阅读说明：本技术 一种目标雷达波散射热点全自动测量诊断装置及方法 (Full-automatic measurement and diagnosis device and method for target radar wave scattering hot spot ) 是由 彭刚 田进军 于 2020-07-06 设计创作，主要内容包括：本申请提供了一种目标雷达波散射热点全自动测量诊断装置及方法,包括智能行走小车、目标雷达散射热点测量系统、激光雷达以及多个全向激光靶标；其中,智能行走小车配有嵌入式计算机,能够按照指定路径在平面内自由行走、停止；所述目标雷达散射热点测量系统和所述激光雷达安装在智能行走小车上,识别并精确测量与各个所述全向激光靶标的距离；所述全向激光靶标的上端反射面覆盖有激光高反射率材料,并具备垂直向测距功能。本申请提高了目标雷达散射热点测量系统定位精度和效率,降低测量成本,避免了人员在测试场地内活动引入的人为干扰,改善目标雷达波散射热点测量结果精度。该装置适用于室内、室外目标雷达波散射热点测量环境。(The application provides a full-automatic measurement and diagnosis device and method for a target radar wave scattering hot spot, which comprises an intelligent walking trolley, a target radar scattering hot spot measurement system, a laser radar and a plurality of omnidirectional laser targets; the intelligent walking trolley is provided with an embedded computer and can freely walk and stop in a plane according to a specified path; the target radar scattering hot spot measuring system and the laser radar are installed on the intelligent walking trolley, and the distance between the target radar scattering hot spot measuring system and each omnidirectional laser target is identified and accurately measured; the upper end reflecting surface of the omnidirectional laser target is covered with a laser high-reflectivity material and has a vertical ranging function. The method and the device improve the positioning accuracy and efficiency of the target radar scattering hot spot measuring system, reduce the measuring cost, avoid the artificial interference caused by the movement of personnel in a test field, and improve the accuracy of the target radar wave scattering hot spot measuring result. The device is suitable for indoor and outdoor target radar wave scattering hot spot measuring environments.)

1. A full-automatic measurement and diagnosis device and method for target radar wave scattering hot spots comprises an intelligent line

The system comprises a walking trolley, a target radar scattering hot spot measuring system, a laser radar and a plurality of omnidirectional laser targets; it is composed of

In the intelligent walking trolley, an embedded computer is arranged, so that the intelligent walking trolley can automatically avoid obstacles and move horizontally and 360 degrees in all directions

The device can be stopped accurately, and can freely walk and stop in a plane according to a specified path; the target radar 5

The scattering hot spot measuring system and the laser radar are arranged on the intelligent walking trolley and used for identifying and accurately measuring

A distance to each of the omnidirectional laser targets; the upper end reflecting surface of the omnidirectional laser target is covered with laser

A high-reflectivity material arranged right below the preset characteristic point of the target to be measured and having a vertical direction

A ranging function; the vertical beam center point of the laser radar and all omnidirectional laser targets cover high reflection

The central points of the reflecting surfaces of the refractive index materials are in the same plane.

2. The apparatus of claim 1 for fully automatic measurement and diagnosis of target radar wave scattering hot spot

The device and the method are characterized in that: and the intelligent walking trolley is provided with a supporting system with a lifting function.

3. The apparatus of claim 1 for fully automatic measurement and diagnosis of target radar wave scattering hot spot

The device and the method are characterized in that: the height and the pitch angle of the laser radar are adjustable and can be installed

A 360 degree range is 2D scanned in a plane.

4. The apparatus of claim 1 for fully automatic measurement and diagnosis of target radar wave scattering hot spot

The device and the method are characterized in that: and a horizontal adjusting mechanism is arranged at the bottom of the omnidirectional laser target.

Technical Field

The application relates to the technical field of target radar wave scattering hotspot measurement, in particular to a full-automatic target radar wave scattering hotspot measurement and diagnosis device and method.

Background

In the process of acquiring the integral scattering hot spot image of the target by adopting the SAR imaging technology, the local scattering hot spot images of all postures and directions of the target are firstly acquired by a mobile target radar scattering hot spot measurement system, then all the local scattering hot spot images are combined to acquire a set of all scattering points of the target to be detected, and finally the scattering characteristics of the scattering hot spots are subjected to vector superposition to acquire the integral scattering hot spot image of the target to be detected. In order to obtain the whole scattering thermal point image of the target to be measured, local measurement must be performed on each posture and orientation of the target to be measured, so as to obtain the local scattering thermal point image of each posture and orientation of the target to be measured. In the measuring process, the target radar scattering hot spot measuring system needs to be manually moved according to a planned path, after the target radar scattering hot spot measuring system reaches a first measuring point, the antenna direction of the target radar scattering hot spot measuring system is manually adjusted, the target radar scattering hot spot measuring system performs SAR imaging measurement on the part of a target to be measured, after the measuring point finishes measurement, the target radar scattering hot spot measuring system is manually moved to a second measuring point, the measuring process is repeated, and the like is repeated until the measurement of all the measuring points is finished.

The above measurement method mainly has the following problems: firstly, the measuring period is long and the efficiency is low. Because the target to be measured is often a large-scale full-size complex target, in order to obtain the integral scattering hot spot image of the target, the number of measuring points is often more than ten or even tens of measuring points, and the whole operation process at least takes tens of hours to tens of hours by manually moving the radar scattering hot spot measuring system of the target, adjusting the antenna beam pointing direction of the system, imaging and measuring local SAR of the target and the like. Secondly, the time span is large and the precision is low. The measurement time span is long, so that the time interval between background measurement and target measurement is long, amplitude and phase drift of a target radar scattering hotspot measurement system and environmental factors of a test field are greatly changed, background cancellation cannot be well completed, the confidence coefficient of a target radar wave scattering hotspot test is reduced, and the accuracy of a measurement result is reduced. And thirdly, personnel enter the field for activity and large interference, because in the whole measurement process, the personnel are required to enter the field to complete the operations of moving, adjusting, measuring and the like, the interference is artificially added, including the interference of the personnel and the mutual coupling interference between the personnel and a target, a system and the like, and because the personnel are active in the field, the interference cannot be eliminated through background cancellation, so that the target radar wave scattering hotspot test error is increased. Fourthly, the manual positioning has large randomness and low precision. Because the operations of moving target radar scattering hot spot measuring system, adjusting system antenna beam pointing and the like are all completed manually, each measuring point needs to be operated repeatedly, and the randomness of manual positioning is high, the distance error between the obtained target radar scattering hot spot measuring system and the target to be measured is large, and the accuracy of the radar wave scattering hot spot measuring result of the target to be measured is influenced.

Disclosure of Invention

In order to overcome the problems, the intelligent walking trolley is provided with an automatic obstacle avoidance function, freely walks in a plane and stops through introducing an intelligent walking trolley with the functions of automatic obstacle avoidance, free walking in the plane and stopping, a target radar scattering hot spot measuring system is arranged on the intelligent walking trolley, a plurality of (more than or equal to 3) omnidirectional laser targets and the intelligent walking trolley are utilized, autonomous positioning, walking and stopping of the intelligent walking trolley are achieved, and then full-automatic measurement of the target radar scattering hot spot measuring system on the whole scattering hot spot of the target is achieved.

The application provides a full-automatic measurement and diagnosis device and method for target radar wave scattering hot spots, which comprises an intelligent walking trolley, a target radar scattering hot spot measurement system, a laser radar and a plurality of omnidirectional laser targets; the intelligent walking trolley is provided with an embedded computer, can automatically avoid obstacles, move horizontally in 360 degrees in an omnidirectional way and stop accurately, and can freely walk and stop in a plane according to a specified path; the target radar scattering hot spot measuring system and the laser radar are installed on the intelligent walking trolley, and the distance between the target radar scattering hot spot measuring system and each omnidirectional laser target is identified and accurately measured; the upper end reflecting surface of the omnidirectional laser target is covered with a laser high-reflectivity material, is arranged right below a preset characteristic point of a target to be measured, and has a vertical ranging function; and the central point of the vertical beam of the laser radar and the central points of the reflecting surfaces of all the omnidirectional laser targets covering the high-reflectivity materials are positioned on the same plane.

Preferably, the intelligent walking trolley is provided with a supporting system with a lifting function.

Preferably, the height and the pitch angle of the laser radar are adjustable, and the laser radar can perform 2D scanning on a 360-degree range on an installation plane.

Preferably, a horizontal adjusting mechanism is arranged at the bottom of the omnidirectional laser target.

The beneficial effect that this application brought: in the whole measuring process, manual intervention is not needed, full-automatic measurement of the target radar wave scattering hot spot is realized, the positioning precision and efficiency of the target radar wave scattering hot spot measuring system are improved, the measuring cost is reduced, artificial interference caused by movement of personnel in a test field is avoided, and the precision of the target radar wave scattering hot spot measuring result is obviously improved. The device is suitable for measuring environments of full-size target radar wave scattering hot spots in indoor and outdoor planes.

Drawings

Fig. 1 is a fully automatic measurement and diagnosis device for a target radar wave scattering hot spot according to an embodiment of the present disclosure.

Fig. 2 is a schematic diagram of a planned path and a measurement point of a full-automatic measurement and diagnosis device and method for a target radar wave scattering hotspot provided in the embodiment of the present application.

The system comprises an intelligent walking trolley 1, a target radar scattering hot spot measuring system 2, a laser radar 3 and an omnidirectional laser target (not less than 3).

Detailed Description

The technical solution of the present application is further specifically described below by way of examples and with reference to the accompanying drawings.

A full-automatic measurement and diagnosis apparatus for a target radar wave scattering hot spot in this embodiment, as shown in fig. 1, includes: the system comprises an intelligent walking trolley 1, a target radar scattering hot spot measuring system 2, a laser radar 3 and a plurality of (more than or equal to 3) omnidirectional laser targets 4. The intelligent walking trolley 1 can automatically avoid obstacles, move horizontally in 360 degrees in all directions and stop accurately, can freely walk and stop in a plane according to a specified path, and is provided with a supporting system with a lifting function. The target radar scattering hot spot measuring system 2 is arranged on a supporting system of the intelligent walking trolley 1 and can perform data acquisition, analysis and processing capacity; the laser radar 3 is installed on the intelligent walking trolley 1, the distance of each omnidirectional laser target 4 is found, identified and accurately measured by 2D scanning within the range of 360 degrees, and the accurate coordinate information of the target radar scattering hotspot measuring system 2 is obtained in real time by utilizing an in-plane seat height accuracy laser positioning method; the upper end reflecting surface of each omnidirectional laser target 4 is covered with a laser high-reflectivity material, the bottom of each omnidirectional laser target 4 is provided with a horizontal adjusting mechanism, the horizontal adjusting mechanism is arranged right below a preset characteristic point of a target to be measured, each omnidirectional laser target 4 has a vertical ranging function, and height information of the characteristic point on the target can be accurately acquired; the central point of the vertical beam of the laser (receiver) of the laser radar 3 and the central points (vertical direction) of the reflecting surfaces of all the omnidirectional laser targets 4 covering the high-reflectivity materials are in the same plane.

Before measurement is started, factors such as a test environment, technical indexes of a target radar scattering hot spot measurement system 2, the size of a target to be measured and the like are comprehensively considered according to a measurement scheme, and a measurement path and measurement points (including the number of the measurement points, coordinates and the like) are planned. Starting a power supply of the intelligent walking trolley 1, and storing the planned measurement path and measurement points into an embedded computer of the intelligent walking trolley 1; numbering the omnidirectional laser targets 4, and storing a connecting line graph and a table of the omnidirectional laser targets 4 into an embedded computer of the intelligent walking trolley 1, wherein the table comprises the length of the connecting line of the omnidirectional laser targets 4, the end point number and the included angle information between two adjacent edges; the positions and the heights of the omnidirectional laser targets 4 are adjusted one by one, so that each omnidirectional laser target 4 is positioned under the corresponding target characteristic point to be detected, and the central points (vertical directions) of the reflecting surfaces of the omnidirectional laser targets 4 covering the high-reflectivity materials are positioned in the same plane; adjusting the height and the pitch angle of the laser radar 3 to enable the central point of the vertical wave beam of the laser radar 3 and the central point (vertical direction) of the reflecting surface of the omnidirectional laser target 4 covering the high-reflectivity material to be in the same plane; adjusting the posture of the target radar scattering hot spot measuring system 2 to enable the projection coordinates of the antenna of the target radar scattering hot spot measuring system 2 and the laser (receiver) of the laser radar 3 in the plane to be consistent; and adjusting the beam directions of the antenna of the target radar scattering hot spot measuring system 2 and the laser (receiver) of the laser radar, so that the beam directions of the antenna of the target radar scattering hot spot measuring system 2 are consistent with the scanning direction of the laser (receiver) of the laser radar 3 in the initial 0-degree direction.

Fig. 2 is a schematic diagram of a target radar wave scattering hotspot fully-automatic measurement and diagnosis device and method, a planned path, and a measurement point according to an embodiment of the present disclosure. When measurement is started, the target radar scattering hot spot measurement system 2 and the laser radar 3 are started, 2D scanning is carried out on the laser radar 3 within a horizontal 360-degree range, information such as the distance and the angle of a reflection point and the intensity of a reflection signal is obtained, screening, matching and coordinate positioning are carried out on the information obtained by scanning the laser radar 3 by using an in-plane coordinate positioning method through an embedded computer of the intelligent walking trolley 1, and an accurate two-dimensional coordinate (in-plane) of the laser radar 3 is solved. The embedded computer of the intelligent walking trolley 1 compares the accurate two-dimensional coordinates (in a plane) of the laser radar 3 obtained by calculation with the pre-stored measurement path and measurement point, drives the intelligent walking trolley 1 to reach the first measurement point, and simultaneously completes the task of adjusting the antenna beam pointing direction of the target radar scattering hot spot measurement system 2 to make the antenna beam pointing direction align with the target part to be measured. The target radar scattering hot spot measuring system 2 starts to work, and the acquisition and storage of the target local radar wave scattering hot spot data are completed according to the preset measuring flow and steps, and the acquisition and storage processes of the target local radar wave scattering hot spot data can be automatically completed by the target radar scattering hot spot measuring system 2 or can be manually controlled remotely and remotely. And after the measurement task of the first measurement point is completed, the target radar scattering hot spot measurement system 2 drives the intelligent walking trolley 1 to reach a second measurement point, repeats the measurement process of the first measurement point, and so on until the measurement tasks of all the measurement points are completed. The intelligent walking trolley 1 returns to the end point of the planned route, and the whole measurement task is finished.

The specific embodiments described herein are merely illustrative of the spirit of the application. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the present application as defined by the appended claims.

Although the terms smart walking cart, target radar scatterometry system, lidar, omnidirectional laser target, etc. are used more herein, the possibility of using other terms is not excluded. These terms are used merely to more conveniently describe and explain the nature of the present application; they are to be construed in a manner that is inconsistent with the spirit of this application.