旋翼无人机载SAR杠杆臂误差补偿算法  

Lever Arm Error Compensation Algorithm in Unmanned Helicopter SAR

作　　者：夏伟 李杨寰[2] 梁福来[2] 周智敏[2] 

机构地区：[1]中航工业602研究所,江西景德镇333001 [2]国防科技大学电子科学与工程学院,湖南长沙410073

出　　处：《计算机仿真》2013年第6期107-110,339,共5页Computer Simulation

摘　　要：研究旋翼无人机作为合成孔径雷达(Synthetic Aperture Radar,SAR)的移动平台,为了提高机动灵活性,但是同样也会带来剧烈的飞行扰动。通常借助于全球定位系统(Global Positioning System,GPS)实时获取雷达位置是常用的机载SAR运动补偿方法,但是GPS天线和雷达天线的安装位置在空间上并不重合,而二者之间的空间位置差被称为杠杆臂,杠杆臂的存在使得GPS测量结果并不能真实表征雷达天线位置,直接使用GPS测量结果将使得运动补偿出现偏差。提出的杠杆臂补偿方法,能够根据GPS测量结果实时解算雷达天线位置,从而使用更为准确的雷达运动参数补偿误差,获取高精度高质量的SAR图像。从旋翼无人机运动模型入手,分析了杠杆臂误差对成像的影响,并给出了依据GPS和姿态数据演算的雷达天线位置。最后,在仿真的基础上引入了实测的旋翼无人机的运动数据,验证了改进算法的有效性。Using unmanned helicopter （UHV） to load the synthetic aperture radar（SAR） can have high agility, but terrible vibration occurred in flying is also inevitable. To get the radar＇s real position by Global Positioning System （GPS） is a common motion compensating method. There is a distance between GPS antenna and radar antenna, which can not be fixed at totally same position called lever arm. Therefore, the GPS can not indicate the radar＇s real position and using its measurement directly will cause compensating errors. This paper presented an algorithm to com- pensate the motion error caused by lever arm, which calculates the radar real position by GPS measurement, improves the motion compensation accuracy and gets a SAR image of better quality. The system motion model was built first, then the effect of lever arm error for imaging was analyzed. After that, the steps and methods to solve radar antenna position according to GPS measurements were presented. Finally, real flight data of unmanned helicopter was introduced to the simulation to approve the validity of the algorithm.

关 键 词：旋翼无人机 合成孔径雷达 姿态补偿 全球定位系统 姿态测量 

分 类 号：TP395[自动化与计算机技术—计算机应用技术]