CN107991709A - A kind of unmanned aerial vehicle onboard step frequency Ground Penetrating Radar - Google Patents
A kind of unmanned aerial vehicle onboard step frequency Ground Penetrating Radar Download PDFInfo
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- CN107991709A CN107991709A CN201710725458.7A CN201710725458A CN107991709A CN 107991709 A CN107991709 A CN 107991709A CN 201710725458 A CN201710725458 A CN 201710725458A CN 107991709 A CN107991709 A CN 107991709A
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- 230000000149 penetrating effect Effects 0.000 title claims abstract description 26
- 230000005540 biological transmission Effects 0.000 claims description 12
- 238000006243 chemical reaction Methods 0.000 claims description 8
- 238000012544 monitoring process Methods 0.000 claims description 5
- 238000012546 transfer Methods 0.000 claims description 5
- 238000003384 imaging method Methods 0.000 claims description 4
- 238000013519 translation Methods 0.000 claims description 4
- 238000012545 processing Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 2
- 238000004088 simulation Methods 0.000 claims description 2
- 241000208340 Araliaceae Species 0.000 claims 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 claims 1
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- 238000001514 detection method Methods 0.000 abstract description 8
- 238000013461 design Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000012937 correction Methods 0.000 description 3
- 238000005070 sampling Methods 0.000 description 3
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- 230000015572 biosynthetic process Effects 0.000 description 1
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- 238000004519 manufacturing process Methods 0.000 description 1
- 230000000191 radiation effect Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/12—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with electromagnetic waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4052—Means for monitoring or calibrating by simulation of echoes
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- Radar, Positioning & Navigation (AREA)
- Computer Networks & Wireless Communication (AREA)
- Environmental & Geological Engineering (AREA)
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- General Life Sciences & Earth Sciences (AREA)
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- Position Fixing By Use Of Radio Waves (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention belongs to ground penetrating radar exploration field, is specially a kind of unmanned aerial vehicle onboard step frequency Ground Penetrating Radar.The present invention is using unmanned plane as carrying platform, its is easy to operate, using flexible, and the region for realizing high-risk can use；And by redefining design to data collecting system, improve detection accuracy；Eliminate based on the signal source of DDS in phase random error caused by step frequency, and then obtain real target echo information；By the analog quadrature demodulation to intermediate-freuqncy signal, (changeable) is sampled to the baseband signal single-point or multidrop mode of corresponding frequency point, you can ensure data precision, and advantageously reduce data traffic.
Description
Technical field
The invention belongs to ground penetrating radar exploration field, is specially a kind of unmanned aerial vehicle onboard step frequency Ground Penetrating Radar.
Background technology
Ground Penetrating Radar (Ground Penetrating Radar) abbreviation GPR, is that one kind utilizes electromagnetic wave to carry out lossless spy
The GEOPHYSICS FOR SHALLOW LAYER technology of survey, has become a kind of effective tool for solving geophysical problems.The carrying of Ground Penetrating Radar is put down
Platform is divided into someone's aircraft, vehicle and hand-held etc..For small region, a variety of ground Ground Penetrating Radar devices are flat
Open region is effective, but the larger region in the region, hypsography for vegetative coverage and the mankind can not reach
Danger zone (such as battlefield, mine fields, polar region) the detection of large area shallow-layer, ground Ground Penetrating Radar seems helpless.Compare
In conventional ground Ground Penetrating Radar, airborne Ground Penetrating Radar can realize the exploration of large area region in a short time；Airborne spy land mine
Up to also having the further advantage that the global covering in target area such as, the analysis of more phases.
Current airborne Ground Penetrating Radar carrying platform is someone's aircraft, but its cost and cost of use are high, are unfavorable for out
Open up relevant scientific investigation and experiment；With the development of science and technology, inorganic technologies have obtained tremendous development, this is visited for unmanned aerial vehicle onboard
Ground radar provides possibility.
Current airborne Ground Penetrating Radar belongs to time domain system, but this radar is difficult to take into account high-resolution and remote detection range
It is required that and corresponding frequency domain system Ground Penetrating Radar can meet the requirement to high-resolution and remote detection range.
The content of the invention
It is to solve existing ground penetrating radar exploration to vegetative coverage region, hypsography for above-mentioned there are problem or deficiency
The problem of detection means of large area and danger zone deficiency and not high precision, the present invention provides a kind of unmanned aerial vehicle onboard
Step frequency Ground Penetrating Radar.
The unmanned aerial vehicle onboard step frequency Ground Penetrating Radar, including stairstep signal source, receiver, data collecting system, transmitting-receiving
Antenna, ground control base station and power splitter.
Stairstep signal source, including radio-frequency transmissions source and local vibration source, radio-frequency transmissions source connection power splitter 1, carry out signal work(point,
Then receiver 1 and transmitting antenna are outputed signal to respectively, and local oscillator source signal is divided into 2 road signals by power splitter 2, is transmitted to 2
A receiver.
Receiver shares 2, is respectively receiver 1 and receiver 2, there is 2 input terminals；The input connection of receiver 1
The signal that the local oscillator source signal and power splitter 2 that power splitter 1 exports export, it exports the analog quadrature demodulation for connecing data collecting system
Module；The input of receiver 2 connects the output of reception antenna and power splitter 2 respectively, and output is connecing the simulation of data collecting system just
Hand over demodulation module.
Ground control base station is used for receiving and transmitting signal, and handles.The collection of letters number refers to receive what data collecting system sended over
Digital signal, and digital decoding is carried out, the digital signal of target echo is converted into corresponding image by image processing algorithm
Information, the real-time display target image in host computer；Signal and refer to send receiver gain control instruction, stairstep signal source
Control instruction, data collecting system the data acquisition moment control instruction.
Power splitter shares 2, is respectively power splitter 1 and power splitter 2, and power splitter 1 connects radio-frequency transmissions source, receiver 1 and hair
Penetrate antenna；Power splitter 2 connects local vibration source, receiver 1 and receiver 2.
The data collecting system includes：Analog quadrature demodulation module, analog-to-digital conversion module, main control module, voltage and current
Monitoring module, data transmission module, laser ranging module, GPS positioning module, system clock synchronization module, receiver control mould
Block, stairstep signal source control module and power module.
Analog quadrature demodulation module：The analog if signal transmitted to 2 receivers carries out analog quadrature demodulation, production
Raw 2 groups of I and Q two-way baseband signals, and export to analog-to-digital conversion module.
Analog-to-digital conversion module：To 2 groups of I and Q two-way baseband signal samples of analog quadrature demodulation module input, Ran Houzhuan
Change digital signal into, then export to main control module.
Main control module：It is the control centre of whole system, completes the timing management of whole system, data buffer storage, translation ground
Face control base station control instruction translation, controls data transfer, the instruction works for making modules be controlled according to ground control base station.
Power module：Input power is converted into modules required voltage value and is connected thereto, is realized to each mould
The power supply of block.
Voltage and current monitoring module：The voltage and current of whole data collecting system is monitored in real time, to determine data acquisition
Whether system works normally.
Data transmission module：The data that analog-to-digital conversion module is collected are encoded, by wireless data link, volume
Data transfer after code is to ground control base station.
Laser ranging module：To the accurate distance of measurement unmanned plane in real time to ground, carried for follow-up GPR Imaging
For correction parameter.
GPS positioning module：For the positional information of positioning unmanned plane in real time, position letter is provided for follow-up GPR Imaging
Cease parameter.
System clock synchronization module：For synchronization system clock, when making stairstep signal source, receiver and data collecting system
Clock is synchronous.
Receiver control module：To the gain control instruction issued to receiver ground control base station.
Stairstep signal source control module：Its original frequency, step are controlled to issue ground control base station to stairstep signal source
Trigger pulse is sent into the instruction of frequency values, frequency point number and frequency point duration, and to stairstep signal source, controls its stepping to jump
Frequently.
The data collecting system is isolated modules using cavity, and the isolation design of cavity is realized between modules
More preferable electromagnetic compatibility, while also there is great heat radiation effect.
The present invention is in data acquisition, it is contemplated that flying platform is likely to occur flying height change；Work as flying height
When being variable, the radar profile collected cannot correctly react ground and its reflection configuration with buried target body
State.Therefore the data of corresponding laser ranging module are added in the per pass gathered data of record, when carrying out data processing into
The corresponding accurate flying height correction of row, eliminates the influence that flying height change is brought, is visited with obtaining correct unmanned aerial vehicle onboard
Ground radar profile.And accurate longitude and latitude correction data is provided for the unmanned aerial vehicle onboard Ground Penetrating Radar by GPS positioning module,
Both laser ranging module and GPS positioning module, which combine, eliminates the influence that flight path change is brought, to obtain accurate target
Signal, improves detection accuracy.
The present invention also obtains corresponding base band letter by carrying out analog quadrature demodulation in data acquisition to intermediate-freuqncy signal
Number, and the depth of elevation information and default detection target, calculate optimum sampling point；Time delay module reaches optimum sampling point
When, control writing enabled startup and forbidding for FIFO, to select the data that AD is exported, reduce data acquisition density, i.e., it is each
A frequency point needs only to one valid data of collection, thus greatly reduces data traffic, contributes to the remote-wireless of data
Transmission.
Due to that can produce phase random error in step frequency based on the signal source of DDS, and this error makes Step Frequency
Rate Ground Penetrating Radar cannot be correctly imaged, and present invention employs mode as shown in Figure 1 to solve the problems, such as this：Local oscillator and signal
Work(branches away a part and is directly accessed receiver channel 1 by coaxial line the signal in source respectively, forms closed loop reference circuit, produces
Intermediate-freuqncy signal 1；The target echo and in addition local oscillation signal is linked into receiver channel 2 all the way that reception antenna receives, formation is opened
Ring target loop, produces intermediate-freuqncy signal 2；When follow-up data is handled, the reference signal by the use of intermediate-freuqncy signal 1 as intermediate-freuqncy signal 2,
It can eliminate based on the signal source of DDS in phase random error caused by step frequency, and then obtain real target echo
Information.
In conclusion the present invention, using unmanned plane as carrying platform, its is easy to operate, using flexible, in the region of high-risk
It can use, and improve detection accuracy；Eliminate based on the signal source of DDS in phase random error caused by step frequency, and then
Obtain real target echo information；By the analog quadrature demodulation to intermediate-freuqncy signal, to the baseband signal single-point of corresponding frequency point
Or multidrop mode sampling (changeable), you can ensure data precision, and advantageously reduce data traffic.
Brief description of the drawings
Fig. 1 the principle of the present invention schematic block diagrams；
The structure diagram of Fig. 2 data collecting systems of the present invention.
Embodiment
Below in conjunction with the accompanying drawings and example is the present invention further statement in detail.
As shown in Fig. 1 the principle of the present invention schematic block diagrams, unmanned aerial vehicle onboard Ground Penetrating Radar emission source is obtained by power splitter
f10And f11, f10And f11It is same frequency in-phase signal, frequency FLO+FIN；Local oscillation signal obtains f by power splitter20And f21, f20With
f21It is same frequency in-phase signal, frequency FLO；f11And f21It is directly connected to by coaxial line and connects receiver 1, obtains intermediate-freuqncy signal 1；
Receive signal and f that day antenna receives20Receiver 2 is connected to, obtains intermediate-freuqncy signal 2；Receiver intermediate-freuqncy signal 1 and intermediate frequency
Signal 2 is transferred to data collecting system by coaxial line, and data collecting system is the unmanned aerial vehicle onboard Ground Penetrating Radar number collected
According to being transmitted to ground control base station by wireless transmission link.
As shown in the structure diagram of Fig. 2 data collecting systems of the present invention, the intermediate-freuqncy signal 1 that receiver transmits is with
Frequency signal 1 is sent into the analog quadrature demodulation module of data collecting system, and I is obtained after demodulation1/Q1And I2/Q2Four roadbed band signals,
I1/Q1And I2/Q2It is transmitted in D/A converter module and is acquired, in the FIFO of the data buffer storage after gathering to master control, then
Laser ranging module, GPS positioning module, voltage and current monitoring module and the data for being cached to FIFO, RAM is transferred to secondary
In；Then the data transfer rate coding module in RAM is encoded, being sent to ground by wireless transmitter module controls base
Stand.Signal source control module is connected to signal source, and control instruction (original frequency, step frequency value, frequency point number are sent to signal source
And the frequency point duration).Receiver control module is connected to receiver, by the command control receiver of ground control base station
Gain.System clock synchronization module is connected to local oscillator and signal source by coaxial line.
Claims (3)
1. a kind of unmanned aerial vehicle onboard step frequency Ground Penetrating Radar, including stairstep signal source, receiver, data collecting system, transmitting-receiving
Antenna, ground control base station and power splitter, it is characterised in that：
Stairstep signal source, including radio-frequency transmissions source and local vibration source, radio-frequency transmissions source connection power splitter 1, carry out signal work(point, then
Receiver 1 and transmitting antenna are outputed signal to respectively, and local oscillator source signal is divided into 2 road signals by power splitter 2, is transmitted to 2 and connects
Receipts machine；
Receiver shares 2, is respectively receiver 1 and receiver 2, there is 2 input terminals；The input connection work(point of receiver 1
The signal that the local oscillator source signal and power splitter 2 that device 1 exports export, it exports the analog quadrature demodulation mould for connecing data collecting system
Block；The input of receiver 2 connects the output of reception antenna and power splitter 2 respectively, and the simulation that output connects data collecting system is orthogonal
Demodulation module；
Ground control base station is used for receiving and transmitting signal, and handles；
Power splitter shares 2, is respectively power splitter 1 and power splitter 2, and power splitter 1 connects radio-frequency transmissions source, receiver 1 and transmitting day
Line；Power splitter 2 connects local vibration source, receiver 1 and receiver 2；
The data collecting system includes：Analog quadrature demodulation module, analog-to-digital conversion module, main control module, voltage and current monitoring
Module, data transmission module, laser ranging module, GPS positioning module, system clock synchronization module, receiver control module, step
Inlet signal source control module and power module；
Analog quadrature demodulation module：The analog if signal transmitted to 2 receivers carries out analog quadrature demodulation, produces 2
Group I and Q two-way baseband signals, and export to analog-to-digital conversion module；
Analog-to-digital conversion module：To 2 groups of I and Q two-way baseband signal samples of analog quadrature demodulation module input, it is then converted into
Digital signal, then export to main control module；
Main control module：It is the control centre of whole system, completes the timing management of whole system, data buffer storage, the control of translation ground
Control instruction translation in base station processed, controls data transfer, the instruction works for making modules be controlled according to ground control base station；
Power module：Input power is converted into modules required voltage value and is connected thereto, is realized to modules
Power supply；
Voltage and current monitoring module：The voltage and current of whole data collecting system is monitored in real time, to determine data collecting system
Whether work normally；
Data transmission module：The data that analog-to-digital conversion module is collected are encoded, by wireless data link, after coding
Data transfer to ground control base station；
Laser ranging module：, to the accurate distance on ground, school is provided for follow-up GPR Imaging to measurement unmanned plane in real time
Positive parameter；
GPS positioning module：For the positional information of positioning unmanned plane in real time, positional information ginseng is provided for follow-up GPR Imaging
Number；
System clock synchronization module：For synchronization system clock, make stairstep signal source, receiver and data collecting system clock are same
Step；
Receiver control module：To the gain control instruction issued to receiver ground control base station；
Stairstep signal source control module：Its original frequency, Step Frequency are controlled to issue ground control base station to stairstep signal source
The instruction of rate value, frequency point number and frequency point duration, and trigger pulse is sent to stairstep signal source, control its stepping frequency hopping.
2. unmanned aerial vehicle onboard step frequency Ground Penetrating Radar as claimed in claim 1, it is characterised in that：The data collecting system is adopted
Modules are isolated with cavity.
3. unmanned aerial vehicle onboard step frequency Ground Penetrating Radar as claimed in claim 1, it is characterised in that：
The collection of letters number of the ground control base station refers to receive the digital signal that data collecting system sends over, and carries out numeral
The digital signal of target echo, is converted into corresponding image information by decoding by image processing algorithm, in host computer in real time
Display target image；Signalling refers to send receiver gain control instruction, the control instruction in stairstep signal source, data acquisition system
The control instruction at the data acquisition moment of system.
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| CN201710725458.7A CN107991709B (en) | 2017-08-22 | 2017-08-22 | A kind of unmanned aerial vehicle onboard step frequency Ground Penetrating Radar |
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| CN201710725458.7A CN107991709B (en) | 2017-08-22 | 2017-08-22 | A kind of unmanned aerial vehicle onboard step frequency Ground Penetrating Radar |
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| CN107991709B CN107991709B (en) | 2019-07-19 |
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Cited By (4)
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| WO2019237732A1 (en) * | 2018-06-11 | 2019-12-19 | 南京邮电大学南通研究院有限公司 | Control system for ultra-wideband ground-penetrating radar |
| CN112924946A (en) * | 2021-03-11 | 2021-06-08 | 内江瀚海智行科技有限公司 | Multi-source data time delay control and clock synchronous acquisition method in radar test |
| CN113504539A (en) * | 2021-07-08 | 2021-10-15 | 四川华晖盛世探测技术有限公司 | Ground penetrating radar detection device and method carried by unmanned aerial vehicle |
| CN114035233A (en) * | 2021-11-30 | 2022-02-11 | 武汉声赫科技有限公司 | Stepping frequency phased array ground penetrating radar transmitting and receiving system |
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| CN113504539A (en) * | 2021-07-08 | 2021-10-15 | 四川华晖盛世探测技术有限公司 | Ground penetrating radar detection device and method carried by unmanned aerial vehicle |
| CN114035233A (en) * | 2021-11-30 | 2022-02-11 | 武汉声赫科技有限公司 | Stepping frequency phased array ground penetrating radar transmitting and receiving system |
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