Trng i hc Bch Khoa H Ni Khoa in t Vin thng

K thut nh v v dn ng in t
Electronics Positioning and Navigations
TS. Trng Tun B mn K thut thng tin
H Ni, 8-2010

Ni dung
Khi qut chung v nh v v dn ng in t
Mt s khi nim H trc ta tng i, trc ta tuyt i Cc tham s xc nh v tr.

H thng Radar : Radio Detection and Ranging

Khi nim, phn loi, phng trnh Radar, din tch phn x hiu dng RCS, cu trc h thng, nguyn tc lm vic ...

H thng GNSS: Global Navigation Satellite Systems

Cu trc h thng Nguyn tc nh v v tinh. Tn hiu v tinh v bn tin dn ng ...

Ti liu tham kho

Phm Vn Tun , Gio trnh C s k thut nh v v dn ng in t, 1997 Simon Kingslay & Shaun Quegan , Understanding Radar Systems, 2003 Prog. AKSen v Dr. A.B.Bhattcharya, Radar system and Radio Aids to Navigation H.Urkowitz , Modern Radar Ramjee Prasad, Marina Ruggieri, Applied Satellite Navigation Using GPS, GALILEO, and Augmentation Systems, 2005

Chng 1: Khi qut chung v nh v v dn ng in t

 1. Khi nim v ng dng

Khi nim
nh v - Positioning:
xc nh v tr hay ta ca mt i tng (object) hay mc tiu (target) gn vi mt h ta xc nh. - Mt phng: mt t, mt bin 2 chiu ( 2 D - 2 Dimension) - Khng gian 3 chiu ( 3 D - 3 Dimension)

Dn ng - Navigation: hng dn, iu khin cc i tng (phng tin) chuyn ng theo mt qu o xc nh.

Khi nim
nh v v dn ng in t l h thng nh v v dn ng s dng thit b in t.
nh v v dn ng v tuyn - Radio Positioning and Navigation sng in t

H thng mt t: Cc thit b c b tr trn mt t: H thng Radar H thng v tinh: Cc thit b c b tr trong khng gian: H thng GPS

Mi quan h
o lng (M) nh v (P) Gim st (S)

Dn ng (N)

M: Measurement S: Surveillance

P: Positioning N: Navigation

ng dng
Giao thng:
Hng hi (mt bin), ng b, ng st 2 D Hng khng 3 D

bn , a thm. Kh tng thy vn. Y hc (siu m - nh v) Vin thng. Qun s.

in t hng khng
ATM: Air Traffic Management CNS:
Communication Navigation Surveillance

Ti nguyn khng gian

Khng phn = (din tch lnh th + din tch lnh hi) x 30km

Qun l khng lu - ATM

ti cng
tip cn

Hng tuyn (ng di)

tip cn

ti cng

en route

take off Ct cnh

approach landing H cnh

i pht mc

airport A

airport B

Air Traffic Management

M hnh mt ng bay

Cng A Vng A Vng B Vng C Vng B

Cng B Vng A

Vng khng gian Vng Vng khng gian ng di (hng Vng Vng khng gian khng gian khng gian ti cng tuyn) ti cng tip cn ct tip cn h cnh cnh

Hng khng
Hnh lang bay

300 m

Mc bay 9000 12000 mt 35 km

Air Traffic Management

- 02 Flight Information Regions : Hanoi Fir and Ho chi minh Fir. - 22 domestic airport and 60 flight routes (20 domestic and 40 international)

Air Traffic Management

Air Traffic Management

Air Traffic Management

Development Trends

Development Trends

 2. H trc ta v tham s xc nh v tr

H trc ta Coordinate System

H trc ta tng i. H thng nh v v dn ng mt t H trc ta tuyt i. H thng nh v v dn ng v tinh.

D N mt phng ng

LOS Range: c ly theo tm nhn thng Line of Sight

Hng - Direction
NNW NW: Ty Bc WNW W WWSW SWSW WSW N NNE NE: ng Bc NENE ENE EENE E ESE SE: ng Nam SSW S SSE

SW : Ty Nam

H ta A L

Bng cch kt hp gi tr v (latitude) v kinh (longitude)

V
V Bc N Kinh Ty W

Kinh
Kinh ng E

V Nam S

V : 0 900 N,S -900 900

Kinh : 0 1800 E,W -1800 1800

Ta c th xc nh mt v tr bt k trn tri t

Latitude and Longitude

ng v song song 900 v Bc Kinh tuyn gc ( 00) i qua Greenwich London, Anh ng kinh tuyn

ng xch o (00)

ng v song song Latitude parallels

90 N 80 N 60 N 40 N 20 N 0 20 S 40 S 60 S 80 S 90 S Equator

ng kinh song song

Longitudinal Parallels Longitude: 0-180 West
Prime Meridian (Greenwich England) 0 Longitude

Longitude: 0-180 East

Mt s cch vit tham s v tr theo v v kinh

40:26:46N,79:56:55W 40:26:46.302N 79:56:55.903W 4026'21"N 7958'36"W 40d 26' 21" N 79d 58' 36" W 40.446195N 79.948862W 40.446195, -79.948862 40 26.7717, -79 56.93172 Cch vit chun, thng dng: M (402621N, 795836W) DMS: Degree Minute Second DD : Decimal Degree

Latitude and Longitude

F(19050 S, 43050 W)

1905000 S: 19 degrees 50 minutes Latitude South -> 19 50 pht v Nam 4305000 W: 43 degrees 50 minutes Longitude West -> 43 50 pht kinh Ty

Cc bc

Latitude

Longitude
v ca M

O Tm tri t

Mt phng xch o

Mt phng kinh tuyn gc kinh ca M

Chuyn i ta a l dng DMS sang dng DD

Dng DMS : W8743'41" ? DD Tng s giy 43'41" = (43*60 + 41) = 2621 seconds. Ly phn d sau khi chia cho 3600: 2621 / 3600 0.728056 Kt qu : 87 + 0.728056 = 87.728056 Do l kinh ty nn c gi tr m: Kt qu l: - 87.728056.

Chuyn i ta a l dng DMS sang dng DD

Dng DMS : M (402621N, 795836W) ? DD

DMS: Degree Minute Second DD : Decimal Degree

V : 2621" = (26*60 + 21) = 1581 seconds. Ly phn d sau khi chia cho 3600: 1581 / 3600 0.4391 Kinh : 5836" = (58*60 + 36) = 3516 seconds.
Ly phn d sau khi chia cho 3600: 3516 / 3600 0,9766

Kt qu : M ( 40,4391, -79,9766 )

Chuyn i ta a l dng DD sang dng DMS

Dng DD: -87.728055 ? DMS Du m Kinh Ty
Phn : ly phn nguyn 87.728055

= 87 degrees.

Phn pht: nhn phn d vi 60

0.728055 x 60 = 43.6833 = 43 minutes. x 60 = 40.998 = 41 seconds (lm trn ln).

Phn giy: nhn phn d vi 60:

0.6833

C th lm trn xung 40 seconds, hoc nguyn phn thp phn Kt qu nhn c dng DMS l: W 8704341

Mt s n v
nm (nmi, Nm) : nautical mile dm 1 nm = 6080 ft (feet) 1 nm = 1852 m 1 m = 3,28 ft ; 1 ft = 0,304878 m 100 km = 54 nm V d - 322 km = ? (nm) - 1794 m = ? (ft) Vn tc : knot k hiu l kt; 1 knot = 1 nm/hour 110 knots ? km/h 210 km/h ? knots

Mt s n v
cao: Height: cao so vi mt t a.g.l ( above ground level) Altitude: cao so vi mt nc bin m.s.l ( mean sea level)

T l hin th bn RF
Large scale: 1:50,000

Small scale: 1:250,000

Mt s n v
T l hin th bn RF - Representative Fractions

V d: RF l 1: 650 000 , 7cm trn bn s ng vi bao nhiu km ?

Khong cch thc [km]= khong cch trn bn [cm] * RF / 100 000 Khong cch thc = 7 * 650 000 / 100 000 = 45,5 (km)

Mt s n v
T l hin th bn RF - Representative Fractions

V d: Nu 1,6 cm trn bn ng vi 5,2 km trn thc a. Khi , t l hin bn RF l bao nhiu ?

RF= 1 : (khong cch thc [km] * 100000 / khong cch trn bn [cm]) RF = 1: 5,2 * 100 000 / 1,6 = 1: 325 000

Mt s n v
T l hin th bn RF - Representative Fractions

V d: Nu RF 1: 750 000 th khong cch trn bn l bao nhiu s ng vi 27,7 km trn thc a ?
khong cch trn bn (cm) = khong cch thc [km] * 100 000 /RF khong cch trn bn = 27,7 [km] * 100 000 / 750 000 3,7 (cm)

ng trn ln - Great Circle

Khi nim : ng trn ln l giao ca b mt tri t v mt mt phng i qua tm tri t. Tnh cht: Khong cch ngn nht gia hai im bt k trn b mt tri t l khong cch gia hai im theo ng trn ln i qua hai im . ng xch o v cc ng kinh tuyn l cc ng trn ln

ng trn ln
Great Circle

Khong cch gia F v T trn ng trn ln

D: Khong cch theo ng trn ln cos(D) = sin(latF)sin(latT) + cos(latF)cos(latT)cos(dlong)
Lu : LatF, LatT, LongF,LongT tnh theo radians Chuyn i kinh , v t dng DMS -> radians (Sign (Deg + (Min + Sec / 60) / 60)) * ( pi / 180)

Cch xc nh dlong
Hai im F v T cng thuc bn cu phi (kinh ng E) hoc bn cu tri (kinh Ty W) dlong = abs (longF (longF - LongT LongT) ) - Nu T nm bn phi so vi F -> E - Nu T nm bn tri so vi F -> W im F thuc bn cu phi (kinh ng E) v im T thuc bn cu tri (kinh Ty W) hoc ngc li dlong = longF + LongT - Nu T nm bn phi so vi F -> E - Nu T nm bn tri so vi F -> W * Nu dlong > 1800 -> dlong = 360 dlong v hng ca dlong s chuyn t E->W hoc W ->E

V d
Xc nh lch kinh gia F v T trong cc trng hp sau: a. LongF = 130 00 W , LongT = 150 00 E b. LongF = 140 W , LongT = 130 W c. LongF = 140 W , LongT = 150 E

Khong cch gia F v T trn ng trn ln

ng trn ln

F(450 N, 1400 E)
F(450 N, 1400 E) T(650 N, 1100 W) F

T(650 N, 1100 W)

V d
Xc nh khong cch gia hai sn bay
1. Nashville International Airport (BNA) in Nashville, TN, USA: N 367.2', W 8640.2' 2. Los Angeles International Airport (LAX) in Los Angeles, CA, USA: N 3356.4', W 11824.0'

Chuyn i kinh , v t dng DMS -> radians (Sign (Deg + (Min + Sec / 60) / 60)) * ( pi / 180)

Xc nh khong cch trn ng trn ln gia New York v Moscow

Moscow 5545N 3736E New York 4045N 7359W

D=?

Xc nh khong cch trn ng trn ln gia Tokyo v Alanta

D=?

Atlanta (32 53' 49" N ; 97 02' 17" W) Tokyo (35 45' 53" N ; 140 23' 11" E)

V d
Gi s mt cn bo , c tm bo xut hin ti v tr F(110N, 1120E). Hy xc nh thi gian tm bo di chuyn n v tr T(10030 N, 1100E) bit rng vn tc di chuyn ca tm bo 15 km/h.

120 N F 100 N

1100 E

1120 E

cos(D) = sin(latF)sin(latT) + cos(latF)cos(latT)cos(dlong)

Cos(FT) = sin(10,50*pi/180)sin(10,50*pi/180) + cos(110*pi/180)cos(10,50*pi/180)cos(20*pi/180)=
Cos(FT) = 0,99937

FT = arccos(0,99937)*180/pi 2,0330 2,0275 * 60 121,65 121,65 * 1,852 225,2958 km 1 = 1 nm (nautical mile) ; 1 nm = 1 852 m Thi gian dch chuyn tm bo t F n T l: 234,5 km / 15 (km/h) 15,02 (gi)

Chun s liu ta a l WGSWGS -84

Z a O b Y WGS84 ellipsoid

X
bn trc chnh a = 6378137,0 m bn trc ph b = 6356752,3142 m
H s dt f :

f=

a-b a

= 1/298.257223563

Cc bc

Bn trc ph b = 6 356 752,3142 m Bn trc chnh a xch o = 6 378 137,0 m H s dt f= (a-b)/a = 1/298,257223563

H ta o c theo chun s liu WGS84

H ta ECEF
Z

ECEF: Earth Center Earth Fix

M (xm, ym,zm)

Tm tri t
X

Chuyn i h ta a l sang h ta ECEF

Chuyn i h ta ECEF sang h ta a l

Trng i hc Bch Khoa H Ni Kh in t Vin thng Khoa th

K thut nh v v dn ng in t
Electronics Positioning and Navigations
TS. Trng Tun B mn K thut thng tin
H Ni, 8-2010

Chng 2 Nguyn l v h thng Radar

Principles and Systems

 1. 1 Khi nim v nguyn l Radar

Radar
Radio Detection and Ranging
Christian Huelsmeyer, c 1904

Khi nim Radar

Radar l h thng thit b pht hin (detect) v xc nh v tr (ranging) ca i tng thng qua vic thu, pht v x l sng in t.

TARGET, RETURN, ECHO, CONTACT, OBJECT, REFLECTING OBJECT

R N

LOS Range: c ly theo tm nhn thng (Line of Sight)

Mc tiu Radar
Mc tiu radar l tt c cc i tng c kh nng phn x sng in t nm trong tm pht hin ca trm radar. Phn loi: Mc tiu quan st:
Mc tiu nhn to Mc tiu t nhin

Mc tiu gi: l nhng i tng khng cn quan st nhng xut hin trong vng ph sng ca trm radar, gy nhiu i vi cc mc tiu cn quan st. Tham s xc nh v tr:
3D: M (D, , ) hoc M ( H, , ) trong : H = D sin () 2 D: M (D, )

Qu o mc tiu: tp hp cc v tr ca mc tiu theo thi gian

Radar Frequency Bands

Wavelength 1 km 1m 1 mm 1 m 1 nm

Frequency

1 MHz

1 GHz

109 Hz

1012 Hz IR UV Visible

UHF VHF 0 1

L-Band

S-Band

C-Band

X-Band

Ku K Ka W

5 6 7 8 Allocated Frequency (GHz) 6 5 Wavelength (cm) 4

10

11

12

30 20

10 9

8 7

Bng tn Radar
Band t n HF VHF UHF L S C X Ku K K Ka mm Phm vi tn s danh nh 3 30 MHz 30 300 MHz 300 1000 MHz 1000 2000 MHz 2000 4000 MHz 4000 8000 MHz 8000 12,000 12 000 MH MHz 12 18 GHz 18 27 GHz 27 40 GH GHz 40 300 GHz
Bng tn dnh cho Radar

138 144; 216 225 MHz 420 450; 890 942 MHz 1215 1400 MHz 2300 2500; 2700 3700 MHz 5250 5925 MHz 8500 10680 MH MHz 13.4 14.0; 15.7 17.7 GHz 24.05 24.25 GHz 33 4 36.0 33.4 36 0 GH GHz
From Radar Handbook

Bng tn Radar

From Wikipedia, the free encyclopedia

Phn loi
-Phn loi theo phng php nh v H thng Radar ch ng (Active Radar) + Radar s cp (Primary Radar) + Radar th cp (Secondary Radar) H thng Radar th ng (Passive Radar) - Phn loi theo phn b anten thu pht H thng Radar tp trung H thng Radar phn b - Phn loi theo nguyn tc bc x tn hiu Radar lin tc CW Radar ( Continuous Wave ) Radar xung Pulse Radar ( Pulse Transmission)

Primary Radar A Primary Radar transmits high-frequency signals which are reflected at targets. The echoes are received and evaluated. This means, unlike secondary radar sets a primary radar unit receive it's own emitted signals as an echo again.

13

Secondary Radar At these radar sets the airplane must have a transponder (transmitting responder) on board and this transponder responds to interrogation by transmitting a coded reply signal. This response can contain much more information, than a primary radar unit is able to acquire (E.g. an altitude, an identification code or also any technical problems on board such as a radio contact loss ...).
14

(c)

15

Radar lin tc
f

CW Radar

L h thng radar bc tn hiu lin tc theo thi gian.

Radar xung
PRT
Thi gian lng nghe Tn s lm vic

PW

PRT = 1 / PRF

S khi h thng Radar xung

Radar xung g
Chui xung g pht p v xung g thu

IPP: Inter Pulse Period Chu k lp xung PRI: Pulse Repetition Interval Khong lp xung

Radar xung
rng xung PW- Pulse Width
thi gian bc x tn hiu trong mt chu k bc x.

Tn s lp xung PRF - Pulse Repetition Frequency

S xung pht trong mt giy.

Thi gian lp xung PRT - Pulse Repetition Time (PRT 1/PRF) (PRT=1/PRF) PW nh hng n :
Phm vi pht hin mc tiu ca Radar
C ly ti thiu v ti a c th pht hinmc tiu

PRF xc nh:
C ly ti a pht hin mc tiu

Thng s c bn
Pt

PRT = T

Tn s lm vic

PW =
Cng sut trung bnh Pav H s cng sut dt

Pav
Pt PW Pav = PRT

dt =

PW PRT

n v cng sut
Tt c cc tnh ton trong radar c tnh ton theo n v Watts
W, , nW, , pW p . . . n v tuy yt i hoc dBW, dBm - n v tng i
hay c dng

V d 1
Gi s mt trm Radar gim st hng khng c cng sut nh l 100 KW, , bc x tn hiu theo kiu xung g vi rng 10 s v chu k lp xung l 1 ms. Hy xc nh cng sut trung bnh, h s cng sut dt v minh ha bng hnh v.

V d 3
Mt trm Radar xung g c cng g sut nh 10 KW, , s dng g hai tn s lp xung PRF, fr1 = 10 KHz v fr2 = 30 KHz. Xc nh rng xung cho mi tn s lp xung trm radar c cng sut pht trung bnh khng i l 1500 W. Tnh ton nng lng xung trong mi trng hp tng ng.

Trng i hc Bch Khoa H Ni Kh in t Vin thng Khoa th

K thut nh v v dn ng in t
Electronics Positioning and Navigations
TS. Trng Tun B mn K thut thng tin
H Ni, 8-2010

Phn 1 K thut Radar

 1. Khi nim v phn loi Radar (tip theo)

Nguyn l c bn ca Radar xung

tn s lm vic f0

cos(0t t+0)
ON a(t) s(t) echo sr( (t) ) o tr t c ly mc tiu Thi gian OFF T

s(t) = a(t)cos(0t+0) a(t) : ng bao xung - pulsed radar

Tnh ton c ly y
Range Calculation C ly l - Range, R R=( (c TR)/2 Range : km hoc nm (nautical miles) TR : s (microseconds) ( i d ) R(km) = 0.15TR(s) R( i) = 0 R(nmi) 0.081 081 TR (s) ) 1k km 6.67 6 67 s 1 nmi 12,34 s hoc

Tnh ton c ly Range Calculation

Xc nh c ly theo n v km v nmi tng ng vi tr thi gian 27 s? R(km) = 0.15TR(s) hay R(nmi) = 0.081 TR (s) = 0.15 0 15 27 hay = 0.081 0 081 27 = 4.05 km hay = 2.187 nmi

Tnh ton c ly Range Calculation

M #2, #2 18 km

M #1, , 6 km Radar s cp PRF = 10 kHz thi gian g seconds

Tnh ton c ly Range Calculation

Bin

Xung pht

0.1 01
ambiguous range : c ly xy ra nhm ln

Thi gian, t (ms)

V d 2
Gi s mt trm Radar gim st hng khng c cng sut nh l 100 KW, bc x tn hiu theo kiu xung vi rng 10 s v chu k lp xung l 1 ms. ms Hy xc nh c ly lm vic (ti a v ti thiu) v phn gii v mt c ly ca trm Radar trn ?

Rmax

c(T ) = 2

Rmin

c = 2

 phn gii c ly - Range Resolution

R: phn gii c ly

 phn p g gii c ly y - Range g Resolution

unresolved return

a. Hai mc tiu khng th phn bit v c ly

c + t 2

b. Hai mc tiu c th phn bit v c ly

V d
Mt h thng Radar xung c c ly lm vic ti a 3000 km v bng thng l 3.33 3 33 kHz. kHz Hy xc nh: a. Tn s lp xung PRF (fr) yu cu b. Chu k lp xung PRT ( IPP = T) c. rng g xung gp pht . d. C ly phn gii mc tiu R e Hy cho bit nh hng ca cc tham s n c ly e. lm vic ti a ca mt h thng Radar.

nh hng ca cc tham s n c ly lm vic

Rmax

c(T ) = 2
Power Pulse Width PRT PRF Frequency

ca h thng Radar xung Range Range Range Range Range

 2. C s vt l ca Radar

C s vt l Radar
Radar lm vic da trn 4 tnh cht ca sng in t:
1. 2. 3. 4. Sng in t truyn lan vi vn tc hu hn , khng i. c = 3 *108 (m/s) ( / ) Sng in t truyn thng. Nng lng sng in t s phn x khi gp mi trng khng ng nht (mc tiu). Tn s thu c ti trm Radar sai lch so vi tn s pht, gy nn do s chuyn ng tng i gia mc tiu v trm Radar v c xc nh thng qua hiu ng Doppler.

tn s lm vic ca radar

Anten radar bc x nh hng

echo h RS Kch thc bp sng ti mc na cng sut ( cng sut nh gim i mt na suy hao 3 dB) theo phng gc t

theo phng gc phng v

M u b c x Radiation pattern
Kch thc bp sng ti mc na cng sut ( suy hao 3 dB)

Phng g v Gc ngng

HPBW: half power beam width

 rng bp sng quan tr t ng hn cng sut

RADAR

THE PLAN

POSITION INDICATOR

rng bp sng ln
PPI

 rng b bp sng quan trng hn cng sut

RADAR

THE PLAN

POSITION INDICATOR

rng bp sng nh
PPI

M u b c x Radiation pattern

Anten Parabol

=
Kch thc bp sng ti mc na cng sut ( suy hao 3 dB)
0 0

(rad )

60 = (deg ree) d
d: m anten (m) - apeture : bc sng g lm vic ( (m) )

rng thep hng v rng theo hng gc t

HPBW: half power beam width

41253 G= 0 0
(From Understanding Radar Systems)

a = r sin

H s khuch i anten
b = r sin
S = ab = r 2 sin sin

Dien _ tich _ mat _ cau G= Dien _ tich _ mat _ cat _ bup _ song _ tai _ muc _ nua _ cong _ suat
4r 2 4 G= 2 = r sin sin sin sin

G =?

H s khuch i anten
a = r sin b = r sin S = ab = r 2 sin sin Dien _ tich _ mat _ cau G= Dien _ tich _ mat _ cat _ bup _ song _ tai _ muc _ nua _ cong _ suat 4r 2 4 G= 2 = r sin sin sin sin

4 4 4 360 360 41253 41253 G= = = or = sin sin (radian ) 2 2 ( deg ree) ( deg ree)

H s khuch i anten
=

d1

G = f ( Ae , ) = ?

Kch thc anten nh bp sng l? n (small antenna wide beam width)

V d
Gi s h thng Radar thi tit lm vic ti Bng C, tn s 5625 Mhz, s dng anten parabol c ngknh 2,44 m. Hy xc nh kch thc bp sng v h s khuch i ca a anten te G(d G(dB) )?

H s khuch i ca anten

41253 G= 0 0

Hiu ng Doppler

Hiu ng Doppler
Dch tn Doppler

fD =

trong :

c = ft
fr
'

ft
fr

ft = f r

'

'

Hiu ng Doppler
Dch tn Doppler

fD =

trong :

Theo hng RS M:

f r = ft f D

'

f r = ft

'

f t = f t (1 ) c c

c = ft f D = ft c

f r = ft f
f r = ft'

'

' D

fD =
'

ft

'

f t ' = f t ' (1 ) c c

ft = f r

'

'

f r = f t (1 ) 2 c

2 2 f r = f t 1 + c c

Hiu ng Doppler
2 2 f r = f t 1 + c c
<< c
2

Rt nh b qua

2 f r = f t 1 c

Hiu ng Doppler
2 2 fT f R = (1 ) fT = fT 2 = fT = fT f D c c
Du + : vo gn ; du - : ra xa

2 f = f R fT = fT c

fD =

fD =

cos( ) =

o vn tc v <-> o lch tn s f

gc = 0 c f = 2 fT

Hiu ng Doppler

Hiu ng Doppler

fd =

cos( ) cos( ) = cos( ) cos( )

V d
Hy xc nh vn tc (knots) ca my bay khi trm radar lm vic ti tn s 3 GHz bit rng tn hiu phn x thu c sai lch so vi tn s pht l 5 KHz.

 3. 3 Cc bc x l tn hiu Radar

Cc bc x l tn hiu Radar
1. Bc 1: Pht hin mc tiu ( Detection ).

2 Bc 2: o c tham s ( Measurement ~ Ranging). 2. Ranging)

3. Bc 3: Phn bit mc tiu ( Display ).

4. Bc 4: Nhn bit mc tiu (Recorgnition)

Bc 1: pht hin mc tiu

Cng sut tn hiu thu ( echo)

Pngng

ngng

thi gian g ngng cng sut pht hin mc tiu quyt nh bi t s S/N ca trm Radar Xc sut pht hin nhm: gy nn do tn hiu phn x t cc i tng khng cn quan st (clutter) hoc nhiu.

Bc 2: o c
C ly R o tr o gc ( ,) cn c vo hng tnh ca bp sng radar. o vn tc hiu ng Doppler xc nh c v tr v v c qu o ca mc tiu ( i tng) M tnh c gia tc ca M

Bc 3: phn bit mc tiu

Th tch phn bit

Vpb= R* *

Th tch phn bit l th tch m hai mc tiu k nhau t ti tm ca hai th tch c th c phn bit t. .

Th tch phn bit

mc tiu mc tiu ti

Mc tiu

Vpb= R* *

Bc 4 : nhn bit mc tiu

Ch thc hin c vi Radar ch ng th cp. Radar ch ng th cp l h thng radar c kh nng trao i th thng ti ( truy tin t n s liu ) vi i tng (m ( c tiu) ti ) Qu trnh trao i s liu gia M v RS c thc hin khi M nm lt trong bp sng radar. Thi gian trao i s liu ph thuc vo tc qut cnh sng v kch thc bp sng ca trm Radar

M B pht p transponder

Radar mode S RS

Bc 4 : nhn bit mc tiu

Radar th cp truyn cc tn hiu c m ha n b pht p ca mc tiu. Transponder phc p bng bn tin c m ha vi cc thng tin ca i tng ( airplane ) Mt transponder c th thit lp ti a khong 4096 m nhn dng - identifying codes Trong lnh vc qun s , cc transponders c gi l IFF (Identification, Friend or Foe)

S xung phn x t mc tiu

Kch thc bp sng tnh theo radian

np =

(rad d ) Tsc (sec/ ( / vng ) PRF ( xung / sec) ) ( xung / vng ) 2 (rad )

Kch thc bp sng tnh theo

0 Tsc (sec/ ( / vng ) PRF ( xung / sec) ) ? np = ( xung / vng ) 0 360

np: S xung ph hn x/ vng TSC: Thi gian bp sng qut ht mt vng (giy/vng) PRF: Tn s lp xung (xung/giy)

V d
Gi s mt trm Radar c rng bp sng ti mc na cng sut theo phng ngang l 30, tc qut ca bp sng l 450/sec vi tn s lp xung l 300Hz . Hy xc nh s xung phn x t mc tiu v trm Radar sau mi vng qut ?

Trng i hc Bch Khoa H Ni Khoa in t Vin thng

K thut nh v v dn ng in t
Electronics Positioning and Navigations
TS. Trng Tun B mn K thut thng tin
H Ni, 9-2010

Nguyn l v h thng g Radar

Radar Principles &Systems

 4. Sai s php o tham s mc tiu Radar

Nhiu nhit - Noise

N = KT0 FB

n v: W hoc dB

K: hng s Boltzman; k = 1,38*10-23 (J/0K) T0: nhit ca h thng; T0 = 290 (0K) F: h s nhiu nhit ( NF: Noise Figure); F = vi dB B: bng thng ca h thng Radar [Hz] Tnh theo dB

N (dB) =10 lg( KT0 ) + F (dB) + B(dB)

N (dB) = 204 + F (dB) + B (dB)

Sai s php o tham s mc tiu

Tng qut:

M = 2 SNR

M: i lng cn o c ly R, tn s Doppler fD, vn tc xuyn tm vxt n v: theo i lng o [m], [Hz], [m/s]

Sai s php o c ly
Tng qut: M c ly R

M = 2 SNR
c R= 2B

c R= 2

1 = B

R c R = = 2 SNR 2 B 2 SNR

V d
Mt trm Radar bc x sng in t vi rng xung l 1,5 s v t s SNR yu cu l 13 dB dB. Hy cho bit: a. Bng thng ca trm radar. b. Sai s php o c ly ca trm Radar ? c. Sai s php o c ly l bao nhiu khi tng rng xung ln hai ln. Cho nhn xt.

Sai s php o tn s Doppler

Tng qut:

M = 2 SNR

Thi gian nhn bit tn dch tn Doppler l t (sec):

Understanding radar systems

1 1 1 t fD = f D f D t

fD 1 = = 2 SNR t 2 SNR

Thi gian nhn bit tn dch tn Doppler t (sec): The length of time taken to make an observation with a radar set is called the integration time, because all the data on a target are integrated or added up until the measurements are sufficiently accurate. Very roughly, the integration time is g given by y needed to resolve two doppler frequencies seperated by fd

1 t f D

[s ]

(source: Understanding radar systems)

Thi gian nhn bit tn dch tn Doppler (integration time)

(source: Understanding radar systems)

Sai s php o vn tc xuyn tm Tng qut:

M = 2 SNR

Thi gian nhn bit tn dch tn Doppler l t (sec):

2 xt 2 xt fD = f = c

fD xt = 2
xt
2 SNR =

1 fD = t

xt =

2t

=
xt

2t 2 SNR

V d
Mt chic tu chuyn ng vi vn tc 5 m/s c gim st bi 2 h thng radar. radar - Mt trm lm vic bng tn VHF ti tn s 138 MHz - Mt trm lm vic bng tn S ti tn s 3 GHz a. Hy xc nh khong thi gian cn thit hai h thng trn c th phn bit tn hiu phn x t con tu v t t lin. b. Gi thit t s SNR l 20 dB. Hy cho bit sai s php o vn tc.

 5. Phng g trnh Radar

1 Din tch phn x hiu dng radar 1.

- k hiu: RCS hoc - RCS : Radar Cross Section - n v:
+ Tuyt i: (m2) hoc (sqm) sqm: square meter + Tng g i: (dbsqm) ( q ) = 10 lg[ g[( (sqm)] q )]

Din tch phn x hiu dng RCS R d C Radar Cross S Section. ti

RCS = = S p k f k d (m 2 )
Sp: din tch b mt vt l ca mc tiu c chiu x Hnh dng , kch thc ca mc tiu kf: h s phn x Vt liu cu thnh mc tiu, tnh cht ca b mt phn x. kd: h s hng tnh T l nng lng phn x tr li theo hng trm radar so vi tt c cc hng ( tn x u uniform scattering )

echoes

echoes

tn x u tn x v pha t h tr t c Uniform scattering Forward scattering tn x v pha sau Backward scattering

Cc kiu tn x - scattering

Din tch phn x hiu dng RCS ca mt s b mt in hnh

Mt cu, bn knh = a

RCS = = a 2
RCS = =
RCS = =

Tm phng hnh vung, vung cnh = a

4a 4

2
4a 2b 2

Tm phng hnh ch nht, rng = a , di = b

2
2ah 2

Mt tr, bn knh = a , chiu cao = h

RCS = =

V d
Xc nh din tch phn x hiu dng ca tm phng ch nht c di cnh l a = 0,093 m ; b = 1m khi c chiu x bi tn hiu t trm Radar c tn s lm vic l 1 GHz v 10 GHz ?

Nhn xt
- Din tch phn x hiu dng c th ln hn h c nh ho h hn rt nhi hiu so vi din tch h vt l ca mc tiu c chiu x. - Khi tn s tng hoc gim th din tch phn x hiu dng radar ca cng mt mc tiu s tng hoc gim. - RCS ca mc tiu hnh cu khng ph thuc vo tn s.

Radar Cross Section

Experimental RCS

Din tch hiu dng Radar ca my bay nm bom B26

RCS thay i theo hng chiu x trn mt phng ngang gc phng v tn s chiu x: 3 GHz

25 dB

Din tch phn x hiu dng radar ca mt s i tng in hnh

I TNG Xe ti My bay phn lc thng mi My y bay y chin u c ln Chim - Bird My bay chin u tng hnh Stealth fighter RCS (m2) 200 100 6 0.001 0.0001 Din tch mt ct (m2) 10 1000 100 ~0.001 70

Stealth Fighter g F117

Radar Cross Section 0.003m2

2. Mt cng sut
1. khi nim: Khi 1 anten bc x v hng nng lng c cng sut P. Ti c ly y D, , mt cng g sut PD s c xc nh nh sau:

Pt 2 PD = [ W / m ] 2 4D

Pt [W ]

D (m) ( )

PD [W / m 2 ]

S = Din tch mt cu bn knh D (m)

S = 4D 2 (m 2 )

- Anten v hng g Cng g sut bc x hiu dng g ng g hng g EIRP - Anten nh hng Cng sut bc x hiu dng ERP

2. Mt cng sut
-Anten v hng Cng sut bc x hiu dng ng hng K hiu: EIRP - Effective Isotropic Radiated Power n v dBi -Anten nh hng Cng sut bc x hiu dng k hiu : ERP - Effective Radiated Power n v dB

ERP = EIRP Gt = Pt Gt [W ]

Pt Gt ERP 2 PD = = [W / m ] 2 2 4D 4D

H s khuch i ca anten nh hng

- Anten nh hng H s khuch i anten G

G=
vi:

4Ae

Ae: din tch hiu dng ca anten A: din tch gc m vt l ca anten : hiu sut ca anten.

Ae = A

V d: Mt my pht bc x sng in t v hng ti tn s 1 GHz vi cng sut 100 KW. Hy xc nh: a. Mt cng sut ti khong cch 100 feet. b. Cng sut thu ti anten thu c h s khuch i 10 dB t ti v tr

3. Phng trnh radar ch ng s cp

M hnh vt l
My pht Pt

Mc tiu M RCS = (m2)

Ngun bc x s cp
My thu Pr

R (km)

Ngun bc x th cp

M h hnh h mch h in tng ng Pt - (dB)

Gt - (dB) Pr Gr G

3. Phng trnh radar ch ng s cp

- RS M: ti khong cch R
Cng sut thu ti M

Pt Gt [W ] P r = PD Ae = PD = 2 4R
'

Pt = Pr

'

'

3. Phng trnh radar ch ng s cp

- M RS : ti khong cch R

Pt Ae [W ] Pr = P Ae = 2 4R 2 Gr 4Ae Ae = Gr = 2 Phng trnh radar 4 S = Pr min = nhy thu Pt Gt Gr 2 Pt Gt Gr 2 Pr = = [W ] Phng trnh 2 3 4 (4 ) R 4R 2 4 c ly radar
Cng sut thu ti RS
' D

'

Pt Gt Gr 2 R= (4 )3 P r

1 4

[m] Rmax

Pt Gt Gr 2 = (4 )3 S

1 4

[ m]

3. Phng trnh radar ch ng s cp

Pt Gt Gr 2 1 4 1 Pr = = Pt Gt 2 Gr 3 4 2 2 (4 ) R 4R 4R
Biu din theo n v dB:

Pr (dB ) = Pt (dB ) + Gt (dB ) 1 (dB ) + G 1 (dB ) + Gr (dB )

4 R 4 fR Trong : 1 (dB ) = 10 lg =10 lg c 4 1 (dB ) = 20 lg ( f R ) = 20 lg( f R ) + K1 (dB ) c
2 2

3. Phng trnh radar ch ng s cp

Trong g :

4 4 2 G (dB ) = 10 lg 2 = 10 lg f 2 c

G (dB ) = 10 lg g( ) + 20 lg g( f ) + K 2 (dB )

Bng tra cu h s K1

4 K1 (dB) = 20 lg c

Bng tra cu h s K2

4 K 2 (dB) = 10 lg 2 c

Bng tra cu thng s h s G (dB)

Quy tc : [1]+20 (dB) [4]+10 (dB) [2]+3 (dB) [8] -3 (dB) [6]+10 (dB)

[5]+10 (dB)

[1]

[2]

[3]

[4]

[5]

[6]

[7]

[8]

Gin cng sut

P(dBm)

Gt Pt

-t G

-t Gr Pr

t t

V d
Mt trm radar lm vic ti tn s 10 GHz c cng sut pht 75 dBm s dng chung anten thu pht c h s khuch i l 48 dB. Suy hao ng truyn (cp) t my thu, pht n anten l 6 dB. Mt my y bay y cch trm radar 31 km c din tch phn x hiu dng 5 m2
.

Hy cho bit cng sut thu c ti

trm radar l bao nhiu dBm. Minh ha cc thng s trn hnh v v gin cng sut ?

Trng i hc Bch Khoa H Ni Khoa in t Vin thng

K thut nh v v dn ng in t
Electronics Positioning and Navigations
TS. Trng Tun B mn K thut thng tin
H Ni, 9-2010

Nguyn l v h thng Radar

Radar Principles &Systems

 6. Tnh nng ng dng v k thut ca i radar

Tnh nng ng dng

1. Gc khi khng gian cn quan st 2. rng cnh sng 3. Chu k /tc qut cnh sng 4. C ly hot ng ti a 5. C ly hot ng ti thiu 6. Thi gian chiu x mc tiu 7. tin cy v kh nng chng nhiu 8. Cc thng s o c

Tnh nng k thut

1. Tn s pht 2. Tn s lp xung, rng xung 3. Phng thc iu ch 4. Cng sut pht 5. phn gii theo c ly R v theo gc 6. Kch c anten 7. nhy my thu 8. Tn s thu trung tn

 7. S khi ca h thng radar s cp tp trung bc x xung

Radar s cp tp trung bc x xung gm 5 phn h chnh:

Phn h ngun
Phn h my pht Phn h my thu Phn h anten Phn h o lng, hin th v iu khin

Anten
C cu quay anten

Chuyn mch thu pht

5

Khuch i cng sut pht

4

To dao ng sng mang

iu ch
2

To xung iu ch

ng ng b c cu quay anten vi hin th nhn vng

Khuch i cao tn
9

To dao ng ngoi sai

Trn tn
10 11

Khuch i trung tn
12

Tch sng video

13

Khuch i video
14 1

D,

ng h ng b Phn h ngun

H
1

Vxt

My tnh

Phn h anten

Anten
C cu quay anten

Chuyn mch thu pht

5

Khuch i cng sut pht

4

To dao ng sng mang Phn h my pht

iu ch
2

To xung iu ch

ng ng b c cu quay anten vi hin th nhn vng

Phn h my thu To dao ng ngoi sai

Khuch i cao tn
9

Trn tn
10 11

Khuch i trung tn
12

Tch sng video

13

Khuch i video
14 1

D,

ng h ng b Phn h ngun

H
1

Vxt

Phn h o lng, hin th v iu khin

My tnh

Biu thi gian my pht

U1
1

t U2
2

Txung pht t

U3
3

U6>U5>U4 t

U6 thc t t

Biu thi gian my thu

U9 > U8 > U7 Txung pht t

U10

Tns t

U12 > U11

Ttrung tn t

U13 > U12

Txung pht t

Uqx t Tqx

Cc thnh phn c bn ca mt h thng Radar

C cu qut cnh sng TRANSMIT thu tn hiu Radar M

chuyn mch Antenna

My thu

My pht X l v hin th Ngun

Pulse Radar Components

PPI : Plan Position Indicator

 8. S khi ca h thng radar th cp tp trung bc x xung

S khi ca phn my tr li Transponder

Secondary Radar

reply interrogation

Radar gim st th cp SSR

Transponders
A transponder is a receiver / transmitter device designed to transmit a response signal when legitimately interrogated. [NATO definition] An automatic device that transmits a predetermined message in response to a predefined received signal. [Wikipedia]

Nguyn l c bn ca SSR

P1-P3 spacing 8 s 21 s

Request Identify Height ?

Modes 3/A C

Amplitude Khong cch lin xung P1-P3 spacing

P1
Amplitude

P2

Bn tin hi (Interrogation message)

P3

F1

F2

Khun dng tn hiu tr li t transponder

Radar gim st th cp SSR

Mode A (simple system): Aircraft identification (Call-sign) Mode C (more advanced): Mode A + altitude Mode S (more recently): Mode C + 24 bit address identifier (unambiguous) Provides limited air-air and air-ground communications Can also provides whereabouts of other aircraft in its vicinity Uses digital error-correcting codes for improved reliability

Sidelobe suppression
aircraft 1

P
ground station
side l

ain 1m

e b lo

obe

INTERFERENCE!!!

aircraft 2

Sidelobe suppression
aircraft 1

ain 1m

e b lo

A1

P1

P2

ground station

side l

obe

A2

P2 P1 P2

aircraft 2

Radar mode S
Traces the history of Mode S (1968-1975), an air traffic control technology developed by Lincoln Labs

Mode S

Interoperability Issues
Transparency: Mode S must not break existing systems Backwards-compatibility: Existing systems must still see Mode S equipped planes

other aircraft existing signal existing ground station Mode S ground station

Mode S equipped

new signal

Frequency
New frequency: difficult to allocate Same frequency as old system (1030/1090 MHz): interoperable, but may cause interference

300 MHz VHF

1030 MHz 1090 MHz

UHF

3000 MHz SHF

The neatest technical solution would have been to put it on its own [frequency] band. - Paul Drouilhet, LL

Radar mode S

P1-P3 spacing 8 s 21 s

Request Identify Height ?

Modes 3/A C

Amplitude Mode S

(Source: http://web.mit.edu/6.933/www/Fall2000/mode-s/signal.html)

Secondary Radar

Secondary Radar

Primary Radar

Primary Radar

Airport Surveillance Radar (ASR)

Air Route Surveillance Radar (ARSR)

Radar mode S

Identification Friend or Foe (IFF)

Used to specifically identify targets seen by the primary radar.

AWACS: Airborne Early Warning and Control System

Trng i Hc Bch Khoa H Ni

Khoa in t - Vin thng

nh v v dn ng in t
( Electronics Positioning and Navigation )
Ging vin: TS. Trng Tun B mn K thut Thng tin
H ni, 09 - 2009
Email: dotrongtuan@gmail.com

Nguyn l v h thng Radar

Radar Principles &Systems

 9. T ng bm mc tiu radar

Mn hnh hin th nhn vng PPI Radar Screen

10 20 30 40

Primary Radar Display

Mn hnh hin th mc tiu radar

ARTS

STARS

ARTS: Automated Radar Terminal System STARS: Standard Terminal Automation Replacement System

STARS
Standard Terminal Automation Replacement System

- Provides Operational information about aircraft positions, flight data, and weather. - Allows technical operations personnel to monitor and control system resources.

STARS
Standard Terminal Automation Replacement System

Tracking Terms

ht g i S of e n i L

Error

ine L g n i Track

Tracking Element

Limitations of Mechanical Scanning Radars

Positioning Antenna is SLOW Reduced reaction times Blind Sided! Mechanical error

Electronic Scanning
Increased Data Rates Instantaneous Beam Positioning Elimination of Mechanical Errors Multi-mode Operation Multi-target capability

Phased Array

Generating a Directional Main Lobe in a Phased Array Radar

Wave Fronts of Maximum Energy

am Be

is Ax

Boresight Axis

Boresight Axis

Radiating in Phase

Altering the Phase to Change the Axis

Basic phased array architecture

FoV: Field of View <= 1200

(b) (a)

(c)

Phase-increment Calculating
3600 x

x d sin ( )

Phase-increment.

360d sin
d = distance between the radiating elements = beam steering

Example

A phased array radar unit including 8 elements works with a wavelength of =10 cm. The distance between the radiating elements is 15 cm. We can neglect the propagation time differences by the feeder. The beam steering shall be = 40. Which value shall have to have the phase shifter no. 8 (on the left side) to get this beam steering?

Phased Array

In radar applications, phased arrays permit near instant switching from one target to another, and from search to track mode.

Typical air-to-air search pattern

300 300

100 -120

Air-to-air tracking

Phase Array Radar (scanning diversity;multi-mission*; etc.)

*ARSR;ASR;TDWR;WR

Nguyn tc bm mc tiu
Basic Principle: Target energy return is strongest on the axis of the beam, diminishes further from the axis.

ax

is

Methods of Tracking: * Sequential Lobing * Conical Scan * Monopulse

Sequential Lobing
L R L R L R * Simplest Method * Multiple Beams * Compare Returns * Relatively Slow * Still used by some countries
Antenna looking left of target Antenna Pointing directly at target Antenna looking right of target

Return Signals form Two Beams

Conical Scanning

Lobe Of Energy

Pattern of scanning

* Rotates a beam in a circle producing a cone of energy.

Antenna

Determining Tracking Error Using Conical Scan

Locus of Beam Centers

Antenna Axis

Beam Pulse Return Amplitude Time

Equal Amplitude Sensor Return Signal

Target Position is in the Center of the Conical Scan (On Antenna Axis)

Determining Tracking Error Using Conical Scan

Locus of Beam Centers

Antenna Axis

Varying Amplitude Sensor Return Signal

Beam Pulse Return Amplitude Time

Target Position Off the Center of the Antenna Axis

Monopulse radar

Monopulse radars are similar in general construction to conical scanning systems, but add one more feature. Instead of broadcasting the signal out of the antenna "as is", they split the beam into parts and then send the two signals out of the antenna in slightly different directions. When the reflected signals are received they are amplified separately and compared to each other, indicating which direction has a stronger return, and thus the general direction of the target relative to the boresight. Since this comparison is carried out during one pulse, which is typically a few microseconds, changes in target position or heading will have no effect on the comparison.

Partial antenna patterns for amplitude sum and difference monopulse system

Monopulse antenna beam patterns

The angle between the axis of the antenna (boresight axis) and the direction of the target is also known as OBA-value (Off-Boresight Angle).

 chnh xc bm mc tiu Tracking accuracy

2 SNR

rng bp sng radar Sai s o lch gc

Example

TRACK-WHILE-SCAN

TWS CONCEPT
Maintain target tracks in a computer with periodic information from a scanning radar. Radar scans continually Computer maintains target tracks Receives periodic radar scan updates Builds track history Predicts positions TWS = Track-While-Scan!!

KEY TO TWS IS: GATE GENERATION

* Gates are 3-dimensional pieces of space that the target occupies. * Size of Gates are determined by the computer based on the information. Acquisition gate Tracking gate Turning detection gate

ACQUISITION GATE

10 degrees 10 degrees

2000 yards

TRACKING GATE

1.5 degrees

1.5 degrees 120 yards

TURN DETECTION GATE

tracking gate

Computer determines gate size

TWS PROCESSING
Original Course Turn Detection Gate New Course Tracking Gates

Acquisition Gate

Air-to-air TWS