CN105445727B - A kind of method of constant frequency ripple radar range finding - Google Patents

A kind of method of constant frequency ripple radar range finding Download PDF

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Publication number
CN105445727B
CN105445727B CN201510829059.6A CN201510829059A CN105445727B CN 105445727 B CN105445727 B CN 105445727B CN 201510829059 A CN201510829059 A CN 201510829059A CN 105445727 B CN105445727 B CN 105445727B
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cycle
target
data
distance
angle
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CN105445727A (en
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田雨农
苏鹏达
周秀田
史文虎
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Dalian Roiland Technology Co Ltd
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Dalian Roiland Technology Co Ltd
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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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

A kind of method of constant frequency ripple radar range finding, is achieved by the steps of：Obtain the target velocity and angle in current n-th cycle；Judge whether 1 cycle of N there are data, if any data then jump procedure S3, continue to gather the data of next cycle, jump procedure S1 if no data；By the angle value in n-th cycle compared with the angle value in 1 cycle of N, the distance if equal using the distance that 1 cycle of N measures as current goal；If difference switchs to step S4；The distance of the target in n-th cycle is calculated using recurrence method.The distance and angle change that the present invention is measured using two continuous cycles, provide the range information of target, and the distance being currently calculated is uncorrelated to the distance that other computation of Period obtain, and improves range accuracy.

Description

A kind of method of constant frequency ripple radar range finding
Technical field
The invention belongs to lane change field of auxiliary, specifically a kind of method of constant frequency ripple radar range finding.
Background technology
At present, special test range unit is needed when carrying out locomotive speed signal processing to from multiple sensors Information is handled, so as to draw the speed of locomotive operation and range information.So not only occupy the limited sky of intra-locomotive Between, and the difficulty of intra-locomotive wiring is added, so as to cause the inconvenience for using, repairing.At present, there are various radars on the market The product of ranging, FMCW are frequency-modulated wave radars, and frequency-modulated wave radar range finding is different from conventional impulse wave radar, used mostly in Fu The Digital Signal Analysis methods such as leaf transformation, wavelet analysis, instantaneous auto-correlation algorithm are realized.Its advantage is that circuit structure is simply clear Clear, project plan comparison is ripe；Shortcoming is that operand is big, requires high to the operational capability of processor, core is influenced whether with hour operation quantity The power consumption of piece, time precision and amplitude precision to signal sampling require high, and cost is also higher.Constant frequency ripple radar in the prior art It is often used in testing the speed, seldom for ranging.
The content of the invention
To solve above mentioned problem existing for prior art, the invention provides a kind of method of constant frequency ripple radar range finding, profit The distance and angle change measured with two continuous cycles, provides the range information of target, and the distance being currently calculated with The distance that other computation of Period obtain is uncorrelated, improves range accuracy.
To achieve the above object, the technical scheme is that, a kind of method of constant frequency ripple radar range finding, is by as follows What step was realized：
S1：Obtain the target velocity and angle in current n-th cycle；
S2：Judge whether the N-1 cycle there are data, if any data then jump procedure S3, continue to adopt if no data Collect the data of next cycle, jump procedure S1；
S3：By the angle value in n-th cycle compared with the angle value in the N-1 cycle, by the N-1 week if equal Distance of the distance that phase measures as current goal；If difference switchs to step S4；
S4：The distance of the target in n-th cycle is calculated using recurrence method.
Further, recurrence method is calculated using equation below in step S4：
R=| 1/2* (V1/cos (θ 1)+V2/cos (θ 2)) | * T*sin (θ 1)/sin (θ 2- θ 1)
Given data process cycle is T, and A1 is N-1 target cycles position, and A2 is in place for N target cycles institute Put, then the speed V1 directions that A1 positions measure are A1M1, and the angle measured is the speed V2 that θ 1=∠ B1A1B2, A2 positions measure Direction is A2M1, and the angle measured is θ 2=∠ A1A2B3.
The beneficial effects of the present invention are：This programme can be applied to constant frequency ripple radar range finding, be surveyed using two continuous cycles The distance and angle change obtained, provides the range information of target, and the distance being currently calculated obtains with other computation of Period Distance it is uncorrelated.It is averaging by the velocity information measured to two continuous cycles data to calculate displacement, it is accurate improves ranging Exactness.The information that needs is few, waveform is simple, real-time is good and it is simple to calculate.
Brief description of the drawings
The shared width of accompanying drawing 2 of the present invention：
Fig. 1 is the FB(flow block) of the present invention；
Fig. 2 is that target range of the present invention resolves schematic diagram.
Embodiment
Below by embodiment, and with reference to accompanying drawing, technical scheme is described in further detail.
Embodiment 1
This programme is applied to the fields such as lane change auxiliary, when object run direction is identical or approximately the same with radar motion direction In the case of, because a data processing cycle is very short, therefore may be assumed that in adjacent data processing cycle, the direction of motion of target Do not change.A kind of method of constant frequency ripple radar range finding, is achieved by the steps of：
S1：Obtain the target velocity and angle in current n-th cycle；
S2：Judge whether the N-1 cycle there are data, if any data then jump procedure S3, continue to adopt if no data Collect the data of next cycle, jump procedure S1；
S3：By the angle value in n-th cycle compared with the angle value in the N-1 cycle, by the N-1 week if equal Distance of the distance that phase measures as current goal, this belongs to special circumstances, seldom existed in true environment；If difference switchs to Step S4；
S4：The distance of the target in n-th cycle is calculated using recurrence method；
As shown in Fig. 2 recurrence method is calculated using equation below in step S4：
A. the velocity component in B1B4 directions is calculated, A1 positions are V1/COS (θ 1), and A2 positions are V2/COS (θ 2), then calculate A1A2 and A1B4 length is
RA1A2=1/2* (V1/COS (θ 1)+V2/COS (θ 2)) * T 1-1
RA1B4=RA1A2+RA2B4 1-2
Because speed of the target in vertical X axis direction may change, thus using in 1-1 to speed averaging come calculate when Between in T, the displacement of target in vertical direction.
B. as shown in Fig. 2 A1B4 is perpendicular to X-axis, then:
Tan (θ 1)=RM1B4/RA1B4 1-3
Tan (θ 2)=RM1B4/RA2B4 1-4
Cos (θ 2)=RA2B4/RA2M1 1-5
Wherein RM1B4、RA1B4、RA2B4Respectively M1B4, A1B4, A2B4 length.
From 1-3 and 1-4：
RA2B4=RA1B4*tan(θ1)/tan(θ2) 1-6
1-1 and 1-2 is substituted into 1-6 to obtain：
RA2B4=1/2* (V1/cos (θ 1)+V2/cos (θ 2)) * T*tan (θ 1)/(tan (θ 2)-tan (θ 1)) 1-7
1-5 substitutions 1-7 can be obtained：
As seen from the figure:
RA1B4=RA1M1*cos(θ1) 1-9
1-1,1-2 and 1-7 substitution 1-9 can be obtained：
If A2 is first process cycle target position, A1 is second process cycle target position, then Target is remote, the speed V now measured<0, then the distance of current period target is RA2M1, and now the θ 1 in 1-10 is the The angle of two process cycles, and θ 2 is the angle of first process cycle, works as gtoal setting it can be seen from 1-8 and 1-10 Or it is remote, the measured value of distance is all sine value divided by current period angle that RA1A2 is multiplied by previous process cycle angle With the sine value of previous cycle angle difference.
In summary, if θ 1 is the angle that first process cycle measures, the angle that θ 2 measures for second period, V1, V2 is the velocity amplitude (then speed is that just, target is negative away from then speed to gtoal setting) measured, and T is that a data processing cycle needs The time wanted, current target distance R (target and the distance of reception antenna 2), which is calculated, is:
R=| 1/2* (V1/cos (θ 1)+V2/cos (θ 2)) | * T*sin (θ 1)/sin (θ 2- θ 1) 1-11
This programme using measurement angle value and velocity amplitude change information ranging, the structure used be two reception antennas with One transmitting antenna.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto, Any one skilled in the art in the technical scope of present disclosure, technique according to the invention scheme and its Inventive concept is subject to equivalent substitution or change, should all be included within the scope of the present invention.

Claims (2)

  1. A kind of 1. method of constant frequency ripple radar range finding, it is characterised in that assuming that in adjacent data processing cycle, the motion of target Direction does not change, and is realized particular by following steps：
    S1：Obtain the target velocity and angle in current n-th cycle；
    S2：Judge whether the N-1 cycle there are data, if any data then jump procedure S3, continue if no data under collection The data of a cycle, jump procedure S1；
    S3：By the angle value in n-th cycle compared with the angle value in the N-1 cycle, the N-1 cycle is surveyed if equal Distance of the distance obtained as current goal；If difference switchs to step S4；
    S4：The distance of the target in n-th cycle is calculated using recurrence method；
    The recurrence method is calculated using equation below：
    R=| 1/2* (V1/cos (θ 1)+V2/cos (θ 2)) | * T*sin (θ 1)/sin (θ 2- θ 1)
    Given data process cycle is T, and using M1 as origin, the direction of motion of target is Y-axis, establishes rectangular coordinate system XM1Y, A1 For N-1 target cycles position, A2 is N target cycles position, and B1 is located on A2A1 extended line, and B2 is located at On M1A1 extended line, B3 is located on M1A2 extended line, and the speed V1 directions that A1 positions measure are A1M1, and the angle measured is The speed V2 directions that θ 1=∠ B1A1B2, A2 positions measure are A2M1, and the angle measured is θ 2=∠ A1A2B3.
  2. 2. the method for a kind of constant frequency ripple radar range finding according to claim 1, it is characterised in that target position and angle Degree information is measured using two reception antennas and a transmitting antenna.
CN201510829059.6A 2015-11-24 2015-11-24 A kind of method of constant frequency ripple radar range finding Active CN105445727B (en)

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4959800A (en) * 1988-05-20 1990-09-25 Hughes Aircraft Company Method and apparatus for determining the position and velocity of a target in inertial space
US6025797A (en) * 1997-07-22 2000-02-15 Denso Corporation Angular shift determining apparatus for determining angular shift of central axis of radar used in automotive obstacle detection system
CN104050806A (en) * 2013-03-15 2014-09-17 业纳遥控设备有限公司 Method for detecting traffic infractions in a traffic light zone through rear end measurement by a radar device

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4064528B2 (en) * 1998-06-02 2008-03-19 富士通テン株式会社 Scanning radar signal processing device
JP2010112829A (en) * 2008-11-06 2010-05-20 Omron Corp Detection device, method and program

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4959800A (en) * 1988-05-20 1990-09-25 Hughes Aircraft Company Method and apparatus for determining the position and velocity of a target in inertial space
US6025797A (en) * 1997-07-22 2000-02-15 Denso Corporation Angular shift determining apparatus for determining angular shift of central axis of radar used in automotive obstacle detection system
CN104050806A (en) * 2013-03-15 2014-09-17 业纳遥控设备有限公司 Method for detecting traffic infractions in a traffic light zone through rear end measurement by a radar device

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