CN112946619A - Method, device, system and medium for radar detection target absolute positioning - Google Patents
Method, device, system and medium for radar detection target absolute positioning Download PDFInfo
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Abstract
The invention discloses a method, a device, a system and a medium for absolute positioning of a radar detection target.A radar spherical coordinate system is converted into a local rectangular coordinate system, and the coordinate of the detection target point in the local rectangular coordinate system is calculated according to the distance, the pitch angle and the azimuth angle of a radar and the detection target point; converting the local rectangular coordinate system into a reference rectangular coordinate system, measuring a mounting included angle and displacement between the reference rectangular coordinate system and the local rectangular coordinate system, and calculating the coordinates of the detection target point in the reference rectangular coordinate system according to a rotation translation formula; and converting the reference rectangular coordinate system into a geodetic coordinate system, and calculating the geodetic coordinates of the detection target point according to the reference rectangular coordinate set and the geodetic coordinate set of the radar and the calibration point. The method and the device improve the absolute positioning precision of the detected target by using the proportional relation through acquiring the radar coordinate set and the geodetic coordinate set of the radar and the calibration point in advance, so that the radar coordinate of the detected target can be rapidly converted into the geodetic coordinate in a large quantity in the follow-up process.
Description
Technical Field
The invention belongs to the technical field of radars, and particularly relates to a method, a device, a system and a medium for absolute positioning of a radar detection target.
Background
With the continuous development of satellite positioning technology, satellite navigation positioning systems have become essential important tools. For example, a Global Positioning System (GPS), a Global Navigation Satellite System (GNSS), a Beidou satellite navigation system (BDS), and the like are adopted to provide high-precision and high-reliability positioning, navigation and time service for various users all day long and all day long in the global range, and the system has short message communication capability. However, the use of only a satellite navigation positioning system sometimes (for example, in urban canyons, bridges, tunnels or under severe weather conditions) not only reduces efficiency, but also outputs positioning information with poor accuracy and high error.
The technical problem can be effectively solved by using radar to assist satellite positioning, and the existing method for converting radar coordinates into geodetic coordinates is usually a grid division method, but the method has larger error.
Disclosure of Invention
In view of this, the present invention provides a method for absolute positioning of a radar detection target, including the following steps:
s10, converting the radar spherical coordinate system into a local rectangular coordinate system, and calculating the coordinates of the detection target point in the local rectangular coordinate system according to the distance, the pitch angle and the azimuth angle between the radar and the detection target point;
s20, converting the local rectangular coordinate system into a reference rectangular coordinate system, measuring a mounting included angle and displacement between the reference rectangular coordinate system and the local rectangular coordinate system, and calculating the coordinates of the detection target point in the reference rectangular coordinate system according to a rotation translation formula;
s30, converting the reference rectangular coordinate system into a geodetic coordinate system, and according to the reference rectangular coordinate set { (0,0,0), (X) of the radar and the calibration pointi，Yi，Zi) And geodetic coordinate set (lon)radar,latradar),(loni,lati) And calculating the geodetic coordinates of the detected target point.
Preferably, the method further comprises converting the geodetic coordinates of the detected target point obtained in step S30 into geodetic coordinates suitable for different map coordinate systems through different conversion algorithms.
Preferably, the map coordinate system comprises a WGS-84 coordinate system, a mars coordinate system, a sienna 80 coordinate system, a beijing 54 coordinate system, a Baidu coordinate system, a CGSC2000 coordinate system, a dog search coordinate system and a mapcar coordinate system.
Preferably, the converting the radar spherical coordinate system into a local rectangular coordinate system, and calculating the coordinate of the detection target point located in the local rectangular coordinate system according to the distance, the pitch angle and the azimuth angle between the radar and the detection target point, includes:
wherein (X)0 Y0 Z0)TIn order to detect the coordinates of the target point in the local rectangular coordinate system, d is the distance between the radar and the target point, theta is the radar pitch angle,
is the radar azimuth.
Preferably, the local rectangular coordinate system is converted into a reference rectangular coordinate system, a placement included angle and displacement between the reference rectangular coordinate system and the local rectangular coordinate system are measured, and a coordinate of the detection target point located in the reference rectangular coordinate system is calculated according to a rotational translation formula, wherein the rotational translation formula is as follows:
wherein, (X Y Z)TThe coordinates are of a reference rectangular coordinate system; r is a rotation matrix obtained by a mounting included angle between the local rectangular coordinate system and the reference rectangular coordinate system; (Δ X)0 ΔY0 ΔZ0)TThe radar is a displacement vector between the origin of a local rectangular coordinate system and the origin of a reference rectangular coordinate system, and a rotation matrix and the displacement vector are fixed after the radar is installed;
wherein, the X axis of the reference rectangular coordinate system is parallel to the latitude line, the Y axis is parallel to the longitude line, the Z axis is vertical to the ground, the origin of the local rectangular coordinate system is coincident with the origin of the reference rectangular coordinate system, namely O0O, i.e. (Δ X)0 ΔY0 ΔZ0)T＝(0 0 0)T(ii) a Local rectangular coordinate system passThe reference rectangular coordinate system is obtained by rotating angles of gamma, alpha and beta around Z, X, Y axes in sequence, R is Z (gamma) X (alpha) Y (beta), and gamma, alpha and beta are obtained by measurement,
preferably, the system converts the rectangular reference coordinate system into a geodetic coordinate system, calculates geodetic coordinates of the detected target points according to the rectangular reference coordinate set and the geodetic coordinate set of the radar and the calibration points, and obtains the geodetic coordinates by the following formula,
wherein (lon)radar,latradar) Is the geodetic coordinate of the radar, (X)target,Ytarget) Two-dimensional coordinates (lon) of a reference rectangular coordinate system for detecting a target pointi,lati) Is the geodetic coordinate of the radar, (X)i,Yi) Two-dimensional coordinates (lon) for a calibration point in a reference rectangular coordinate systemtarget,lattarget) To detect the geodetic coordinates of the target points.
Based on the above object, the present invention further provides a device for absolute positioning of a radar detection target, wherein the device for absolute positioning of a radar detection target comprises:
and the local rectangular coordinate conversion module is used for converting the radar spherical coordinate into a local rectangular coordinate.
And the reference rectangular coordinate conversion module is connected with the local rectangular coordinate conversion module and converts the local rectangular coordinate into a reference rectangular coordinate.
And the geodetic coordinate conversion module is connected with the reference rectangular coordinate conversion module and converts the reference rectangular coordinate into a geodetic coordinate.
Preferably, the system further comprises a map coordinate conversion module, which is connected with the geodetic coordinate conversion module and converts the geodetic coordinates of the detection target into geodetic coordinates suitable for different map coordinate systems through different conversion algorithms.
In view of the above, the present invention also provides a system for absolute positioning of a radar detected target, comprising at least one radar and a processing device, the processing device being connected to the at least one radar, the processing device comprising one or more processors and a storage device, the storage device storing one or more programs; when executed by the one or more processors, cause the one or more processors to implement the above-described radar detected target absolute positioning method.
In view of the above object, the present invention further provides a medium for absolute positioning of a radar detection target, where the medium is a computer-readable storage medium, and a computer program is stored on the medium, and when the computer program is executed by a processor, the method for absolute positioning of a radar detection target is implemented.
Compared with the prior art, the method, the device, the system and the medium for the absolute positioning of the radar detection target disclosed by the invention have the advantages that the radar coordinate set and the geodetic coordinate set of the radar and the calibration point are obtained in advance, the accuracy of the absolute positioning of the radar detection target is improved by utilizing the proportional relation, and the radar coordinate of the detection target can be rapidly converted into the geodetic coordinate in a large quantity in the follow-up process.
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In order to make the object, technical scheme and beneficial effect of the invention more clear, the invention provides the following drawings for explanation:
FIG. 1 is a flow chart illustrating the steps of a method for acquiring geodetic coordinates of a radar detection target according to an embodiment of the present invention;
fig. 2 is a schematic diagram illustrating a relationship between a radar spherical coordinate system and a local rectangular coordinate system in S10 according to the method for obtaining a geodetic coordinate of a radar detection target in the embodiment of the present invention;
fig. 3 is a schematic diagram illustrating a relationship between the local rectangular coordinate system and the reference rectangular coordinate system in S20 of the method for acquiring the geodetic coordinates of the radar detection target according to the embodiment of the present invention;
fig. 4 is a schematic structural diagram of absolute positioning of a radar detection target when the number of index points in S30 is multiple in the method for acquiring geodetic coordinates of a radar detection target according to the embodiment of the present invention;
FIG. 5 is a flowchart illustrating steps of a method for obtaining geodetic coordinates of a radar detection target according to yet another embodiment of the present invention;
FIG. 6 is a block diagram of a device for acquiring geodetic coordinates of a radar detection target according to an embodiment of the present invention;
FIG. 7 is a block diagram of a system for acquiring geodetic coordinates of a radar detection target according to an embodiment of the present invention.
Detailed Description
Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
Method example 1
Referring to fig. 1, a method for radar detection of absolute positioning of a target includes the following steps:
s10, converting the radar spherical coordinate system into a local rectangular coordinate system, and calculating the coordinates of the detection target point in the local rectangular coordinate system according to the distance, the pitch angle and the azimuth angle between the radar and the detection target point;
s20, converting the local rectangular coordinate system into a reference rectangular coordinate system, measuring a mounting included angle and displacement between the reference rectangular coordinate system and the local rectangular coordinate system, and calculating the coordinates of the detection target point in the reference rectangular coordinate system according to a rotation translation formula;
s30, converting the reference rectangular coordinate system into a geodetic coordinate system, and according to the reference rectangular coordinate set { (0,0,0), (X) of the radar and the calibration pointi，Yi，Zi) And geodetic coordinate set (lon)radar,latradar),(loni,lati) And calculating the geodetic coordinates of the detected target point.
Method example 2
The method comprises the following steps:
s10, converting the radar spherical coordinate system into a local rectangular coordinate system, and calculating the coordinates of the detection target point in the local rectangular coordinate system according to the distance, the pitch angle and the azimuth angle between the radar and the detection target point:
wherein (X)0 Y0 Z0)TIn order to detect the coordinates of the target point in the local rectangular coordinate system, d is the distance between the radar and the target point, theta is the radar pitch angle,
is the radar azimuth. The relation between the radar spherical coordinate system and the local rectangular coordinate system is shown in fig. 2. Reference numeral 51 denotes a radar, and 53 denotes a detection target point.
And S20, converting the local rectangular coordinate system into a reference rectangular coordinate system, measuring the arrangement included angle and displacement between the reference rectangular coordinate system and the local rectangular coordinate system, and calculating the coordinates of the detection target point in the reference rectangular coordinate system according to a rotation translation formula. The formula of the rotational translation in this step is:
wherein, (X Y Z)TThe coordinates are the coordinates of points in a reference rectangular coordinate system; r is a rotation matrix obtained by a mounting included angle between the local rectangular coordinate system and the reference rectangular coordinate system; (Δ X)0 ΔY0 ΔZ0)TAnd the radar is a displacement vector between the origin of the local rectangular coordinate system and the origin of the reference rectangular coordinate system, and the rotation matrix and the displacement vector are fixed after the radar is installed.
Wherein, the relation between the local rectangular coordinate system and the reference rectangular coordinate systemReferring to fig. 3, 52 are index points. The X axis of the reference rectangular coordinate system is parallel to the latitude line, the Y axis is parallel to the longitude line, the Z axis is perpendicular to the ground, for convenient calculation, the original point of the local rectangular coordinate system is coincident with the original point of the reference rectangular coordinate system, and O0O, i.e. (Δ X)0 ΔY0 ΔZ0)T＝(0 0 0)T. The local rectangular coordinate system is obtained by sequentially rotating (rotating inward) γ, α, and β around Z, X, Y axes with reference to the rectangular coordinate system, R ═ Z (γ) X (α) Y (β), and γ, α, and β are obtained by measurement.
S30, converting the reference rectangular coordinate system into a geodetic coordinate system, and according to the reference rectangular coordinate set { (0,0,0), (X) of the radar and the calibration pointi，Yi，Zi) And geodetic coordinate set (lon)radar,latradar),(loni,lati) And calculating geodetic coordinates (longitude and latitude) of the detection target point, wherein the calculation formula is as follows:
wherein (lon)radar,latradar) Is the geodetic coordinate of the radar, (X)target,Ytarget) Two-dimensional coordinates (X) for the detected target point in a reference rectangular coordinate systemi,Yi) Two-dimensional coordinates (lon) for a calibration point in a reference rectangular coordinate systemtarget,lattarget) To detect geodetic coordinates (latitude and longitude) of the target point.
The position of the index point is shown in fig. 3.
Optionally, the number of the index points may be multiple.
The method improves the absolute positioning precision of the radar detection target by using the proportional relation through acquiring the radar coordinate set and the geodetic coordinate set of the radar and the calibration point in advance, so that the radar coordinate of the detection target can be rapidly converted into the geodetic coordinate in a large quantity in the follow-up process.
Method example 3
Referring to fig. 4, a structural schematic diagram of absolute positioning of a radar detection target when the number of calibration points is multiple, and an XOY plane coordinate shown in fig. 4 is a plane projection coordinate system of the reference rectangular coordinate system XYZ coordinate system shown in fig. 3.
Referring to fig. 4, when the calibration points are multiple and uniformly distributed in the detection range of the radar, the geodetic coordinate of the radar is (lon)radar,latradar) And the two-dimensional coordinate of the radar reference rectangular coordinate system is (0, 0). The geodetic coordinate of the index point is (lon)1,lat1),(lon2,lat2),…,(loni,lati),…(lonn,latn). The two-dimensional coordinate of the index point located in the reference rectangular coordinate system is (X)1,Y1),(X2,Y2),…,(Xi,Yi),…(Xn,Yn). The two-dimensional coordinate of the detection target point in the reference rectangular coordinate system is (X)target,Ytarget)。
…
…
Then, the formula for calculating the geodetic coordinates of the probe target points is as follows:
the method improves the absolute positioning precision of the radar detection target by using a ratio and average method through acquiring the radar coordinate set and the geodetic coordinate set of the radar and a plurality of calibration points in advance, so that the radar coordinate of the detection target can be rapidly converted into the geodetic coordinate in a large quantity in the follow-up process.
Method example 4
Referring to fig. 5, S40 is further included, and the geodetic coordinates of the detected target point obtained in S30 are converted into geodetic coordinates suitable for different map coordinate systems through different conversion algorithms.
Wherein, the different map coordinate systems can be WGS-84 coordinate system, Mars coordinate system (GCJ-02), Xian 80 coordinate system, Beijing 54 coordinate system, Baidu coordinate system (BD-09), CGSC2000 coordinate system, dog searching coordinate system, MapBar coordinate system, etc.
The method improves the absolute positioning precision of the radar detection target by using the proportional relation through acquiring the radar coordinate set and the geodetic coordinate set of the radar and the calibration point in advance, so that the radar coordinate of the detection target can be rapidly converted into the geodetic coordinate in a large quantity in the follow-up process, and the obtained geodetic coordinate can be converted into the geodetic coordinate suitable for different maps.
Device embodiment
Referring to fig. 6, the apparatus may execute the method for absolute positioning of a radar detection target provided in any embodiment of the present invention, and has corresponding functional modules and beneficial effects of the execution method. The device mainly includes:
and the local rectangular coordinate conversion module 401 is configured to convert the radar spherical coordinates into local rectangular coordinates.
And a reference rectangular coordinate conversion module 402, configured to convert the local rectangular coordinate obtained by 401 into a reference rectangular coordinate.
And a geodetic coordinate conversion module 403 for converting the reference rectangular coordinates obtained by 402 into geodetic coordinates.
A map coordinate conversion module may be further included, connected to the geodetic coordinate conversion module 403, for converting the geodetic coordinates of the detection target into geodetic coordinates suitable for different maps through different conversion algorithms.
System embodiment
Fig. 7 is a schematic structural diagram of a system for absolute positioning of a radar detection target according to the present invention. The system mainly comprises at least one radar 51 and a processing device 50, and the processing device 50 is connected with the radar 51. The processing device includes one or more processors 501, and the processors 501 can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM)502 or a program loaded from a storage section into a Random Access Memory (RAM) 503. In the RAM503, various programs and data necessary for system operation are also stored. The processor 501, ROM502, RAM503 are connected to each other by a bus 504. An input/output (I/O) interface 505 is also connected to bus 504.
The following components are connected to the I/O interface 505: an input section 506 including a sensor radar or the like, an output section 507 including a liquid crystal display or the like, a storage section 508 including a hard disk or the like, and a communication section 509 including a network interface card. The communication section 509 performs communication processing via a network such as the internet.
Media embodiments
The medium is a computer-readable storage medium on which a computer program is stored, which, when being executed by a processor, carries out the above-mentioned method for absolute positioning of a radar detected object.
Wherein the computer-readable storage media include permanent and non-permanent, removable and non-removable media implemented in any method or technology for storage of information. The information may be computer readable instructions, data structures, modules of a program, or other data.
Computer program code for carrying out operations of the present invention may be written in one or more programming languages, such as Julia, Java, C + +, or the like.
The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by a person skilled in the art that the scope of the invention as referred to in the present application is not limited to the embodiments with a specific combination of the above-mentioned features, but also covers other embodiments with any combination of the above-mentioned features or their equivalents without departing from the inventive concept. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.
Claims (10)
1. A method for the absolute positioning of a radar detection target is characterized by comprising the following steps:
s10, converting the radar spherical coordinate system into a local rectangular coordinate system, and calculating the coordinates of the detection target point in the local rectangular coordinate system according to the distance, the pitch angle and the azimuth angle between the radar and the detection target point;
s20, converting the local rectangular coordinate system into a reference rectangular coordinate system, and calculating the coordinates of the detection target point in the reference rectangular coordinate system according to the installation included angle and displacement between the measurement reference rectangular coordinate system and the local rectangular coordinate system and a rotation translation formula;
s30, converting the reference rectangular coordinate system into a geodetic coordinate system, and according to the reference rectangular coordinate set { (0,0,0), (X) of the radar and the calibration pointi，Yi，Zi) And geodetic coordinate set (lon)radar，latradar)，(loni，lati) And calculating the geodetic coordinates of the detected target point.
2. The method for absolute positioning of a radar detection target according to claim 1, further comprising converting the geodetic coordinates of the detection target point obtained at S30 into geodetic coordinates suitable for different map coordinate systems by different conversion algorithms.
3. The method of claim 2, wherein the map coordinate system includes a WGS-84 coordinate system, a mars coordinate system, a sikan 80 coordinate system, a beijing 54 coordinate system, a hundredth coordinate system, a CGSC2000 coordinate system, a dog hunting coordinate system, and a Ma ρ Bar coordinate system.
4. The method for absolute positioning of a radar detection target according to claim 1, wherein the spherical radar coordinate system is converted into a local rectangular coordinate system, and the coordinates of the detection target point located in the local rectangular coordinate system are calculated according to the distance, the pitch angle and the azimuth angle between the radar and the detection target point, and are:
wherein (X)0 Y0 Z0)TIn order to detect the coordinates of the target point in the local rectangular coordinate system, d is the distance between the radar and the target point, theta is the radar pitch angle,
is the radar azimuth.
5. The method according to claim 4, wherein the local rectangular coordinate system is converted into a reference rectangular coordinate system, the installation angle and displacement between the reference rectangular coordinate system and the local rectangular coordinate system are measured, and the coordinates of the detection target point in the reference rectangular coordinate system are calculated according to a rotational translation formula, wherein the rotational translation formula is:
wherein, (X Y Z)TThe coordinates are of a reference rectangular coordinate system; r is a rotation matrix obtained by a mounting included angle between the local rectangular coordinate system and the reference rectangular coordinate system; (Δ X)0 ΔY0 ΔZ0)TThe radar is a displacement vector between the origin of a local rectangular coordinate system and the origin of a reference rectangular coordinate system, and a rotation matrix and the displacement vector are fixed after the radar is installed;
wherein, the X axis of the reference rectangular coordinate system is parallel to the latitude line, the Y axis is parallel to the longitude line, the Z axis is vertical to the ground, the origin of the local rectangular coordinate system is coincident with the origin of the reference rectangular coordinate system, namely O0O, i.e. (Δ X)0 ΔY0 ΔZ0)T＝(0 0 0)T(ii) a The local rectangular coordinate system is obtained by sequentially rotating gamma, alpha and beta angles around Z, X, Y axes by referring to the rectangular coordinate system, wherein R is Z (gamma) X (alpha) Y (beta), gamma, alpha and beta are obtained by measurement,
6. the method for absolute positioning of a radar detection target according to claim 5, wherein the converting of the rectangular reference coordinate system into a geodetic coordinate system, the calculating of the geodetic coordinates of the detection target points based on the rectangular reference coordinate set and the geodetic coordinate set of the radar and the calibration points, is performed by the following formula,
wherein (lon)radar，latradar) Is the geodetic coordinate of the radar, (X)target，Ytarget) Two-dimensional coordinates (lon) of a reference rectangular coordinate system for detecting a target pointi，lati) Is the geodetic coordinate of the radar, (X)i，Yi) Two-dimensional coordinates (lon) for a calibration point in a reference rectangular coordinate systemtarget，lattarget) To detect the geodetic coordinates of the target points.
7. An apparatus for detecting absolute positioning of an object by a radar, wherein the method for detecting absolute positioning of an object by a radar according to any one of claims 1 to 6 comprises:
the local rectangular coordinate conversion module is used for converting the radar spherical coordinate into a local rectangular coordinate;
the reference rectangular coordinate conversion module is connected with the local rectangular coordinate conversion module and converts the local rectangular coordinate into a reference rectangular coordinate;
and the geodetic coordinate conversion module is connected with the reference rectangular coordinate conversion module and converts the reference rectangular coordinate into a geodetic coordinate.
8. The apparatus of claim 7, further comprising a map coordinate transformation module, connected to the geodetic coordinate transformation module, for transforming the geodetic coordinates of the target into geodetic coordinates suitable for different map coordinate systems by different transformation algorithms.
9. A system for absolute positioning of a radar detected target comprising at least one radar and processing means, said processing means being coupled to said at least one radar, the processing means comprising one or more processors and storage means, the storage means storing one or more programs; when executed by the one or more processors, cause the one or more processors to implement the method of absolute positioning of radar detection targets of any of claims 1-6.
10. A medium for absolute positioning of a radar detection target, characterized in that the medium is a computer-readable storage medium having stored thereon a computer program which, when being executed by a processor, carries out the method for absolute positioning of a radar detection target according to one of the claims 1 to 6.
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