机载气象雷达运动补偿算法的理论研究
摘要
本论文的研究工作属于“863”计划重点项目课题——机载气象雷达云雨探测应用系统的一部分。利用飞机平台的高度机动性可以实现对气象系统近距离、高精度的三维实时观测。由于载机平台在探测过程中,因气流、飞行操作等多种因素的影响会出现飞行速度和空中姿态的偏差,从而影响机载雷达探测波束的发射、接收和探测效果,因此对机载雷达进行运动补偿对于提高高分辨率探测资料的可靠性非常必要。在已发表的研究成果中,对于机载气象雷达运动补偿算法,国内尚无相关的研究成果。国外的研究成果也尚未发表。因此,本文的研究有重要的实际应用价值,填补了我国在该领域的理论空白。
本论文主要做了以下几个方面的研究工作：
(1)运动偏差影响机载多普勒气象雷达探测效果的理论分析——依据多普勒气象雷达的探测原理、雷达信号处理方法以及基数据的获得,分析并论证了载机运动误差影响加载的多普勒气象雷达观测资料的理论成因；根据不同的影响成因将运动误差分为空中姿态变化误差和运动速度变化误差。
(2)载机平台运动状态数据的测量、获得及其精度检验——研究验证了载机平台的运动状态用实时飞行速度、俯仰、偏航和横滚四个参数来表述的合理性和可行性；依据惯性陀螺仪和GPS的观测原理,分析了使用GPS/INS组合观测系统来测量和提供载机运动状态四参数的合理性和可行性；分析和检验了某新型双GPS/INS组合姿态方位系统的观测数据并和某著名高精度观测系统的数据进行精度对比,研究结果表明：用于导航的该姿态方位系统可提供载机运动状态四参数的观测并具有较高精度。
(3)载机平台姿态变化运动补偿算法的理论研究——分析机载气象雷达观测系统中载机平台、气象雷达和运功误差测量系统分别所属的坐标系及各坐标系之间的转换关系,提出了通过由载机姿态测量数据的坐标系到载机坐标系再到天线坐标系最后到大地坐标系的连续坐标转换,来实现载机平台姿态变化的运动补偿算法；通过在理想个例中的应用,验证了该算法的合理性和可行性；本算法模块仅依靠于运动状态的观测值,因此既可嵌于信号处理系统的前置模块,用于天线平台稳定伺服系统；又可嵌于后置模块,当机械伺服系统出现故障时直接处理观测数据,从而提高观测数据的精度、可靠性及稳定性。
(4)载机平台运动速度误差补偿算法的理论研究和仿真验证——依据多普勒频移,提出将载机运动速度分解为沿径向和垂直于径向的速度分量分别进行速度误差补偿的算法；在MATLAB/SIMULATION平台上搭建该机载气象雷达系统的仿真系统,并将所提运动速度误差补偿算法模块内嵌于该仿真系统中；进行了X波段相控阵测雨雷达的实际观测数据和仿真系统补偿结果的对比试验,对比结果验证了该算法用于X波段相控阵测雨雷达观测资料补偿的合理性和可行性；进行了W波段测云雷达仿真系统的理想化试验,试验结果验证了该算法用于W波段测云雷达观测资料补偿的合理性和可行性。
本论文研究工作的创新性主要体现在以下几个方面：
(1)填补了国内机载多普勒气象雷达运动补偿算法理论的空白,对于后续的工作有重要的指导意义；
(2)提出了基于补偿算法从软件层面上对机载多普勒气象雷达进行运动补偿的新思路,弥补了已有基于硬件层面的补偿方法的不足；
(3)将用于导航的新型双GPS/INS组合姿态方位系统的观测数据用于机载多普勒气象雷达的运动补偿中,弥补了现用的惯性陀螺单一观测系统的不足,并极大的提高了运动误差的观测精度；
(4)搭建了基于MATLAB/SIMULATION平台的机载气象雷达仿真系统并将所研究的运动误差补偿算法模块内嵌于该系统中,在无条件进行外场试验时,实现了算法的仿真验证。
The research of this thesis is a part of the key project of national high tech research and development project (863 project) - the application system for airborne weather radar detection of clouds and rain. Because of the high flexibility of airborne platform, the 3-D real-time observation of weather systems can be realized in a close range and high precision. Due to the influences of many factors (e.g. airflow, flight operation), it is impossible to keep the airborne platform under uniform motion and steady flight attitude. Consequently, the variation of flight motion and attitude will affect the transmitting and receiving of the radar detecting wave beam, and then weaken the detecting veracity. As a result, it is necessary to adopt motion compensation to improve the reliability of high-resolution detection of airborne radar. Among the domestic and abroad research publications, there are not any reports on theoretic researches of motion compensation algorithms for airborne weather radar detecting system. Therefore, the research results of this thesis not only have substantial practical application value, but also fill the theory-gap in this domain and enhance independent intellectual property capabilities of this country.
The following contents are discussed in this thesis.
(1) The theoretic analyses of the influences of motion error on the detection effect of airborne weather radar. Based on the detection theory of Doppler weather radar, the processing method of radar signal and the acquirement of raw data, analysis and demonstrate the theoretic causes of the influences of carrier aircraft motion error on the Doppler weather radar observation data. Classify the motion errors into flight attitude variation error and velocity variation error according to the different influences causes discussed above.
(2) The measurement, acquirement and precision test of the carrier aircraft motion state data. Research and validate the rationality and feasibility of using real time flight velocity, elevation angle, yaw angle and roll angle to describe the carrier aircraft motion state. Analysis the rationality and feasibility of using GPS/INS combined observing system to detect and provide the four parameters of the carrier aircraft motion state。The observation data from one double GPS/INS attitude and orientation system is analyzed, tested and compared with the data of one famous high precision observation system, the results demonstrate that the proposed navigation-used motion state observation system could be used to provide the parameters of the carrier aircraft motion state with high precision.
(3) Theoretic research of the motion competition algorithm for the flight attitude variation error. Analysis the different coordinates of carrier aircraft, loaded weather radar and the motion state observation system separately and the transition relationship between different coordinates, proposed the compensation algorithm for flight attitude variation error by continued transacting form motion state observation data coordinates to carrier aircraft coordinates then to antenna coordinates and to Geodetic coordinates finally. Validate the rationality and feasibility of the proposed algorithm by applying it in an ideal case. For the proposed algorithm module only depends on the motion state observation data, it can be implanted either in the prepositive module of signal processing system as the antenna platform stable servo or in the postpositive module to process observed data directly when the mechanical servo breaking down. Consequently, the observation data is improved in precision, reliability and stabilization.
(4) Theoretic research and simulation validation of the motion competition algorithm for the velocity variation error. Proposed the compensation algorithm for velocity variation error by decompounding the carrier aircraft velocity into the component along radial and the component perpendicular to radial and compensating for the two components respectively. Develop the simulation system of the airborne weather radar system on the MATLAB/SIMULATION platform and implants the proposed algorithm module of velocity variation compensation in the simulation system. Take a comparative test of the observation data of a X band phase array rain radar and the compensation data of the simulation system, the results validate the rationality and feasibility of the application of the proposed algorithm in X band phase array rain radar observation data. Take an ideal test of the W band cloud radar simulation system, the results validate the rationality and feasibility of the application of the proposed algorithm in the W band cloud radar observation data.
The research results of this thesis show innovations in several aspects.
(1) The results make up the theory-lack of motion compensation algorithms for airborne Doppler weather radar detecting system in our country, and has guiding significance for the following researches.
(2) Base on these compensation algorithms, one innovative method of the motion compensation for airborne Doppler weather radar, which uses software, has been invented. It makes up the limitation of the motion compensation method which uses hardware.
(3) Adopt the double GPS/INS attitude and orientation navigation system observation data which is used for navigation before in the motion compensation for airborne Doppler weather radar, makes up the limitation of the traditional unitary observation system with inertia gyroscope and greatly improves the observation precision of the motion error.
(4) The simulation system of airborne weather radar is developed on the MATLAB/SIMMULATION platform. Furthermore, the motion compensation algorithm module is implanted into this system and validated without field experiment.
本论文主要做了以下几个方面的研究工作：
(1)运动偏差影响机载多普勒气象雷达探测效果的理论分析——依据多普勒气象雷达的探测原理、雷达信号处理方法以及基数据的获得,分析并论证了载机运动误差影响加载的多普勒气象雷达观测资料的理论成因；根据不同的影响成因将运动误差分为空中姿态变化误差和运动速度变化误差。
(2)载机平台运动状态数据的测量、获得及其精度检验——研究验证了载机平台的运动状态用实时飞行速度、俯仰、偏航和横滚四个参数来表述的合理性和可行性；依据惯性陀螺仪和GPS的观测原理,分析了使用GPS/INS组合观测系统来测量和提供载机运动状态四参数的合理性和可行性；分析和检验了某新型双GPS/INS组合姿态方位系统的观测数据并和某著名高精度观测系统的数据进行精度对比,研究结果表明：用于导航的该姿态方位系统可提供载机运动状态四参数的观测并具有较高精度。
(3)载机平台姿态变化运动补偿算法的理论研究——分析机载气象雷达观测系统中载机平台、气象雷达和运功误差测量系统分别所属的坐标系及各坐标系之间的转换关系,提出了通过由载机姿态测量数据的坐标系到载机坐标系再到天线坐标系最后到大地坐标系的连续坐标转换,来实现载机平台姿态变化的运动补偿算法；通过在理想个例中的应用,验证了该算法的合理性和可行性；本算法模块仅依靠于运动状态的观测值,因此既可嵌于信号处理系统的前置模块,用于天线平台稳定伺服系统；又可嵌于后置模块,当机械伺服系统出现故障时直接处理观测数据,从而提高观测数据的精度、可靠性及稳定性。
(4)载机平台运动速度误差补偿算法的理论研究和仿真验证——依据多普勒频移,提出将载机运动速度分解为沿径向和垂直于径向的速度分量分别进行速度误差补偿的算法；在MATLAB/SIMULATION平台上搭建该机载气象雷达系统的仿真系统,并将所提运动速度误差补偿算法模块内嵌于该仿真系统中；进行了X波段相控阵测雨雷达的实际观测数据和仿真系统补偿结果的对比试验,对比结果验证了该算法用于X波段相控阵测雨雷达观测资料补偿的合理性和可行性；进行了W波段测云雷达仿真系统的理想化试验,试验结果验证了该算法用于W波段测云雷达观测资料补偿的合理性和可行性。
本论文研究工作的创新性主要体现在以下几个方面：
(1)填补了国内机载多普勒气象雷达运动补偿算法理论的空白,对于后续的工作有重要的指导意义；
(2)提出了基于补偿算法从软件层面上对机载多普勒气象雷达进行运动补偿的新思路,弥补了已有基于硬件层面的补偿方法的不足；
(3)将用于导航的新型双GPS/INS组合姿态方位系统的观测数据用于机载多普勒气象雷达的运动补偿中,弥补了现用的惯性陀螺单一观测系统的不足,并极大的提高了运动误差的观测精度；
(4)搭建了基于MATLAB/SIMULATION平台的机载气象雷达仿真系统并将所研究的运动误差补偿算法模块内嵌于该系统中,在无条件进行外场试验时,实现了算法的仿真验证。
The research of this thesis is a part of the key project of national high tech research and development project (863 project) - the application system for airborne weather radar detection of clouds and rain. Because of the high flexibility of airborne platform, the 3-D real-time observation of weather systems can be realized in a close range and high precision. Due to the influences of many factors (e.g. airflow, flight operation), it is impossible to keep the airborne platform under uniform motion and steady flight attitude. Consequently, the variation of flight motion and attitude will affect the transmitting and receiving of the radar detecting wave beam, and then weaken the detecting veracity. As a result, it is necessary to adopt motion compensation to improve the reliability of high-resolution detection of airborne radar. Among the domestic and abroad research publications, there are not any reports on theoretic researches of motion compensation algorithms for airborne weather radar detecting system. Therefore, the research results of this thesis not only have substantial practical application value, but also fill the theory-gap in this domain and enhance independent intellectual property capabilities of this country.
The following contents are discussed in this thesis.
(1) The theoretic analyses of the influences of motion error on the detection effect of airborne weather radar. Based on the detection theory of Doppler weather radar, the processing method of radar signal and the acquirement of raw data, analysis and demonstrate the theoretic causes of the influences of carrier aircraft motion error on the Doppler weather radar observation data. Classify the motion errors into flight attitude variation error and velocity variation error according to the different influences causes discussed above.
(2) The measurement, acquirement and precision test of the carrier aircraft motion state data. Research and validate the rationality and feasibility of using real time flight velocity, elevation angle, yaw angle and roll angle to describe the carrier aircraft motion state. Analysis the rationality and feasibility of using GPS/INS combined observing system to detect and provide the four parameters of the carrier aircraft motion state。The observation data from one double GPS/INS attitude and orientation system is analyzed, tested and compared with the data of one famous high precision observation system, the results demonstrate that the proposed navigation-used motion state observation system could be used to provide the parameters of the carrier aircraft motion state with high precision.
(3) Theoretic research of the motion competition algorithm for the flight attitude variation error. Analysis the different coordinates of carrier aircraft, loaded weather radar and the motion state observation system separately and the transition relationship between different coordinates, proposed the compensation algorithm for flight attitude variation error by continued transacting form motion state observation data coordinates to carrier aircraft coordinates then to antenna coordinates and to Geodetic coordinates finally. Validate the rationality and feasibility of the proposed algorithm by applying it in an ideal case. For the proposed algorithm module only depends on the motion state observation data, it can be implanted either in the prepositive module of signal processing system as the antenna platform stable servo or in the postpositive module to process observed data directly when the mechanical servo breaking down. Consequently, the observation data is improved in precision, reliability and stabilization.
(4) Theoretic research and simulation validation of the motion competition algorithm for the velocity variation error. Proposed the compensation algorithm for velocity variation error by decompounding the carrier aircraft velocity into the component along radial and the component perpendicular to radial and compensating for the two components respectively. Develop the simulation system of the airborne weather radar system on the MATLAB/SIMULATION platform and implants the proposed algorithm module of velocity variation compensation in the simulation system. Take a comparative test of the observation data of a X band phase array rain radar and the compensation data of the simulation system, the results validate the rationality and feasibility of the application of the proposed algorithm in X band phase array rain radar observation data. Take an ideal test of the W band cloud radar simulation system, the results validate the rationality and feasibility of the application of the proposed algorithm in the W band cloud radar observation data.
The research results of this thesis show innovations in several aspects.
(1) The results make up the theory-lack of motion compensation algorithms for airborne Doppler weather radar detecting system in our country, and has guiding significance for the following researches.
(2) Base on these compensation algorithms, one innovative method of the motion compensation for airborne Doppler weather radar, which uses software, has been invented. It makes up the limitation of the motion compensation method which uses hardware.
(3) Adopt the double GPS/INS attitude and orientation navigation system observation data which is used for navigation before in the motion compensation for airborne Doppler weather radar, makes up the limitation of the traditional unitary observation system with inertia gyroscope and greatly improves the observation precision of the motion error.
(4) The simulation system of airborne weather radar is developed on the MATLAB/SIMMULATION platform. Furthermore, the motion compensation algorithm module is implanted into this system and validated without field experiment.
引文
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