CN109974573A - A kind of three-dimensional deformation measurement method that microwave radar is merged with Beidou - Google Patents
A kind of three-dimensional deformation measurement method that microwave radar is merged with Beidou Download PDFInfo
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Abstract
The invention discloses the three-dimensional deformation measurement methods that a kind of microwave radar is merged with Beidou, including radar surveying host, 3 radar surveying slaves and active reflector, specific steps are as follows: S1, be separately positioned at opposite fixed point different outside measured point using 3 radar surveying slaves as datum mark；S2, radar surveying host successively send microwave double frequency coding address to active reflector by antenna；S3, active reflector receive the address matching behind microwave double frequency coding address with itself；S4, active reflector receive the distance measuring signal that 3 radar surveying slaves are sent and issue return signal；Received return signal is obtained distance measurement result by demodulation, filtering, time difference measurement, phase demodulation by S5,3 radar surveying slaves；S6, the three-D displacement deformation quantity that active reflector is calculated according to the coordinate information of distance measurement result and 3 radar surveying slaves.The present invention makes the measurement accuracy of dipper system three-dimensional deformation break through millimetre-sized bottleneck, moreover it is possible to all weather operations.
Description
Technical Field
The invention relates to the field of radar measurement, in particular to a three-dimensional deformation measurement method integrating a microwave radar and a Beidou.
Background
As the first traffic and large manufacturing countries of the world, China has more than ten million bridges, more than thirty thousand tunnels and more than two hundred and ten thousand hoisting machines, wherein a considerable part of the bridges have different degrees of structural hidden dangers due to overload or overdimension. The three-dimensional deformation of the structure key points reflects the overall stress, decay characteristics and hidden structural danger of the structure and is a key parameter for structure monitoring; the deflection is a vertical one-dimensional deformation component in the beam structure, and is deformation of key parts such as a span or an end point of various beam structures. But large-scale structural deformation monitoring has three bottleneck problems of high precision, long distance and all weather. The total station acquires one-dimensional distance and two-dimensional angle information of a measured target by using a laser range finder and a photoelectric goniometer, converts a spatial three-dimensional coordinate of the measured target, has the precision reaching millimeter level, and is the most common engineering measuring instrument with the highest precision at present. However, the laser aiming at the remote target to be measured needs manual operation, so that the laser aiming device is not suitable for unattended continuous structural health monitoring.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a three-dimensional deformation measuring method with the integration of a microwave radar and a Beidou, wherein microwaves are used for replacing light waves as measuring tools, and the three-dimensional deformation measuring method can work all the day.
In order to solve the technical problems, the invention adopts the following technical scheme:
a three-dimensional deformation measurement method integrating a microwave radar and a Beidou comprises a radar measurement host, 3 radar measurement slave machines and an active reflector, and comprises the following steps:
s1, the 3 radar measuring slave machines are respectively arranged at different relative immobile points outside the measured point as reference points, and active reflectors are respectively arranged at the measured point;
s2, the radar measurement host machine sequentially sends microwave double-frequency coding addresses to the active reflector through an antenna and sends control signals to the radar measurement slave machine, and the radar measurement slave machine sends ranging signals to the active reflector;
s3, the active reflector matches the microwave double-frequency coding address with the address of the active reflector after receiving the microwave double-frequency coding address, and the electronic switch is turned on after the matching is successful;
s4, the active reflector receives ranging signals sent by the 3 radar measuring slave machines and sends return signals to the 3 radar measuring slave machines;
s5, the 3 radar measurement slave machines obtain a distance measurement result by demodulating, filtering, time difference measuring and phase discriminating the received return signals, and transmit the distance measurement result, the Beidou time and the coordinate information of the radar measurement slave machines to the radar measurement host machine;
and S6, the radar measurement host calculates the three-dimensional displacement deformation of the active reflector according to the ranging result and the coordinate information of the radar measurement slave.
As optimization, the radar measurement host and the radar measurement slave comprise a microwave radar range finder and a Beidou receiving unit, the radar measurement host further comprises a control system and a fifth antenna, and the radar measurement slave further comprises a first antenna and a fourth antenna; the active reflector comprises a second antenna, a third antenna, a second microprocessor, a second circulator, a second frequency mixer, a second power divider, a low-pass filter, a second demodulator, a modulator, a second microwave source, an address resolution and matcher, a second power amplifier, a third power amplifier, a fourth power amplifier and a third low-noise amplifier; the second circulator is respectively connected with the second antenna, the output end of the third power amplifier and the input end of the third low-noise amplifier; the input end of the second power divider is connected with the second microwave source; the output end of the second power divider is respectively connected with the input end of the third power amplifier and the input end of the second mixer; the other input end of the second mixer is connected with the output end of the third low-noise amplifier, and the output end of the second mixer is connected with the low-pass filter; the output end of the low-pass filter is connected with the second demodulator through the second power amplifier, the output end of the second demodulator is connected with the address resolution and matcher, the output end of the address resolution and matcher is connected with the second microprocessor, the output end of the second microprocessor is connected with the modulator, and the output end of the modulator is connected with the third antenna through the fourth power amplifier.
As optimization, the control system comprises an ASIC three-dimensional resolver, a first microprocessor, a dual-frequency encoder, a first amplifier, an optical fiber communication system and a microwave emitter, the first microprocessor is respectively connected with an input/output end of the ASIC three-dimensional resolver, an input end of the dual-frequency encoder and an input/output end of the optical fiber communication system, the first amplifier is respectively connected with an output end of the dual-frequency encoder and an input end of the microwave emitter, and an output end of the microwave emitter is connected with the fifth antenna; the microwave radar range finder comprises a microcontroller, a phase discrimination processing unit, a time difference measuring unit, a first circulator, a first demodulator, a first power divider, a first microwave source, a first frequency mixer, a first filter, a second filter, a third filter, a fourth filter, a fifth filter, a first low-noise amplifier, a second low-noise amplifier and a first power amplifier, wherein the microcontroller is respectively connected with the output end of the Beidou receiving unit, the input end/output end of an optical fiber communication system, the output end of the phase discrimination processing unit, the output end of the time difference measuring unit and the input end of the first microwave source; the input end of the first power divider is connected with the output end of the first microwave source, and the output end of the first power divider is respectively connected with the input ends of the first power amplifier and the first frequency mixer; the output end of the first power amplifier is connected with the first circulator; the first circulator is also respectively connected with the first antenna and the input end of the first low-noise amplifier; the first low noise amplifier is connected with the other input end of the first mixer through the first filter; the output end of the first frequency mixer is respectively connected with the input end of the phase discrimination processing unit and the input end of the time difference measuring unit through the second filter; the fourth antenna is connected with the first demodulator through the second low-noise amplifier, and the first demodulator is respectively connected with the input end of the phase discrimination processing unit and the input end of the time difference measuring unit through the third filter, the fourth filter and the fifth filter.
As an optimization, the calculation method of step S6 is as follows:
s6.1, setting the coordinates of the 3 radar measuring slave machines as Ai(xi，yi，zi) The distance measurement result is Ri(ii) a The distance measurement result after change is Ri'; i is the number of the radar measuring slave, i is 1,2, 3;
s6.2, constructing an equation set to calculate the initial coordinate of the measured point to be B (x, y, z):
can obtain
S6.3, calculating the distance variation E from the measured point to the 3 radar measuring slave machines;
s6.4, constructing an equation set to calculate the three-dimensional space displacement of the measured point, thereby obtaining the three-dimensional displacement deformation quantity D of the measured point:
as an optimization, the ranging result RiThe time difference measuring unit in the microwave radar range finder completes the measurement; coordinates of the 3 radar measurement slave machines are calibrated by matching the Beidou receiving unit with the Beidou foundation enhancement system.
As an optimization, the radar measurement master machine is connected with the 3 radar measurement slave machines through optical fibers.
The invention has the beneficial effects that:
according to the invention, microwaves are used for replacing light waves as a measuring tool, a plurality of ground microwave distance measuring instruments are used for completing high-precision distance measurement of structural key points, and the space coordinates of measuring points are calculated by referring to the working principle of a satellite positioning system, so that the measuring precision of the three-dimensional deformation of the Beidou system breaks through the bottleneck of millimeter level, and the Beidou system can work all day long and is independent of the working distance of a target.
Drawings
FIG. 1 is a flow chart of a method of the three-dimensional deformation measurement method based on the fusion of the microwave radar and the Beidou.
Fig. 2 is a schematic structural diagram of a radar measurement host, a radar measurement slave and an active reflector of the microwave radar and Beidou integrated three-dimensional deformation measurement method.
Fig. 3 is a schematic diagram of a specific structure of the radar measurement master and the radar measurement slave.
Fig. 4 is a schematic diagram of a specific structure of the active reflector.
In the drawing, 1 is a radar measurement host, 11 is a control system, 111 is an ASIC three-dimensional resolver, 112 is a first microprocessor, 113 is a dual-band encoder, 114 is a first amplifier, 115 is a microwave emitter, 116 is an optical fiber communication system, 12 is a microwave radar range finder, 121 is a microcontroller, 1211 is a phase discrimination processing unit, 1212 is a time difference measuring unit, 122 is a first microwave source, 123 is a first power divider, 124 is a first power amplifier, 125 is a first circulator, 126 is a first mixer, 127 is a first demodulator, 128 is a first low noise amplifier, 1281 is a second low noise amplifier, 129 is a first filter, 1291 is a second filter, 1292 is a third filter, 1293 is a fourth filter, 1294 is a fifth filter, 13 is a beidou receiving unit, 14 is a fifth antenna, 2 is a radar measurement slave, 21 is a first antenna, 22 is a fourth antenna, 3 is an active reflector, 31 is a second antenna, 311 is a third antenna, 32 is a second circulator, 33 is a second mixer, 34 is a low-pass filter, 35 is a second microwave source, 36 is a second demodulator, 361 is a modulator, 37 is an address resolution and matcher, 38 is a second power divider, 39 is a second power amplifier, 391 is a third power amplifier, 392 is a fourth power amplifier, and 393 is a third low noise amplifier.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1, the three-dimensional deformation measurement method combining the microwave radar and the big dipper includes a radar measurement host 1, 3 radar measurement slave machines 2 and an active reflector 3, wherein the radar measurement host 1 is connected with the 3 radar measurement slave machines 2 through optical fibers.
The radar measurement host 1 and the radar measurement slave 2 both comprise a microwave radar range finder 12 and a Beidou receiving unit 13, the radar measurement host 1 further comprises a control system 11 and a fifth antenna 14, and the radar measurement slave 2 further comprises a first antenna 21 and a fourth antenna 22.
The control system 11 is composed of a DSP chip and an FPGA, and includes an ASIC three-dimensional parser 111, a first microprocessor 112, a dual-frequency encoder 113, a first amplifier 114, an optical fiber communication system 116, and a microwave emitter 115, where the first microprocessor 112 is connected to an input/output end of the ASIC three-dimensional parser 111, an input end of the dual-frequency encoder 113, and an input/output end of the optical fiber communication system 116, respectively, the first amplifier 114 is connected to an output end of the dual-frequency encoder 113 and an input end of the microwave emitter 115, and an output end of the microwave emitter 115 is connected to the fifth antenna 14. In this embodiment, the fifth antenna 14 is a microwave radar rod-shaped transmitting antenna.
The control system 11 is used for sending microwave double-frequency coding addresses to the active reflector 3 arranged at the measured point to the active reflector 3, and the active reflector 3 matched with the addresses turns on an electronic switch; the radar measurement host 1 sends a control signal to the radar measurement slave 2 through an optical fiber, the radar measurement slave 2 is controlled to send a ranging signal to the active reflector 3, the active reflector 3 sends a return signal to the radar measurement slave 2, the radar measurement slave 2 obtains a ranging result through demodulation, filtering and phase discrimination of the return signal, then the ranging result and Beidou time are sent to the radar measurement host 1 through the optical fiber, and the radar measurement host 1 carries out three-dimensional deformation data analysis on the ranging result.
The specific process of the control system 11 is as follows: the first microprocessor 112 controls the dual frequency encoder 113 to generate a dual frequency encoded address signal, amplifies the signal by the first amplifier 114, and transmits the amplified dual frequency encoded address signal to the active reflector through the microwave launcher 115 and the fifth antenna 14. The first microprocessor 112 controls the radar measurement to transmit a ranging signal from the microwave radar range finder 12 of the slave 2 through the optical fiber, and also receives the distance information transmitted from the slave 2 through the radar measurement through the optical fiber. The Beidou receiving unit 13 is matched with a Beidou foundation enhancement system to accurately calibrate the three-dimensional coordinates of the 3 radar measuring slave machines 2, and provides accurate time for the distance measurement after the distance measurement is finished. The Beidou receiving unit 13 specifically comprises a Beidou receiver and a Beidou antenna. After receiving the return signal of the measured point, the radar measuring slave 2 demodulates, filters and discriminates phase, then sends the ranging result and the Beidou time to the radar measuring host 1 through the optical fiber communication system, and the ASIC three-dimensional analyzer 111 completes three-dimensional deformation analysis. As can be seen from the measurement principle, the analytic process needs to solve a set of nonlinear equations. However, when the distance variation is small, a first-order term can be selected through the Taylor number expansion, and the nonlinear equation set is changed into a linear equation set. The control system 11 is composed of a DSP chip and an FPGA, and the level of more than 2KHz can be realized by utilizing the digital signal processing function of the DSP and combining the parallel processing capability of the FPGA through the single-point three-dimensional analysis speed.
In this embodiment, the first microprocessor 112 may be a common microprocessor on the market, and the dual-frequency encoder may be a dual-channel photoelectric/hall/motor encoder.
The microwave radar range finder 12 includes a microcontroller 121, a phase detection processing unit 1211, a time difference measuring unit 1212, a first circulator 125, a first demodulator 127, a first power divider 123, a first microwave source 122, a first mixer 126, a first filter 129, a second filter 1291, a third filter 1292, a fourth filter 1293, a fifth filter 1294, a first low-noise amplifier, a 128-second low-noise amplifier 1281 and a first power amplifier 124, where the microcontroller 121 is connected to an output terminal of the beidou receiving unit 13, an input/output terminal of the optical fiber communication system 116, an output terminal of the phase detection processing unit 1211, an output terminal of the time difference measuring unit 1212 and an input terminal of the first microwave source 122, respectively; the input end of the first power divider 123 is connected to the output end of the first microwave source 122, and the output end of the first power divider 123 is connected to the input ends of the first power amplifier 124 and the first mixer 126, respectively; the output end of the first power amplifier 124 is connected with the first circulator 125; the first circulator 125 is further connected to the first antenna 21 and the input end of the first low noise amplifier 128, respectively; a first low noise amplifier 128 is connected to the other input terminal of the first mixer 126 through a first filter 129; the output end of the first mixer 126 is connected to the input end of the phase detection processing unit 1211 and the input end of the time difference measuring unit 1212 through the second filter 1291, respectively; the fourth antenna 22 is connected to the first demodulator 127 through the second low noise amplifier 1281, and the first demodulator 127 is connected to the input terminal of the phase detection processing unit 1211 and the input terminal of the time difference measuring unit 1212 through the third filter 1292, the fourth filter 1293, and the fifth filter 1294, respectively. The first circulator 125 is oriented from the first power amplifier 124 to the first antenna 21, and from the first antenna 21 to the first low noise amplifier 128.
In this embodiment, the first antenna 21 is a microwave radar transmitting/receiving antenna, and the fourth antenna 22 is a microwave radar receiving antenna. The microcontroller 121 employs an ARM microcontroller, however, this is not representative of just such a microcontroller.
The microwave radar range finder 12 combines high-precision laser interference phase ranging with a microwave active reflection technology, microwave active different frequency reflection and high-precision digital identification, and achieves a high-precision ranging target by utilizing a frequency difference and time difference identification technology of carrier frequency and a high-speed digital phase identification technology.
The specific process of the microwave radar range finder 12 is as follows: after receiving the control signal from the radar measurement host 1, the microcontroller 121 sends a control signal to the first microwave source 122, the first microwave source 122 generates a microwave ranging signal and sends the microwave ranging signal to the first power divider 123, the first power divider 123 divides the microwave ranging signal into two parts, one part of the signal is sent to the first circulator 125 through the first power amplifier 124, and the signal is sent to the active reflector 3 through the first antenna 21 connected to the first circulator 125; the other signal is directly transmitted to the first mixer 126, and the output signal of the first mixer 126 is sent to the phase detection processing unit 1211 and the time difference measuring unit 1212 through the second filter 1291.
Since the 2.4GHz and 5.8GHz bands are mature, in the embodiment, the output signal frequency of the first microwave source 122 includes the 2.4GHz band. The first power amplifier 124 and the first low noise amplifier 128 amplify the signal, and the input range of the first power amplifier and the first low noise amplifier includes a 2.4GHz band; to ensure high accuracy, the noise figure should be low; the gain of the frequency band is more than 20-25 dB. The second low-noise amplifier 1281 is configured to improve a signal-to-noise ratio of the phase-detected signal entering the phase-detection processing unit, and the gain of the second low-noise amplifier needs to reach 30-40dB to ensure the signal-to-noise ratio of the phase-detected signal.
In this embodiment, the first to fifth filters are all band pass filters, and complete the noise filtering of signals in the 2.4GHz band, and the passband thereof includes 2.4GHz, and has low passband loss and high out-of-band rejection.
The first antenna 21 and the fourth antenna 22 respectively receive return signals sent by the active reflector 3, and one path of signals passes through the second low-noise amplifier 1281, the first demodulator 127, and the third to fifth filters in sequence and is transmitted to the phase detection processing unit 1222 and the time difference measuring unit 1212; the other path of signal passes through the first circulator 125, the first low noise amplifier 128, the first filter 129, and the first mixer 126 in sequence, and the first mixer 126 mixes one path of signal of the first microwave source 122 with the other path of signal and transmits the mixed signal to the phase detection processing unit 1222 and the time difference measuring unit 1212 through the second filter 1291.
In this embodiment, the third to fifth filters are arranged to measure the three-dimensional displacement of the active reflector, so that three microwaves need to be demodulated and filtered, and the phase difference between the received signal and the transmitted signal is measured by the phase discrimination processing unit, so as to obtain the three-dimensional displacement of the active reflector.
The active reflector 3 comprises a second antenna 31, a third antenna 311, a second microprocessor 371, a second circulator 32, a second mixer 33, a second power divider 38, a low-pass filter 34, a second demodulator 36, a modulator 361, a second microwave source 35, an address resolution and matcher 37, a second power amplifier 39, a third power amplifier 391, a fourth power amplifier 392 and a third low-noise amplifier 393; the second circulator 32 is respectively connected with the second antenna 31, the output end of the third power amplifier 391 and the input end of the third low noise amplifier 393; the input end of the second power divider 38 is connected to the second microwave source 35; the output end of the second power divider 38 is connected to the input end of the third power amplifier 391 and the input end of the second mixer 33 respectively; the other input terminal of the second mixer 33 is connected to the output terminal of the third low noise amplifier 393, and the output terminal of the second mixer 33 is connected to the low pass filter 34; the output end of the low-pass filter 34 is connected to the second demodulator 36 through a second power amplifier 39, the output end of the second demodulator 36 is connected to an address resolution and matcher 37, the output end of the address resolution and matcher 37 is connected to a second microprocessor 371, the output end of the second microprocessor 371 is connected to a modulator 361, and the output end of the modulator 361 is connected to a third antenna 311 through a fourth power amplifier 392. In this embodiment, the second demodulator 36 is an FM demodulator. The second circulator 32 is oriented from the second antenna 31 to the third low noise amplifier 393 and the third power 391 is applied to the second antenna 31. In this embodiment, the second antenna 31 is a microwave radar transmitting/receiving antenna, and the third antenna 311 is a microwave radar transmitting antenna. The second microprocessor 371 may be any commercially available microprocessor.
The second microwave source 35 is a signal source capable of outputting any value of 138-4200MHz, so as to conveniently set the difference frequency with the first microwave source 122.
The first power divider 123 and the second power divider 38 mainly implement microwave signal splitting, and the frequency range of the input end of the first power divider 123 should include a 2.4GHz band, and the distribution loss is about 3 dB; to avoid signal crosstalk, it also needs to have a certain port isolation.
The low pass filter 34 performs the function of extracting low frequency signals, so the passband thereof must include the phase measurement frequency, the passband is DC-2MHz, and the out-of-band rejection can reach more than 56dB within 3-1000 MHz.
The second power amplifier 39 is used to amplify the low frequency signal to ensure the modulation degree of the fm signal entering the second demodulator 36, and the gain thereof needs to reach 30-40dB to ensure the modulation degree of the fm signal.
To ensure the measurement accuracy, the first antenna and the second antenna are selected to be rod antennas with a gain of 14dB at 2.4GHz, and the third antenna and the fourth antenna are selected to be rod antennas with a gain of 16dB at 5.8 GHz.
The address analyzing and matching device 37 is used for analyzing the dual-frequency coded address signal transmitted by the radar measuring host 1 and matching the address of the dual-frequency coded address signal, when the address of the active reflector 3 is successfully matched with the dual-frequency coded address signal transmitted by the radar measuring host 1, the electronic switch is turned on, the second microprocessor 371 starts to work, the second antenna 31 of the active reflector 3 receives the ranging signal transmitted by the radar measuring slave 2, the second microwave source 35 sends a return signal and divides the signal into two parts through the second power divider 38, wherein one path of signal and the ranging signal sent by the first microwave source of the radar measuring slave 2 sequentially pass through the second mixer 33, the low-pass filter 34 and the second power amplifier 39 and are transmitted to the second microprocessor 371, the second microprocessor 371 controls the modulator 361 to re-modulate the received signal to 5.8GHz, the signal is amplified through the fourth power amplifier 392 and transmitted to the radar measuring slave 2 through the third antenna 311, received by the radar measurement from the fourth antenna 22 of the slave 2; the other path of signal is transmitted to the radar measuring slave 2 through the second antenna 31 via the third power amplifier 391 and the second circulator 32 in sequence, and is received by the first antenna 21 of the radar measuring slave 2.
Different active reflectors 3 are arranged at different measured points, each active reflector 3 has a specific address, and only the active reflectors with matched addresses return signals within a specific time, so that the time division multiplexing of the multiple measured points is realized. Specifically, a frequency identification mode is adopted, so that each radar measuring slave machine and the center frequency f of the active reflector signal source of each target point are respectively enabledImAnd fIInThere is a slight difference frequency deltafImAnd Δ fIInThe centre frequencies of the transmitted signals of radar-measuring slaves and active reflectors being different from each other, i.e. Δ fIm≠ΔfI(m+1)And Δ fIIn≠ΔfII(j+n)Wherein f isIRepresentation radar measuring slaveSignal source center frequency, fIIThe signal source center frequency of the active reflector is shown, and m and n respectively show the number of the radar measuring slave and the active reflector. The radar measurement is completed by the first mixer and the second mixer from the difference frequency of the active reflector and the slave reflector.
By adjusting the phase measurement frequency and utilizing the frequency identification technology in each radar measurement slave machine, the identification of multiple radars and multiple targets is realized in the frequency domain, and the leakage and the multi-path interference of a radar transmitting antenna are eliminated. In this embodiment, the mixer may be replaced with a multiplier.
The specific steps for measuring the three-dimensional deformation are as follows:
and S1, respectively arranging 3 radar measuring slave machines as reference points at different relative immobile points outside the measured point, and respectively arranging active reflectors at the measured point. In this embodiment, the distance from the radar measuring slave to the measured point should be less than 1000 m.
And S2, the radar measurement host sequentially sends microwave double-frequency coding addresses to the active reflector through the antenna and sends control signals to the radar measurement slave, and the radar measurement slave sends ranging signals to the active reflector. The first microprocessor controls the dual-frequency encoder to provide a dual-frequency encoded address, which is transmitted by the microwave transmitter to the active reflector via the fifth antenna.
And S3, the active reflector receives the microwave double-frequency coding address and then matches the microwave double-frequency coding address with the address of the active reflector, and the electronic switch is turned on after the microwave double-frequency coding address is successfully matched with the address of the active reflector.
And S4, the active reflector receives the ranging signals sent by the 3 radar measuring slave machines and sends return signals to the 3 radar measuring slave machines.
And S5, the 3 radar measurement slave machines obtain a distance measurement result by demodulating the received return signals, filtering, measuring time difference and phase discrimination, and transmit the distance measurement result, the Beidou time and the coordinate information of the radar measurement slave machines to the radar measurement host machine.
The time difference measuring unit is used for measuring the initial distance, and the phase discrimination processing unit is used for measuring the distance variation. In this embodiment, the time difference measuring unit adopts a TDC-GP2 dedicated time measurement circuit, and the phase detection processing unit adopts a fourier transform phase detection method.
The ranging principle of the TDC-GP2 is as follows: the microwave radar distance meter transmits microwaves, and simultaneously inputs transmitted microwave pulse waves to a start port of the TDC-GP2 to trigger time difference measurement. Once the reflected microwave pulse wave returning from the active reflector reaches the antenna, a stop signal is generated to the TDC, at which time the time difference measurement is complete. The time difference between the microwave pulse wave from start to stop is accurately recorded by TDC-GP2 for calculating the distance of the active reflector from the microwave radar range finder.
And S6, calculating the three-dimensional displacement deformation quantity of the active reflector according to the ranging result and the coordinate information of the radar measuring host and the radar measuring slave.
The method comprises the following specific steps:
s6.1, setting the coordinates of the slave machines with 3 radar measurements as Ai(xi，yi，zi) The initial ranging result is Ri(ii) a The distance measurement result after change is Ri'; i is the number of the radar measuring slave, i is 1,2, 3. And the coordinate Beidou receiving unit of the 3 radar measuring slave machines receives the calculation result of the Beidou satellite system.
S6.2, constructing an equation set to calculate the initial coordinate of the measured point to be B (x, y, z):
can obtain
S6.3, calculating the distance variation E from the measured point to the 3 radar measuring slave machines;
s6.4, constructing an equation set to calculate the three-dimensional space displacement of the measured point, thereby obtaining the three-dimensional displacement deformation quantity D of the measured point:
the specific method for measuring the displacement deformation amount is as follows:
suppose that the respective signal sources I and II of the microwave radar range finder and the active reflector respectively send out frequencies f0And f1Is modulated, demodulated and converted into fBiAnd fAiThe pilot frequency microwave signals are respectively transmitted to a far end through respective antennas; the two beams of counter-transmitted different-frequency microwave signals are transmitted in a long distance, and the phase discrimination processing unit in the radar measurement host/radar measurement slave machine is used for measuring fBiAnd fAiPhase difference betweenThen distanceWherein,
c is the speed of light, N is f0The number of the corresponding half wavelengths is calculated by the time difference measured by the time difference measuring unit and the period of the microwave;tested by the phase discrimination processing unit.
The displacement deformation amount Δ R is:
the displacement deformation measurement accuracy δ (Δ R) is:
the phase measurement of the microwave interference signal can realize the high-precision displacement measurement of the optical wavelength level, and the measurement precision is irrelevant to the working distance. The distance variation measuring precision delta (delta R) of the radar is only dependent on the phase discrimination error when the radar is transplanted into the radarAnd microwave frequency f0。
For example, for f0For 1GHz microwave, only the phase discrimination accuracy is broken throughThe distance measurement precision of 1mm can be broken through. According to the presentThe phase discrimination technology level and the free microwave working frequency of 2.4GHz and 5.8GHz, the theoretical distance measurement precision of the radar can reach 0.01mm, and the theoretical measurement precision of the three-dimensional deformation can break through the millimeter level.
Finally, it should be noted that: various modifications and alterations of this invention may be made by those skilled in the art without departing from the spirit and scope of this invention. Thus, it is intended that the present invention cover the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents.
Claims (6)
1. A three-dimensional deformation measurement method integrating a microwave radar and a Beidou comprises a radar measurement host, 3 radar measurement slave machines and an active reflector, and is characterized by comprising the following steps:
s1, the 3 radar measuring slave machines are respectively arranged at different relative immobile points outside the measured point as reference points, and active reflectors are respectively arranged at the measured point;
s2, the radar measurement host machine sequentially sends microwave double-frequency coding addresses to the active reflector through an antenna and sends control signals to the radar measurement slave machine, and the radar measurement slave machine sends ranging signals to the active reflector;
s3, the active reflector matches the microwave double-frequency coding address with the address of the active reflector after receiving the microwave double-frequency coding address, and the electronic switch is turned on after the matching is successful;
s4, the active reflector receives ranging signals sent by the 3 radar measuring slave machines and sends return signals to the 3 radar measuring slave machines;
s5, the 3 radar measurement slave machines obtain a distance measurement result by demodulating, filtering, time difference measuring and phase discriminating the received return signals, and transmit the distance measurement result, the Beidou time and the coordinate information of the radar measurement slave machines to the radar measurement host machine;
and S6, the radar measurement host calculates the three-dimensional displacement deformation quantity of the active reflector according to the ranging result and the coordinate information of the 3 radar measurement slave machines.
2. The microwave radar and Beidou integrated three-dimensional deformation measurement method according to claim 1, wherein the radar measurement host machine and the radar measurement slave machine both comprise a microwave radar range finder and a Beidou receiving unit, the radar measurement host machine further comprises a control system and a fifth antenna, and the radar measurement slave machine further comprises a first antenna and a fourth antenna; the active reflector comprises a second antenna, a third antenna, a second microprocessor, a second circulator, a second frequency mixer, a second power divider, a low-pass filter, a second demodulator, a modulator, a second microwave source, an address analyzing and matching unit, a second power amplifier, a third power amplifier, a fourth power amplifier and a third low-noise amplifier; the second circulator is respectively connected with the second antenna, the output end of the third power amplifier and the input end of the third low-noise amplifier; the input end of the second power divider is connected with the second microwave source; the output end of the second power divider is respectively connected with the input end of the third power amplifier and the input end of the second mixer; the other input end of the second mixer is connected with the output end of the third low-noise amplifier, and the output end of the second mixer is connected with the low-pass filter; the output end of the low-pass filter is connected with the second demodulator through the second power amplifier, the output end of the second demodulator is connected with the address resolution and matcher, the output end of the address resolution and matcher is connected with the second microprocessor, the output end of the second microprocessor is connected with the modulator, and the output end of the modulator is connected with the third antenna through the fourth power amplifier.
3. The microwave radar and Beidou integrated three-dimensional deformation measurement method according to claim 2, characterized in that the control system comprises an ASIC three-dimensional resolver, a first microprocessor, a dual-frequency encoder, a first amplifier, an optical fiber communication system and a microwave emitter, wherein the first microprocessor is respectively connected with an input/output end of the ASIC three-dimensional resolver, an input end of the dual-frequency encoder and an input/output end of the optical fiber communication system, the first amplifier is respectively connected with an output end of the dual-frequency encoder and an input end of the microwave emitter, and an output end of the microwave emitter is connected with the fifth antenna; the microwave radar range finder comprises a microcontroller, a phase discrimination processing unit, a time difference measuring unit, a first circulator, a first demodulator, a first power divider, a first microwave source, a first frequency mixer, a first filter, a second filter, a third filter, a fourth filter, a fifth filter, a first low-noise amplifier, a second low-noise amplifier and a first power amplifier, wherein the microcontroller is respectively connected with the output end of the Beidou receiving unit, the input end/output end of an optical fiber communication system, the output end of the phase discrimination processing unit, the output end of the time difference measuring unit and the input end of the first microwave source; the input end of the first power divider is connected with the output end of the first microwave source, and the output end of the first power divider is respectively connected with the input ends of the first power amplifier and the first frequency mixer; the output end of the first power amplifier is connected with the first circulator; the first circulator is also respectively connected with the first antenna and the input end of the first low-noise amplifier; the first low noise amplifier is connected with the other input end of the first mixer through the first filter; the output end of the first frequency mixer is respectively connected with the input end of the phase discrimination processing unit and the input end of the time difference measuring unit through the second filter; the fourth antenna is connected with the first demodulator through the second low-noise amplifier, and the first demodulator is respectively connected with the input end of the phase discrimination processing unit and the input end of the time difference measuring unit through the third filter, the fourth filter and the fifth filter.
4. The microwave radar and Beidou integrated three-dimensional deformation measurement method according to claim 1, wherein the calculation method of the step S6 is as follows:
s6.1, setting the coordinates of the 3 radar measuring slave machines as Ai(xi，yi，zi) The distance measurement result is Ri(ii) a The distance measurement result after change is Ri'; i is the number of the radar measuring slave, i is 1,2, 3;
s6.2, constructing an equation set to calculate the initial coordinate of the measured point to be B (x, y, z):
can obtain
S6.3, calculating the distance variation E from the measured point to the 3 radar measuring slave machines;
s6.4, constructing an equation set to calculate the three-dimensional space displacement of the measured point, thereby obtaining the three-dimensional displacement deformation quantity D of the measured point:
5. the microwave radar and Beidou integrated three-dimensional deformation measurement method according to claim 4, characterized in that the distance measurement result R isiThe time difference measuring unit in the microwave radar range finder completes the measurement; coordinates of the 3 radar measurement slave machines are calibrated by matching the Beidou receiving unit with the Beidou foundation enhancement system.
6. The microwave radar and Beidou integrated three-dimensional deformation measurement method according to claim 1, characterized in that the radar measurement host is connected with 3 radar measurement slave machines through optical fibers.
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