar unit and a ground control station unit, wherein: the unmanned aerial vehicle flight platform unit is used for the ultra-wideband radar unit to carry out low-altitude ice-surface mobile flight and shooting and monitoring the surrounding environment, and comprises an unmanned aerial vehicle, a millimeter wave radar, a barometer, a power supply, a constant temperature circuit, a navigation module, a camera and a wireless communication module; the ultra-wideband radar unit is used for detecting ice thickness and water depth data in real time and transmitting the data to the ground control station unit and comprises a dual-frequency transceiver module and a radar host module; the ground control station unit is used for receiving and displaying received data and comprises a computer and an antenna.

Further, in the present invention: the millimeter wave radar and the barometer are arranged on the unmanned aerial vehicle and used for realizing low-altitude fixed-height flight; the power supply is additionally provided with the constant temperature circuit and is used for preheating before takeoff and realizing low-temperature resistant stable flight; the navigation module is used for controlling the unmanned aerial vehicle to fly according to a preset route; the camera is used for collecting image data and transmitting the data to the ground control station unit through the wireless communication module.

Further, in the present invention: the dual-frequency transceiving module comprises a transmitter, a receiver and a dual-frequency antenna; the dual-frequency antenna is used for measuring water depth and ice thickness and comprises a pair of 900MHz antennas arranged in the middle and 200MHz antennas arranged on two sides, and the central lines of the two antennas are overlapped.

Further, in the present invention: the radar host module comprises an ARM control circuit, a data acquisition processing circuit, a time sequence control circuit, a wireless communication module and a power supply; the ARM control circuit receives instructions through the ground control station unit and sends the instructions to the data acquisition processing circuit, the data acquisition processing circuit obtains corresponding radar parameters according to the received instructions and transmits the radar parameters to the time sequence control circuit, the time sequence control circuit generates double-channel control signals and reversely transmits scanning signals back to the data acquisition processing circuit to acquire and process double-channel radar echoes in real time, the wireless communication module adopts an external wireless communication device and is connected with the ARM control circuit and used for transmitting data to the ground control station unit, and the power supply is connected with each module and provides power.

Further, in the present invention: the antenna of the ground control station is used for receiving data and comprises a flat plate follow-up antenna and a whip antenna; and the computer is used for calculating the ice thickness water depth result and the curve and displaying the calculation result.

Has the advantages that: compared with the prior art, the invention has the beneficial effects that:

(1) the system carries out remote non-contact measurement on the hydrological condition through the unmanned platform, so that the direct contact with the water surface in the measurement is avoided, and the measurement process is safer;

(2) the system can measure the ice thickness and the water depth simultaneously, and the measurement of the two factors is more comprehensive compared with the measurement of the traditional single hydrological factor;

(3) the system has simple structure, small volume and convenient carrying, is suitable for offshore or remote operation in practical application, reduces the cost and has higher economic value;

(4) the system has high measurement real-time performance, is favorable for acquiring more reliable data, displays the measurement condition in real time through the screen and facilitates the reference of actual operators.

Drawings

FIG. 1 is a schematic structural diagram of an unmanned airborne radar system for simultaneously measuring hydrological multiphase states;

FIG. 2 is a schematic diagram of functional modules of an ultra-wideband radar unit in the system of the present invention;

FIG. 3 is a block diagram of a dual-band antenna function in the system of the present invention;

FIG. 4 is a functional block diagram of a ground control station unit in the system of the present invention.

Detailed Description

The technical scheme of the invention is further explained in detail by combining the attached drawings:

the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

As shown in fig. 1, the unmanned aerial vehicle-mounted radar system for simultaneously measuring hydrology and multiphase states comprises an unmanned aerial vehicle flight platform unit, an ultra-wideband radar unit and a ground control station unit, wherein the unmanned aerial vehicle flight platform unit comprises an unmanned aerial vehicle, a millimeter wave radar, a barometer, a power supply, a constant temperature circuit, a navigation module, a camera and a wireless communication module; the ultra-wideband radar unit comprises a dual-frequency transceiving module and a radar host module; the ground control station unit includes a computer and an antenna.

The unmanned aerial vehicle flight platform unit is used for the ultra wide band radar unit to carry out low-altitude ice surface flying maneuver, and shoots and monitors the surrounding environment. Wherein unmanned aerial vehicle is preferably four rotor unmanned aerial vehicle of industrial grade, and accurate location, high environmental suitability and the high reliability requirement to the function are higher, are applicable to special operation environment, and unmanned aerial vehicle's screw is preferred to adopt 40 cun carbon alloy light propeller that excels in, realizes big load, flies when long voyage. Millimeter wave radar and barometer are installed and are used for realizing low latitude level flight on unmanned aerial vehicle. The power supply preferably adopts a high-voltage battery assisted with high-power electric regulation, and is additionally provided with a constant-temperature circuit for preheating before takeoff and realizing low-temperature-resistant stable flight, so that the power supply can stably work in a cold environment; the navigation module can adopt a GPS/Beidou module and is used for controlling the unmanned aerial vehicle to fly according to a preset route; the camera is preferably a T12 three-body camera and is used for collecting image data; unmanned aerial vehicle platform data and the image of shooing transmit to ground control station unit through installing the wireless communication module on unmanned aerial vehicle.

The ultra-wideband radar unit is used for detecting ice thickness and water depth data in real time and transmitting the data to the ground control station unit. The dual-frequency transceiving module in the ultra-wideband radar unit comprises a transmitter, a receiver and a dual-frequency antenna; the dual-frequency antenna is used for measuring water depth and ice thickness, the 200Mhz and 900MHz central frequency pairs are respectively adopted for real-time measurement, the dual-frequency antenna comprises a pair of 900MHz antennas arranged in the middle and 200MHz antennas arranged on two sides, and the central lines of the two antennas are overlapped to ensure that the same target is detected at the same time. The double-frequency antenna is preferably a bow-tie type antenna of a microwave absorbing medium, the shape of the double-frequency antenna is an arc-shaped gradually-changing triangle, the vertex angle of the double-frequency antenna is an angle of 60 degrees, and the height of the shielding shell is determined by the frequency of the low-frequency antenna.

The radar host module comprises an ARM control circuit, a data acquisition processing circuit, a time sequence control circuit, a wireless communication module and a power supply. The ARM control circuit receives instructions through the ground control station unit and sends the instructions to the data acquisition processing circuit, the data acquisition processing circuit obtains corresponding radar parameters according to the received instructions and transmits the radar parameters to the time sequence control circuit, the time sequence control circuit generates double-channel control signals and reversely transmits scanning signals back to the data acquisition processing circuit to acquire and process double-channel radar echoes in real time, the wireless communication module is connected with the ARM control circuit through an external wireless communication device and is used for transmitting data to the ground control station unit through the wireless communication module, and the power supply is connected with the modules and provides power. Specifically, the ARM control circuit and the data acquisition and processing circuit can be connected through a USB serial port and transmit data, the data acquisition and processing circuit comprises a DSP chip, preferably a TMS320C6713 chip, and the DSP chip obtains corresponding radar parameters according to instructions sent by the ARM control circuit and sends the parameters to the time sequence control circuit through the SPI. The wireless communication module is an external device and is connected with the ARM control circuit and is responsible for wirelessly transmitting the water depth ice thickness data processed by the radar host to the ground control station unit. The power supply adopts a built-in pluggable 78Wh lithium ion battery to respectively provide power for each module.

The ground control station unit is used for receiving and displaying the received data, wherein the antenna is used for receiving ice-thickness water depth measurement data and unmanned aerial vehicle platform attitude data and comprises a flat plate follow-up antenna and a whip antenna which are matched with each other at far and near distances, so that the radar and unmanned aerial vehicle platform data transmission is not lost; the computer is used for calculating the ice thickness water depth result and the curve and displaying the calculation result, and the display of the computer is preferably a double-screen display and is used for respectively displaying the ice thickness data result and the water depth data result. For the convenience of practical application, a double-screen notebook computer can be adopted, and the portable notebook computer is convenient to carry and display.

It should be noted that the above-mentioned examples only represent some embodiments of the present invention, and the description thereof should not be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, various modifications can be made without departing from the spirit of the present invention, and these modifications should fall within the scope of the present invention.