利用飞控特征的四旋翼无人机雷达回波信号仿真

Radar Echoes Simulation of the Quadrotor Drone Utilizing Flight Control Characteristics

针对现有旋翼无人机雷达回波信号仿真方法未将密切相关的机身速度与旋翼转速相关联的问题,本文利用旋翼无人机的飞控特征,提出了一种将机身运动与旋翼转速相结合的四旋翼无人机雷达回波信号仿真方法。首先根据雷达回波仿真所需参数利用四旋翼无人机飞控原理给出一种机身速度与旋翼转速关联的简化运动模型,其次推导并给出线性调频体制雷达四旋翼无人机雷达回波信号模型,最后利用坐标系转换将简化运动模型与回波信号模型相结合。实验结果表明,仿真回波信号的时频分析结果能够体现机身速度和旋翼转速相关联的微多普勒特征,对于无人机运动状态变化的情况,其雷达回波仿真有必要将机身速度与旋翼转速联合考虑。

Aiming at the problem that the existing radar echoes simulation method of rotor drones does not correlate the closely related drone body velocity with the rotors rotation speed, a quadrotor drone radar echoes signal simulation method utilizing flight control characteristics which combines the drone body motion with the rotors rotation speed is proposed. Firstly, according to the parameters required for radar echoes simulation, a simplified motion model associating the drone body speed with the rotors rotation speed is given using the flight control principle of the quadrotor drone. Then a radar echoes signal model of the quadrotor drone for the linear frequency modulated radar is deduced and given. Finally, the simplified motion model and the radar echoes signal model are combined employing the coordinate system conversion. The experiment results show that the time frequency analysis results of simulated echoes signals can reflect the micro-Doppler characteristics related to the speed of the drone body and the rotors rotation speed, and it is necessary to consider relation of the drone body speed and the rotors rotation speed in the radar echoes simulation when the drone motion state varies.